Power Brick Controller User Manual
Manual Motor Setup
119
Recommended Clock Frequencies
The recommended clock frequency settings for the Power Brick Controller are 10 kHz Phase, 10 kHz PWM,
and 5 kHz Servo.
The write protection
Sys.WpKey
must be disabled to write to these key gate and system elements.
The maximum coordinate system
Sys.MaxCoords
and motor
Sys.MaxMotors
settings are optional
but strongly recommended to be limited to the actual usage. This improves overall performance.
Sys.ServoPeriod
and
Sys.PhaseOverServoPeriod
are critical for proper implementation of the clock
settings. Make sure equations are computed.
Sys.RtIntPeriod
specifies the cycle of the “real-time interrupt”.
The Servo frequency is determined from the phase clock using the following equation:
f
Phase
f
servo
=
PowerBrick[
i
].Chan[
j
].ServoCl 1
The PWM frequency is determined from the phase clock using the following equation:
PowerBrick[
i
].Chan[
j
].PwmFr 1
f
PWM
=
2
× f
Phase
Note
A
Save
, followed by a
$$$
or power cycle is advised after changing
clock settings.
Note
Filtered PWM Clock Settings require 30 KHz PWM frequency. The
recommended clock settings for Filtered PWM are explained in its
motor setup section.
Sys.WpKey = $AAAAAAAA
Sys.MaxCoords =
3
Sys.MaxMotors =
9
PowerBrick[
1
].PhaseFreq =
10000
PowerBrick[
1
].ServoClockDiv =
1
PowerBrick[
0
].PhaseFreq =
10000
PowerBrick[
0
].ServoClockDiv =
1
Sys.RtIntPeriod =
0
Sys.ServoPeriod =
1000
* (PowerBrick[
0
].ServoCl
1
) / PowerBrick[
0
].PhaseFreq
Sys.PhaseOverServoPeriod =
1
/ (PowerBrick[
0
].ServoCl
1
)
PowerBrick[
0
].Chan[
0
].PwmFreqMult =
1
PowerBrick[
0
].Chan[
1
].PwmFreqMult =
1
PowerBrick[
0
].Chan[
2
].PwmFreqMult =
1
PowerBrick[
0
].Chan[
3
].PwmFreqMult =
1
PowerBrick[
1
].Chan[
0
].PwmFreqMult =
1
PowerBrick[
1
].Chan[
1
].PwmFreqMult =
1
PowerBrick[
1
].Chan[
2
].PwmFreqMult =
1
PowerBrick[
1
].Chan[
3
].PwmFreqMult =
1
