Control Equations - Delta Computer Systems TMC 188/40 Series Manual

TMC 188/40 Motion Control Module

Control Equations

These are the main equations that are used for target position calculations:
2000 x Distance
Ramp Time =
Speed x Speed
A =
2000 x Distance
Ramp Time in milliseconds
Speed in thousandths of an inch per second
Distance is acceleration or deceleration distance in thousandths of inches
A is acceleration or deceleration rate in inches per second per second
ACTUAL POSITION = ((COUNTS X SCALE /32768) XOR DIRECTION) + OFFSET
RAMP DIST = SPEED x SPEED /(ACCEL RATE x 2000)
DRIVE OUTPUT = Proportional Drive + Feed Forward Drive + Integral Drive
+ Differential Drive
Where:
Proportional Drive = (TARGET POSITION - ACTUAL POSITION) x PROPORTIONAL GAIN
Feed Forward Drive = TARGET SPEED x FEED FORWARD
Integral Drive = INTEGRAL GAIN x Accumulated error
Differentiator Drive = (TARGET SPEED - ACTUAL SPEED) x DIFFERENTIAL GAIN
Delta Computer Systems, Inc. 360/254-8688
Speed
10000
10000
Appendix A: Maps, Tips, and Commands
100
100
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