Trinamic SIXpack 2, Руководство пользователя

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SIXpack 2 – Manual (V1.10 / January 29
th
, 2010) 35
6.8 Default values
For testing purposes here is a list of default values for motor parameters:
clkdiv =5; div =2; // 26 kHz microstep-frequency
vstart =5; // starting with 254 Hz (should be >=8)
amax =128; vmax =511; // increments v by 128/16=8 each 2 ms
vmin =4; vrefmax =100; // 102 Hz / 5086 Hz for reference drive
poslimit
=400*16; // 400 full- = 6400 microsteps/revolution
testnullrange =15*16; // ignore switch in range –240 ... 240
Peak current=128;
// define 100% curr. control as 400 mA
T0 =500; // wait 1000 ms before standby
I0 =00%(!); // waste no energy for unused motors
I1 =50%; // power stopped motors with 200 mA
I2 =75%; // power v const. motors with 300 mA
I3 =100%; // power accelerat. motors with 400 mA
motortype=
Delayedtest0 | NullCenter | Filterswitch | FastRef;
De-bounce mask=$0FFF;
// Filter delay 12-1 cycles = 22 ms
Readymask=$3F; // check any active motor
Refer.-Readymask=$3F; // check any referencing motor
propdiv
=8; // v = position-difference / 8
intdiv =129; // v += pos-difference integral / 129
intclip =129; // clip pos-difference integrals > 129
intinpclip =1; // integrate pos-difference of max. 1
All other values are set to 0, i.e. the functions are disabled.