New Vread Parameter Definitions; Vinit V Memory - Delta Computer Systems TMC 188/40 Series Manual

TMC 188/40 Motion Control Module

New VREAD Parameter Definitions

NULL DRIVE -
The current values of NULL DRIVE are available to the P/C.
PRESSURE COUNTS -
PRESSURE COUNTS is the reading from the analog-to-digital converter with no scaling or
offset. PRESSURE COUNTS is a 12-bit number read every 2 milliseconds.
PRESSURE ACTUAL -
PRESSURE ACTUAL is the value obtained by scaling and offsetting the pressure counts as
follows:
PRESSURE ACTUAL = PRESSURE SCALE x (PRESSURE COUNTS + PRESSURE
OFFSET)

VINIT V Memory

The VINIT initialization parameters in V Memory pointed to by WY1 through WY4 have been
expanded from 24 to 34 words. Here is the new parameter list:
WORD
0 PRESSURE DIFFERENTIATOR
1 PRESSURE INTEGRATOR
2 PRESSURE GAIN
3 PRESSURE SCALE
4 PRESSURE OFFSET
5 PRESSURE RAMP
6 PRESSURE LOW
7 PRESSURE COMMAND
8 Reserved
9 Reserved
10 NEW NULL
11 ESTOP MASK
12 HALT MASK
13 Reserved
14 FEED FORWARD ADVANCE
15 NULL UPDATE
16 Reserved
17 DITHER
18 HYSTERESIS
19 STATIC GAIN
20 EXTEND GAIN
21 RETRACT GAIN
22 INTEGRAL GAIN
23 DIFFERENTIAL GAIN 0
24 EXTEND FEED FORWARD
25 RETRACT FEED FORWARD
26 SCALE
27 OFFSET
28 DIRECTION
29 MAXIMUM POSITION ERROR
30 AT COMMAND POSITION
31 NEAR COMMAND POSITION
32 EXTEND LIMIT
Delta Computer Systems, Inc. 360/254-8688
PARAMETER
Appendix B: ASBX/40 Module
1000
DEFAULT VALUE
0
0
1000
1000
0
0
32767
32767
0
0
0
0FFFFH
0
0
0
500
0
0
0
50
50
50
50
100
100
32768
0
0
250
50
0
Position on power up
77