Delta Tau GEO BRICK LV 用户手册
Geo Brick LV User Manual
MACRO Connectivity
233
The current loop feedback address Ixx82 should be set per the following table:
MACRO
motor
Motor #
Ixx82
Register
MACRO
motor
Motor #
Ixx82
Register
1
st
5 or 9
$078422
Servo Node 0
5
th
9 or 13
$078432
Servo Node 8
2
nd
6 or 10
$078426
Servo Node 1
6
th
10 or 14 $078436
Servo Node 9
3
rd
7 or 11
$07842A Servo Node 4
7
th
11 or 15 $07843A
Servo Node 12
4
th
8 or 12
$07842E
Servo Node 5
8
th
12 or 16 $07843E
Servo Node 13
Commutation Cycle Size
Ixx70 = {Number of pair poles}
Ixx71 = {Number of counts per revolution * 32}
Ixx70 = {Number of pair poles}
Ixx71 = {Number of counts per revolution * 32}
I2T Settings (example for motor #9):
I15=0
; Trigonometric calculation in degrees
#define MaxPhaseFreq
P8000 ; Max Phase Clock [KHz]
#define PWMClk
P8001 ; PWM Clock [KHz]
#define PhaseClk
P8002 ; Phase Clock [KHz]
#define ServoClk
P8003 ; Servo Clock [KHz]
MaxPhaseFreq=117964.8/(2*I6800+3)
PWMClk=117964.8/(4*I6800+6)
PhaseClk=MaxPhaseFreq/(I6801+1)
ServoClk=PhaseClk/(I6802+1)
#define Mtr9ContCurrent
PWMClk=117964.8/(4*I6800+6)
PhaseClk=MaxPhaseFreq/(I6801+1)
ServoClk=PhaseClk/(I6802+1)
#define Mtr9ContCurrent
3
; Continuous Current Limit [Amps] –User Input
#define Mtr9PeakCurrent
9
; Instantaneous Current Limit [Amps] –User Input
#define MaxADC
16.3
; See Geo MACRO electrical specifications –User Input
#define Mtr9I2TOnTime
2
; Time allowed at peak Current [sec]
I957=INT(32767*(Mtr9ContCurrent*1.414/MaxADC)*cos(30))
I969=INT(32767*(Mtr9PeakCurrent*1.414/MaxADC)*cos(30))
I958=INT((I969*I969-I957*I957)*ServoClk*1000*Mtr9I2TOnTime/(32767*32767))
19. Current-Loop Tuning (Ixx61, Ixx62, Ixx76)
Current loop tuning is performed in the same manner as it would be for any digitally commuted
amplifier. A satisfactory current loop response (PmacTuningPro2 screen shot) would look like:
amplifier. A satisfactory current loop response (PmacTuningPro2 screen shot) would look like: