Delta Tau GEO BRICK LV User Manual
Geo Brick LV User Manual
Motor Type & Protection Power-On PLCs
155
Hybrid Motor Power-On PLC Sample
Note
It is possible to mix and match motor types per channel.
The following PLC sets up a 4-axis Geo Brick LV to drive stepper motors on channels 1, 2 and servo
motors on channels 3, 4:
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:$78014,$F8CDFE" ; Select axis # and set motor mode (Stepper)
I5111 = 50 * 8388608/I10 While(I5111 > 0)EndW
CMD"WX:$78014,$F84DFE" ; Clear error(s) on selected axis in stepper mode
I5111 = 50 * 8388608/I10 While(I5111 > 0)EndW
CMD"WX:$78014,$F00DFE" ; Save and write protect channel from strobe word changes
I5111 = 50 * 8388608/I10 While(I5111 > 0)EndW
// Axis 2 Settings
CMD"WX:$78014,$F9CDFE" ; Select axis # and set motor mode (Stepper)
I5111 = 50 * 8388608/I10 While(I5111 > 0)EndW
CMD"WX:$78014,$F94DFE" ; Clear error(s) on selected axis in stepper mode
I5111 = 50 * 8388608/I10 While(I5111 > 0)EndW
CMD"WX:$78014,$F10DFE" ; 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
Dis PLC 1
Close
// 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:$78014,$F8CDFE" ; Select axis # and set motor mode (Stepper)
I5111 = 50 * 8388608/I10 While(I5111 > 0)EndW
CMD"WX:$78014,$F84DFE" ; Clear error(s) on selected axis in stepper mode
I5111 = 50 * 8388608/I10 While(I5111 > 0)EndW
CMD"WX:$78014,$F00DFE" ; Save and write protect channel from strobe word changes
I5111 = 50 * 8388608/I10 While(I5111 > 0)EndW
// Axis 2 Settings
CMD"WX:$78014,$F9CDFE" ; Select axis # and set motor mode (Stepper)
I5111 = 50 * 8388608/I10 While(I5111 > 0)EndW
CMD"WX:$78014,$F94DFE" ; Clear error(s) on selected axis in stepper mode
I5111 = 50 * 8388608/I10 While(I5111 > 0)EndW
CMD"WX:$78014,$F10DFE" ; 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
Dis PLC 1
Close
Note
With firmware version 1.947 or later, it is possible to write to the
strobe word using the corresponding Servo IC parameter I7m06
instead of using the online command syntax CMD" " with WX (write
to X register) format.
strobe word using the corresponding Servo IC parameter I7m06
instead of using the online command syntax CMD" " with WX (write
to X register) format.