Delta Computer Systems TMC 188/40 Series, Manual

Page: 18 / 110

V Memory TMC 188/40 Motion Control Module
Delta Computer Systems, Inc. 360/254-8688
18
VINIT - Axis Initialization Parameters
WY Registers 1-4 are the V Memory addresses where the following parameters are stored:
V Memory
Location
Parameter Name Default Value Initialization Parameters
Descriptions
1 NEW NULL 2048 Zero offset for drive
2 ESTOP Mask 0FFFF Disable emergency stop on error
condition
3 HALT Mask 00000 Disable halt on error condition
4 Reserved 0FFFF Not used at this time
5 FEED FORWARD ADVANCE 0 Feed forward advance (in
milliseconds)
6 NULL UPDATE 500 Time interval in at which null drive is
calculated (in milliseconds)
7 Reserved 0FFFF Not used at this time
8 DITHER 0 Static friction drive
9 HYSTERESIS 0 Deadband compensation
10 STATIC GAIN 50 Proportional gain at rest
11 EXTEND GAIN 50 Proportional gain when extending
12 RETRACT GAIN 50 Proportional gain when retracting
13 INTEGRAL GAIN 50 Integral gain when in motion
14 DIFFERENTIAL GAIN 0 Differential gain when in motion
15 EXTEND FEED FORWARD 100 Feed-forward drive when extending
16 RETRACT FEED FORWARD 100 Feed forward drive when retracting
17 SCALE 32768 Converts TRANSDUCER COUNTS
to position units
18 POSITION OFFSET 0 Offset between position zero and
transducer count zero
19 DIRECTION 0 Direction relative to TRANSDUCER
COUNTS (0=+, -1= -)
20 MAX ERROR 250 Position error limit
21 AT COMMAND POSITION 50 Maximum position error size for a
„true‟ status bit indication
22 NEAR COMMAND POSITION 0 Maximum position error size for a
„true‟ status bit indication
23 EXTEND LIMIT Position at
power-up Maximum position in position units
24 RETRACT LIMIT Position at
power-up Minimum position in position units