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AVR172
3.3.1 Time of steps
The step time is RAMP_UP_PERIOD = 50ms.
3.3.2 Number of steps
The parameter : RAMP_UP_INDEX_MAX = 9, defines 10 steps ramp up.
3.3.3 Parameters tables
In firmware example, the tables have been defined according to the characteristics of
the motor provided in the kit (see parameters in 2.4 Motor section) :
ramp_up_time_table[] = {26,23,20,17,14,11,8,5,3,2,2};
ramp_up_duty_table[] = {122,124,126,129,131,133,135,137,140,143,145};
3.3.4 Sp1/pwm1
The usual parameters described in AVR928 Application Note are:
?
?
Pwm1 = 50%
Sp1 = Sp_max/60
The parameters defined with MC310 Tecmotion motor are:
?
?
Pwm1 = 48% (= 122/256)
Sp1 :
Sp1 is defined thanks to the initialization value of ru_step_length :
ru_step_length = RAMP_UP_STEP_MAX = 40
This variable determines one commutation each 40ms.
So an electrical rotation time is 120ms. As the motor has 4 pairs of poles, the
mechanical rotation time is 480ms. So the rotation speed is 60/0.48 = 125 rpm.
So Sp1 = Sp_max/32.
The second value of ru_step_length is 26 in the time table. It defines the following
commutation time.
3.3.5 Sp2/pwm2
The theorical parameters described in AVR928 Application Note are:
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?
Pwm2 = 60%
Sp2 = Sp_max/6 = Sp1 / 10
The parameters defined with Tecmotion motor are:
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Pwm2 = 57% (= 145/256)
Sp2 :
Sp2 is defined thanks to the last value of ru_step_length : 2
This variable determines one commutation each 4ms.
So an electrical rotation time is 12ms. As the motor has 4 pairs of poles, the
mechanical rotation time is 48ms. So the rotation speed is 60/0.048 = 1250 rpm.
So Sp2 = Sp_max/3.2.
7
8306B-AVR-05/10
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