Vinit Axis Initialization Parameters - Delta Computer Systems TMC 188/40 Series Manual

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