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Delta Tau GEO BRICK LV User Manual

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Geo Brick LV User Manual
 
Motor Type & Protection Power-On PLCs 
 154 
Servo (brushless/brush) Motor Power-On PLC Sample 
The following PLC sets up an 8-axis Geo Brick LV to drive 8 brush or brushless motors: 
 
Open plc 1 clear 
// Disable all other PLCs, and kill motors 
DIS PLC 0 
DIS PLCC 0..31 
DIS PLC 2..31 
CMD^K 
 
// Axis 1 Settings 
CMD"WX:$78014,$F8CCFE" ; Select axis # and set motor mode (Servo)  
I5111 = 50 * 8388608/I10 While(I5111 > 0)EndW 
CMD"WX:$78014,$F84CFE" ; Clear error(s) on selected axis in Servo mode 
I5111 = 50 * 8388608/I10 While(I5111 > 0)EndW 
CMD"WX:$78014,$F00CFE" ; Save and write protect channel from strobe word changes 
I5111 = 50 * 8388608/I10 While(I5111 > 0)EndW 
// Axis 2 Settings 
CMD"WX:$78014,$F9CCFE" ; Select axis # and set motor mode (Servo)  
I5111 = 50 * 8388608/I10 While(I5111 > 0)EndW 
CMD"WX:$78014,$F94CFE" ; Clear error(s) on selected axis in Servo mode 
I5111 = 50 * 8388608/I10 While(I5111 > 0)EndW 
CMD"WX:$78014,$F10CFE" ; Save and write protect channel from strobe word changes 
I5111 = 50 * 8388608/I10 While(I5111 > 0)EndW 
// Axis 3 Settings 
CMD"WX:$78014,$FACCFE" ; Select axis # and set motor mode (Servo)  
I5111 = 50 * 8388608/I10 While(I5111 > 0)EndW 
CMD"WX:$78014,$FA4CFE" ; Clear error(s) on selected axis in Servo mode 
I5111 = 50 * 8388608/I10 While(I5111 > 0)EndW 
CMD"WX:$78014,$F20CFE" ; Save and write protect channel from strobe word changes 
I5111 = 50 * 8388608/I10 While(I5111 > 0)EndW 
// Axis 4 Settings 
CMD"WX:$78014,$FBCCFE" ; Select axis # and set motor mode (Servo)  
I5111 = 50 * 8388608/I10 While(I5111 > 0)EndW 
CMD"WX:$78014,$FB4CFE" ; Clear error(s) on selected axis in Servo mode 
I5111 = 50 * 8388608/I10 While(I5111 > 0)EndW 
CMD"WX:$78014,$F30CFE" ; Save and write protect channel from strobe word changes 
I5111 = 50 * 8388608/I10 While(I5111 > 0)EndW 
// Axis 5 Settings 
CMD"WX:$78114,$F8CCFE" ; Select axis # and set motor mode (Servo)  
I5111 = 50 * 8388608/I10 While(I5111 > 0)EndW 
CMD"WX:$78114,$F84CFE" ; Clear error(s) on selected axis in Servo mode 
I5111 = 50 * 8388608/I10 While(I5111 > 0)EndW 
CMD"WX:$78114,$F00CFE" ; Save and write protect channel from strobe word changes 
I5111 = 50 * 8388608/I10 While(I5111 > 0)EndW 
// Axis 6 Settings 
CMD"WX:$78114,$F9CCFE" ; Select axis # and set motor mode (Servo)  
I5111 = 50 * 8388608/I10 While(I5111 > 0)EndW 
CMD"WX:$78114,$F94CFE" ; Clear error(s) on selected axis in Servo mode 
I5111 = 50 * 8388608/I10 While(I5111 > 0)EndW 
CMD"WX:$78114,$F10CFE" ; Save and write protect channel from strobe word changes 
I5111 = 50 * 8388608/I10 While(I5111 > 0)EndW 
// Axis 7 Settings 
CMD"WX:$78114,$FACCFE" ; Select axis # and set motor mode (Servo)  
I5111 = 50 * 8388608/I10 While(I5111 > 0)EndW 
CMD"WX:$78114,$FA4CFE" ; Clear error(s) on selected axis in Servo mode 
I5111 = 50 * 8388608/I10 While(I5111 > 0)EndW 
CMD"WX:$78114,$F20CFE" ; Save and write protect channel from strobe word changes 
I5111 = 50 * 8388608/I10 While(I5111 > 0)EndW 
// Axis 8 Settings 
CMD"WX:$78114,$FBCCFE" ; Select axis # and set motor mode (Servo)  
I5111 = 50 * 8388608/I10 While(I5111 > 0)EndW 
CMD"WX:$78114,$FB4CFE" ; Clear error(s) on selected axis in Servo mode 
I5111 = 50 * 8388608/I10 While(I5111 > 0)EndW 
CMD"WX:$78114,$F30CFE" ; Save and write protect channel from strobe word changes 
I5111 = 50 * 8388608/I10 While(I5111 > 0)EndW 
Dis PLC 1 
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