PMAC(Clipper或IMAC)连接驱动器速度模式配置实例.docVIP

PMAC(Clipper或IMAC)连接驱动器速度模式配置实例 CloseD_elete Gather (把“_”删去)I7000 = 1001 ;PWM frequency 29.4kHz, PWM 1-4I7001 = 5 ;Phase Clock 9.8kHzI7002 = 3 ;Servo frequency 2.45kHzI7003 = 1746 ;ADC frequencyI10 = 3421867 ;Servo interrupt time; Velocity Loop;///////////////////////////////////////////////I101=0 ;Disable the commutationI102 = $78002 ;Command Output AddressI124=$120001 ; Enable Amp Fault, disable hardware limits;Example PID Gains for Velocity LoopI130=1500 ;P gain = defaultI131=2200 ;D gain, It can change P gain in velocity loopI132=2200 ;Same function as I131I133=3500 ;StabilityI7010 = 3 ;Closed loop, X4 CCWI7016 = 0 ;Output mode: PWMI169 = 1001 ;DAC limit 10VdcI100=1 ; Activate Motor;///////////////////////////////////////////////I201=0 ;Disable the commutationI202 = $7800A ;Command Output AddressI224=$120001 ; Enable Amp Fault, disable hardware limits;Example PID Gains for Velocity LoopI230=1500 ;P gain = defaultI231=2200 ;D gain, It can change P gain in velocity loopI232=2200 ;Same function as I131I233=3500 ;StabilityI7020 = 3 ;Closed loop, X4 CCWI7026 = 0 ;Output mode: PWMI269 = 1001 ;DAC limit 10VdcI200=1 ; Activate Motor;///////////////////////////////////////////////I301=0 ;Disable the commutationI302 = $78012 ;Command Output AddressI324=$120001 ; Enable Amp Fault, disable hardware limits;Example PID Gains for Velocity LoopI330=1500 ;P gain = defaultI331=2200 ;D gain, It can change P gain in velocity loopI332=2200 ;Same function as I131I333=3500 ;StabilityI7030 = 3 ;Closed loop, X4 CCWI7036 = 0 ;Output mode: PWMI369 = 1001 ;DAC limit 10VdcI300=1 ; Activate Motor;///////////////////////////////////////////////I401=0 ;Disable the commutationI402 = $7801A ;Command Output AddressI424=$120001 ; Enable Amp Fault, disable hardware limits;Example PID Gains for Velocity LoopI430=1500 ;P gain = defaultI431=2200 ;D gain, It can change P gain in velocity loopI432=2200 ;Same function as I131I433=3500 ;Stabil