C2000™ Systems Applications Collateral
v2.0
6
Fig 6: Common Controls
Dual Brushed DC Motor Control
1) User can choose a voltage or current control mode. Mode is chosen by selecting either the Voltage
Mode or Current mode tab. There is a knob to set the value and a gauge showing the setpoint. The
setpoint has a slew rate limit so there will be a delay between the knob setting and the gauge display.
The graph windows to the right show the current feedback for each motor.
2) There are two settings tabs to modify the DC Bus range and provide current loop tuning for each motor.
The parameters have been tuned for light loads and a 24V DC bus with a +/-20% tolerance.
Fig 7: All Brushed DC Mode Tabs
Stepper Motor Control
1) User can choose either a constant speed mode or an indexing mode.
2) The drop down box is used to set the number of microsteps per step (whole stepping to 128
microsteps/step).
3) The top graph displays the motor speed in steps/sec. The bottom graph displays the motor winding
currents. This is a high-speed datalogger graph which reads up an array or logged data from the target.
The currents on this graph are scaled in per-unit (pu) with a value of 1 pu representing 7.2 amps of
current. In order to run this graph for one cycle click on the green arrow. In order to continuously
refresh this graph click on the cycling arrows button. The graph’s default configuration is to trigger on a
rising edge of the A phase current at a level of 0.25pu.
4) In speed mode the user can adjust the desired motor speed and current using knobs. The change of
speed is subject to a slew rate limit. Actual speed is displayed on the radial gauge and on the graph.
5) In index mode the user can set the index distance, speed, acceleration, deceleration, idle and running
currents. The idle current sets the holding torque of the motor when it is not moving, the running current
sets the motor torque during an index. The index parameters have the following units and range.
a. Distance – units are microsteps and the range is the entire span of a signed 32-bit integer
b. Speed – 1-5000(step/sec)
c. Accel – 200-20000(steps/sec/sec)
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