Delta Tau GEO BRICK LV 用户手册
Geo Brick LV User Manual
Motor Setup
162
PWM Scale Factor: Ixx66
If Motor Rated Voltage > Bus Voltage:
I166=0.95 * I7000
; Motor #1 PWM Scale Factor, typical setting
I266=I166 I366=I166 I466=I166 ; Assuming same motor(s) as motor #1
I566=I166 I666=I166 I766=I166 I866=I166 ; Assuming same motor(s) as motor #1
I566=I166 I666=I166 I766=I166 I866=I166 ; Assuming same motor(s) as motor #1
If Bus Voltage > Motor Rated Voltage:
Ixx66 acts as a voltage limiter. In order to obtain full voltage output it is set to about 10% over PWM
count divided by DC Bus/Motor voltage ratio:
#define DCBusInput
60
; DC Bus Voltage -User Input
#define Mtr1Voltage
24
; Motor 1 Rated Voltage [VDC]-User Input
#define Mtr2Voltage
24
; Motor 2 Rated Voltage [VDC]-User Input
#define Mtr3Voltage
24
; Motor 3 Rated Voltage [VDC]-User Input
#define Mtr4Voltage
24
; Motor 4 Rated Voltage [VDC]-User Input
#define Mtr5Voltage
24
; Motor 5 Rated Voltage [VDC]-User Input
#define Mtr6Voltage
24
; Motor 6 Rated Voltage [VDC]-User Input
#define Mtr7Voltage
24
; Motor 7 Rated Voltage [VDC]-User Input
#define Mtr8Voltage
24
; Motor 8 Rated Voltage [VDC]-User Input
I166=I7000*Mtr1Voltage/DCBusInput
; Motor 1 PWM Scale Factor ( Geo Brick LV Specific)
I266=I7000*Mtr2Voltage/DCBusInput
; Motor 2 PWM Scale Factor ( Geo Brick LV Specific)
I366=I7000*Mtr3Voltage/DCBusInput
; Motor 3 PWM Scale Factor ( Geo Brick LV Specific)
I466=I7000*Mtr4Voltage/DCBusInput
; Motor 4 PWM Scale Factor ( Geo Brick LV Specific)
I566=I7000*Mtr5Voltage/DCBusInput
; Motor 5 PWM Scale Factor ( Geo Brick LV Specific)
I666=I7000*Mtr6Voltage/DCBusInput
; Motor 6 PWM Scale Factor ( Geo Brick LV Specific)
I766=I7000*Mtr7Voltage/DCBusInput
; Motor 7 PWM Scale Factor ( Geo Brick LV Specific)
I866=I7000*Mtr8Voltage/DCBusInput
; Motor 8 PWM Scale Factor ( Geo Brick LV Specific)