Delta Tau GEO BRICK LV User Manual
Geo Brick LV User Manual
PinOuts and Software Setup
131
Encoder Conversion Table Setup (Motors 1-8)
The ECT automatic entry is equivalent to:
I8000=$278B20 ; Entry 1 Unfiltered parallel pos of location Y:$78B20
I8001=$00D006 ; Width and Bias, total of 13-bits LSB starting at bit#6
I8002=$278B24 ; Entry 2 Unfiltered parallel pos of location Y:$78B24
I8003=$00D006 ; Width and Bias, total of 13-bits LSB starting at bit#6
I8004=$278B28 ; Entry 3 Unfiltered parallel pos of location Y:$78B28
I8005=$00D006 ; Width and Bias, total of 13-bits LSB starting at bit#6
I8006=$278B2C ; Entry 4 Unfiltered parallel pos of location Y:$78B2C
I8007=$00D006 ; Width and Bias, total of 13-bits LSB starting at bit#6
I8008=$278B30 ; Entry 5 Unfiltered parallel pos of location Y:$78B30
I8009=$00D006 ; Width and Bias, total of 13-bits LSB starting at bit#6
I8010=$278B34 ; Entry 6 Unfiltered parallel pos of location Y:$78B34
I8011=$00D006 ; Width and Bias, total of 13-bits LSB starting at bit#6
I8012=$278B38 ; Entry 7 Unfiltered parallel pos of location Y:$78B38
I8013=$00D006 ; Width and Bias, total of 13-bits LSB starting at bit#6
I8014=$278B3C ; Entry 8 Unfiltered parallel pos of location Y:$78B3C
I8015=$00D006 ; Width and Bias, total of 13-bits LSB starting at bit#6
I8001=$00D006 ; Width and Bias, total of 13-bits LSB starting at bit#6
I8002=$278B24 ; Entry 2 Unfiltered parallel pos of location Y:$78B24
I8003=$00D006 ; Width and Bias, total of 13-bits LSB starting at bit#6
I8004=$278B28 ; Entry 3 Unfiltered parallel pos of location Y:$78B28
I8005=$00D006 ; Width and Bias, total of 13-bits LSB starting at bit#6
I8006=$278B2C ; Entry 4 Unfiltered parallel pos of location Y:$78B2C
I8007=$00D006 ; Width and Bias, total of 13-bits LSB starting at bit#6
I8008=$278B30 ; Entry 5 Unfiltered parallel pos of location Y:$78B30
I8009=$00D006 ; Width and Bias, total of 13-bits LSB starting at bit#6
I8010=$278B34 ; Entry 6 Unfiltered parallel pos of location Y:$78B34
I8011=$00D006 ; Width and Bias, total of 13-bits LSB starting at bit#6
I8012=$278B38 ; Entry 7 Unfiltered parallel pos of location Y:$78B38
I8013=$00D006 ; Width and Bias, total of 13-bits LSB starting at bit#6
I8014=$278B3C ; Entry 8 Unfiltered parallel pos of location Y:$78B3C
I8015=$00D006 ; Width and Bias, total of 13-bits LSB starting at bit#6
Position (Ixx03) and Velocity (Ixx04) Pointers
I103=$3502
; Motor 1 Position feedback address, ECT processed data
I104=$3502
; Motor 1 Velocity feedback address, ECT processed data
I203=$3504
; Motor 2 Position feedback address, ECT processed data
I204=$3504
; Motor 2 Velocity feedback address, ECT processed data
I303=$3506
; Motor 3 Position feedback address, ECT processed data
I304=$3506
; Motor 3 Velocity feedback address, ECT processed data
I403=$3508
; Motor 4 Position feedback address, ECT processed data
I404=$3508
; Motor 4 Velocity feedback address, ECT processed data
I503=$350A
; Motor 5 Position feedback address, ECT processed data
I504=$350A
; Motor 5 Velocity feedback address, ECT processed data
I603=$350C
; Motor 6 Position feedback address, ECT processed data
I604=$350C
; Motor 6 Velocity feedback address, ECT processed data
I703=$350E
; Motor 7 Position feedback address, ECT processed data
I704=$350E
; Motor 7 Velocity feedback address, ECT processed data
I803=$3510
; Motor 8 Position feedback address, ECT processed data
I804=$3510
; Motor 8 Velocity feedback address, ECT processed data
Motor Activation
I100,8,100=1
; Motors 1-8 Activated
Note
At this point of the setup process, you should be able to move the
motor/encoder shaft by hand and see encoder counts in the position
window.
motor/encoder shaft by hand and see encoder counts in the position
window.