Servo Update Rate
With ACC28E for data sampling, servo cycle = 1.13KHz., according to servo update time = 885 usec.If you change the servo update time with the jumpers, you must change pa-rameter I10 to match the change in order that trajectories are executed at the right speed.
Jumper Setting
E98: DAC/ADC Clock Frequency Control
Jump 2-3 to provide a 1.22MHz DCLK signal to DACs and ADCs. Important for high accuracy A/D conversion on Acc-28.Jump 1-2 to provide a 2.45MHz DCLK signal to DACs and ADCs.
only E31 is ON,Phase Clock Frequency = 4.52 kHz
E3 - E6: Servo Clock Frequency Control
Servo Clock = Phase Clock Divided by N ( Only E5 and E6 ON, N = 4)
I10 Servo Interrupt Time
I10 = 8,388,608* N / PhaseFrequency(kHz)
= 8,388,608 *4 / 4.52
= 7,423,547
来自 “ ITPUB博客 ” ，链接：https://blog.itpub.net/61367/viewspace-717554/ ，如需转载，请注明出处，否则将追究法律责任。
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