Delta Tau 5xx-603869-xUxx Ixx30 Motor xx Proportional Gain, Example, Ixx33 Motor xx Integral Gain

Brick Motion Controller Hardware Reference Manual

Ixx30: Motor xx Proportional Gain

To create a closed loop position response with a natural frequency of approximately 25 Hz and a damping ratio of 1, use the following calculation:

Ixx30 =

660,000

Ixx08 * PFMCLK( MHz )

Example:

PFMCLK is set to default of 9.83 MHz, and Ixx08 is set to default of 96. Ixx30 = 660,000 / (96 * 9.83) = 700.

Ixx31 Motor x Derivative Gain

Derivative Gain is set to 0 because the motor system behaves like a velocity-loop servo drive. This parameter sets the system damping which should be unnecessary.

Ixx32 Motor xx Velocity Feedforward Gain

Use the following equation to establish a value for Ixx32:

Ixx32 = 6660 * ServoFreq (kHz)

where ServoFreq (kHz) is the frequency of the servo interrupt as established by I7m00, I7m01, and I7m02.

Example:

ServoFreq is set to default of 2.26 kHz (I7m00 = 6527, I7m01 = 0, I7m02 = 3). Ixx32 = 6660 * 2.26 = 15,050.

Note:

If Ixx30 were set differently from the above calculation, then Ixx32 would change inversely. For instance, if Ixx30 were twice the above calculation, then Ixx32 would be half its calculation.

Ixx33 Motor xx Integral Gain

Typically, This I-variable should be set to 0. The digital electronic loop does not present offsets or disturbances that need correction in the PMAC.

Ixx33 may be set to force zero steady-state errors, should they be present with electronic encoder feedback.

Ixx34 Motor xx Integration Mode

The default value of 1 is sufficient for this, since usually Ixx33 is set to zero. When Ixx33 is set to 0, this I-variable has no effect.

Ixx35 Motor xx Acceleration Feed-forward Gain

Start with this I-variable set to 0. Typically, this value does not need to be changed. However, Ixx35 might be adjusted to compensate for the small time delays created by the electronics when accelerating the stepper. The effect of adjusting Ixx35 will be to reduce a slight following error during motor acceleration.

Ixx36 - Ixx39 Motor xx Notch Filter Coefficients

These values should be set to their default value of 0. Since filter parameters adjust the way the gains operate due to physical resonance of a system, there is no need to set these I-variables.

System Wiring 31