Cypress SPANSION FM4 MB9BF568 Series, User Manual

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U S E R M A N U A L
Jan 26, 2015, AN709-00011-1v0-E 21
Table 6-6: Protection Parameters
Name Explanation Value
Motor_i16Q8CurrentMax Soft current protection happens when peak of current
is higher than this value
Q8(3.5):
3.5A
Motor_u16OverCurrentTimeSec Define times of current continuously overpassing
Motor_i16Q8CurrentMax.
When times of overpassing higher than
Motor_u16OverCurrentTimeSec, soft-over-current
protection happens.
1 time
Motor_u16VbusMax Define over-voltage protection point 400V
Motor_u16VbusMin Define under-voltage protection point 200V
Motor_ErrorTime Time for error flag maintaining. Motor error flag will be
set, and will be cleared after Motor_ErrorTime.
10s
6.2.1.8
UI_08 Brake Enable
Table 6-7: Brake Enable or Disable Flag
Name Explanation Value
Motor_BrakeCtrlEn Switch on or off controlling for fast braking
function
0:disable fast braking
when target-speed is set
to 0 to stop motor running
1:enable fast braking
when target-speed is set
to 0 to stop motor running
6.2.2
Encoder Check
When the basic setting has been finished, the encoder information (zero-position A/B order) can be
self-check by the encoder check module. Here take one servo motor for example.
And if the encoder information has been known, this section can be ignored and the motor can be normal
started now and taken the reference at section 0 Modify
“SWAPBIT” definition in “hardware_config.h”, set it
the same value as
“Qprc_RunPars .i8_Swapbit”.
Modify
“QPRC_ZERO_ANGLE” definition in “hardware_config.h”. Set it the same value as
“Qprc_RunPars .i32Q22_AngleToZeroInx”.
Redefine
“ZEROMATHCEN” to 1.
Encoder check is complete.
Run Motor .
6.2.2.1
FW Setting
Set the variable as shown Figure 6-8 to make the control system in debug mode
Figure 6-8: Macro Define for encoder
QPRC_ZEROMATCH = 0: set encoder searching mode.
QPRC_ZEROMATCH = 1: encoder searching mode end.
QPRC_SWAPBIT = 0: no-change A/B order.
QPRC_SWAPBIT = 1: exchange A/B order.
QPRC_ZEROANGLE: zero position.