Delta Tau Geo Brick, User Manual

Page: 72 / 294

Geo Brick Drive User Manual
Pinouts and Software Setup 72
Calculating The Tracking Filter Gains
The tracking filter gains are system dependent, and need to be fine-tuned. This can be done by gathering
and plotting filtered versus unfiltered data while moving the motor shaft manually. Best case scenario is
super-imposing the filtered data on top of the unfiltered with minimum ripple and overshoot.
The empirical equations for the filter’s proportional and integral gains (usually acceptable most
applications) present a good starting point:
F
f
: Filter Frequency (Hz)
S
f
: Servo Frequency (Hz)
( )
( )
Motors 1-8 Resolver Encoder Conversion Table Setup Example
// Channel 1
I8000= $F78B00 ; Resolver Counter Clockwise
I8001= $478B10 ; Excitation address
I8002= $000000 ; SIN/COS Bias word
I8003=$D83503 ; Tracking filter from conversion location $3503
I8004=$400
; Maximum change in counts/cycle
I8005=$80000 ; Proportional gain
I8006=$0 ; Reserved setup word
I8007=$1 ; Integral gain
// Channel 2
I8008=$F78B02 ; Resolver Counter Clockwise
I8009=$478B10 ; Excitation address
I8010=$000000 ; SIN/COS Bias word
I8011=$D8350B ; Tracking filter from conversion location $350B
I8012=$400
; Maximum change in counts/cycle
I8013=$80000 ; Proportional gain
I8014=$0 ; Reserved setup word
I8015=$1 ; Integral gain
// Channel 3
I8016=$F78B04 ; Resolver Counter Clockwise
I8017=$478B10 ; Excitation address
I8018=$000000 ; SIN/COS Bias word
I8019=$D83513 ; Tracking filter from conversion location $3513
I8020=$400
; Maximum change in counts/cycle
I8021=$80000 ; Proportional gain
I8022=$0 ; Reserved setup word
I8023=$1 ; Integral gain
// Channel 4
I8024=$F78B06 ; Resolver Counter Clockwise
I8025=$478B10 ; Excitation address
I8026=$000000 ; SIN/COS Bias word
I8027=$D8351B ; Tracking filter from conversion location $351B
I8028=$400
; Maximum change in counts/cycle
I8029=$80000 ; Proportional gain
I8030=$0 ; Reserved setup word
I8031=$1 ; Integral gain
// Channel 5
I8032=$F78B08 ; Resolver Counter Clockwise
I8033=$478B10 ; Excitation address
I8034=$000000 ; SIN/COS Bias word
I8035=$D83523 ; Tracking filter from conversion location $3523
I8036=$400
; Maximum change in counts/cycle
I8037=$80000 ; Proportional gain
I8038=$0 ; Reserved setup word
I8039=$1 ; Integral gain
// Channel 6
I8040=$F78B0A ; Resolver Counter Clockwise