;在使用步进电机时,首先要去除1/T扩展,然后,加入死区,并设置死区的大小
;以#1为例,I8000=$C78000($78000)
;Ix64=-16 ;死区有效
;Ix65=16(1cts),32(2cts)...

D_elete Gather (把“_”删去)

i8000=$C78000
i164=-16
i165=16

I102 = $78004 ;Command Output Address
I7000 = 6527 ;PWM frequency = Default
I7001 = 0 ;Phase Clock = Default
I7003 = 2258 ;Clock Control (*=default, 327 KHz step rate )
I7004 = 15 ;Pulse Width (*=default, 1.526 usec.)
I7016 = 3 ;Output Mode - Pulse
I7017 = 2 ;Output Pulse Polarity (2 = low)
I7018 = 0 ;Direction Signal Polarity (+ = low)
I169 = 2114 ;Pulse Frequency Limit (327 KHz)
I170 = 0 ;Number of Commutation Cycles

;Position Feedback
I7010 = 3 ;Open loop, Encoder Decode = Internal *
;I7010 = 3 or 7 ;Closed loop, X4 CW, X4 CCW

;PID Gains for open loop stepper
I130=700 ;P gain = 660000 / 96 (Ix08) * 9.83 (PFMCLK freq.)
I131=0 ;D gain = 0
I132=15050 ;VFF = 6660 * 2.26 (Servo Freq)
I133=0 ;I gain = 0
I134=1 ;I mode = 1
I135=0 ;AFF = 0
I124=$120001

I100=1 ;To activate motor
#1hmz


i8001=$C78008
i264=-16
i265=16


I202 = $7800C ;Command Output Address
I7000 = 6527 ;PWM frequency = Default
I7001 = 0 ;Phase Clock = Default
I7003 = 2258 ;Clock Control (*=default, 327 KHz step rate )
I7004 = 15 ;Pulse Width (*=default, 1.526 usec.)
I7026 = 3 ;Output Mode - Pulse
I7027 = 2 ;Output Pulse Polarity (2 = low)
I7028 = 0 ;Direction Signal Polarity (+ = low)
I269 = 2114 ;Pulse Frequency Limit (327 KHz)
I270 = 0 ;Number of Commutation Cycles

;Position Feedback
I7020 = 3 ;Open loop, Encoder Decode = Internal *
;I7020 = 3 or 7 ;Closed loop, X4 CW, X4 CCW

;PID Gains for open loop stepper
I230=700 ;P gain = 660000 / 96 (Ix08) * 9.83 (PFMCLK freq.)
I231=0 ;D gain = 0
I232=15050 ;VFF = 6660 * 2.26 (Servo Freq)
I233=0 ;I gain = 0
I234=1 ;I mode = 1
I235=0 ;AFF = 0
I224=$120001

I200=1 ;To activate motor
#2hmz

i8002=$C78010
i364=-16
i365=16



I302 = $78014 ;Command Output Address
I7000 = 6527 ;PWM frequency = Default
I7001 = 0 ;Phase Clock = Default
I7003 = 2258 ;Clock Control (*=default, 327 KHz step rate )
I7004 = 15 ;Pulse Width (*=default, 1.526 usec.)
I7036 = 3 ;Output Mode - Pulse
I7037 = 2 ;Output Pulse Polarity (2 = low)
I7038 = 0 ;Direction Signal Polarity (+ = low)
I369 = 2114 ;Pulse Frequency Limit (327 KHz)
I370 = 0 ;Number of Commutation Cycles

;Position Feedback
I7030 = 3 ;Open loop, Encoder Decode = Internal *
;I7030 = 3 or 7 ;Closed loop, X4 CW, X4 CCW

;PID Gains for open loop stepper
I330=700 ;P gain = 660000 / 96 (Ix08) * 9.83 (PFMCLK freq.)
I331=0 ;D gain = 0
I332=15050 ;VFF = 6660 * 2.26 (Servo Freq)
I333=0 ;I gain = 0
I334=1 ;I mode = 1
I335=0 ;AFF = 0
I324=$120001

I300=1 ;To activate motor,
#3hmz

i8003=$C78018
i464=-16
i465=16


I402 = $7801C ;Command Output Address
I7000 = 6527 ;PWM frequency = Default
I7001 = 0 ;Phase Clock = Default
I7003 = 2258 ;Clock Control (*=default, 327 KHz step rate )
I7004 = 15 ;Pulse Width (*=default, 1.526 usec.)
I7046 = 3 ;Output Mode - Pulse
I7047 = 2 ;Output