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Power PMAC Clipper User Manual

ACC-24S3 4-Channel Axis Expansion Stack Board 83

Motor Setup Code

Typical Settings for Four Channels of Filtered PWM Setup:

Sys.WpKey=$AAAAAAAA

// Clocks – Phase and Servo

Clipper[1].PhaseFreq=10000; // 10KHz Phase

Clipper[1].PhaseClockDiv=0;

Clipper[1].ServoClockDiv=3; // 2.25KHz Servo

Clipper[1].AdcAmpStrobe=$fffffc;

Sys.PhaseOverServoPeriod=1/(Clipper[1].ServoClockDiv+1)

Sys.ServoPeriod=1000*(Clipper[1].ServoClockDiv+1)/Clipper[1].PhaseFreq

// PWM setup

Clipper[1].Chan[0].PwmDeadTime=0;

Clipper[1].Chan[0].PackOutData=0;

Clipper[1].Chan[0].PackInData=0;

Clipper[1].Chan[0].PwmFreqMult=5; // 30KHz PWM

Clipper[1].Chan[1].PwmDeadTime=0;

Clipper[1].Chan[1].PackOutData=0;

Clipper[1].Chan[1].PackInData=0;

Clipper[1].Chan[1].PwmFreqMult=5;

Clipper[1].Chan[2].PwmDeadTime=0;

Clipper[1].Chan[2].PackOutData=0;

Clipper[1].Chan[2].PackInData=0;

Clipper[1].Chan[2].PwmFreqMult=5;

Clipper[1].Chan[3].PwmDeadTime=0;

Clipper[1].Chan[3].PackOutData=0;

Clipper[1].Chan[3].PackInData=0;

Clipper[1].Chan[3].PwmFreqMult=5;

// Motor and PID Setup

//************** Motor1

Motor[5].ServoCtrl=1;

Motor[5].pDac=Clipper[1].Chan[0].Pwm[2].a;

Motor[5].pEncStatus=Clipper[1].Chan[0].Status.a;

Motor[5].pAmpEnable=Clipper[1].Chan[0].OutCtrl.a;

Motor[5].pAmpFault=Clipper[1].Chan[0].Status.a;

Motor[5].pLimits=Clipper[1].Chan[0].Status.a

Motor[5].AmpFaultLevel=1

Motor[5].MaxDac=16384

//< PID & Safety >

Motor[5].Servo.Kp=51.702454;

Motor[5].Servo.Kvfb=1438.4297;

Motor[5].Servo.Ki=0.0099164471;

Motor[5].Servo.Kvff=1438.4297;

Motor[5].Servo.Kaff=19470.463;

Motor[5].Servo.Kvifb=0;

Motor[5].Servo.Kviff=0;

Motor[5].Servo.Kfff=0;

Motor[5].FatalFeLimit=20000;

Motor[5].MaxSpeed=2048;

Motor[5].InvAmax=20;

Motor[5].JogTa=50;

Motor[5].JogTs=20;

Motor[5].JogSpeed=102.4;

Motor[5].Servo.MaxPosErr=100000

//************** Motor2

Motor[6].ServoCtrl=1;

Motor[6].pDac=Clipper[1].Chan[1].Pwm[2].a;

Motor[6].pEncStatus=Clipper[1].Chan[1].Status.a;

Motor[6].pAmpEnable=Clipper[1].Chan[1].OutCtrl.a;

Motor[6].pAmpFault=Clipper[1].Chan[1].Status.a;

Motor[6].pLimits=Clipper[1].Chan[1].Status.a

Brand	Delta Tau
Model	Power PMAC Clipper
Category	Controller
Language	English

Delta Tau Power PMAC Clipper User Manual

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Delta Tau Power PMAC Clipper Specifications

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