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Delta Tau GEO BRICK LV User Manual

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Geo Brick LV User Manual
 
Motor Setup 
 159 
Motor (Quadrature/Torque) command value Registers 
Motor#  Address (X-memory)    Motor#  Address (X-memory) 
1 
$0000BF 
 
5 
$0002BF 
2 
$00013F 
 
6 
$00033F 
3 
$0001BF 
 
7 
$0003BF 
4 
$00023F 
 
8 
$00043F 
 
Motors 1-8 Stepper Setup Encoder Conversion Table 
I8000=$6800BF  ; Parallel read of Y/X:$BF 
I8001=$18018 
; Use 24 bits starting at X bit 0 
I8002=$EC0001  ; Integrate result from I8001 
I8003=$68013F  ; Parallel read of Y/X:$13F 
I8004=$18018 
; Use 24 bits starting at X bit 0 
I8005=$EC0004  ; Integrate result from I8004 
I8006=$6801BF  ; Parallel read of Y/X:$1BF 
I8007=$18018 
; Use 24 bits starting at X bit 0 
I8008=$EC0007  ; Integrate result from I8007 
I8009=$68023F  ; Parallel read of Y/X:$23F 
I8010=$18018 
; Use 24 bits starting at X bit 0 
I8011=$EC000A  ; Integrate result from I8010 
I8012=$6802BF  ; Parallel read of Y/X:$2BF 
I8013=$18018 
; Use 24 bits starting at X bit 0 
I8014=$EC000D  ; Integrate result from I8013 
I8015=$68033F  ; Parallel read of Y/X:$33F 
I8016=$18018 
; Use 24 bits starting at X bit 0 
I8017=$EC0010  ; Integrate result from I8016 
I8018=$6803BF  ; Parallel read of Y/X:$3BF 
I8019=$18018 
; Use 24 bits starting at X bit 0 
I8020=$EC0013  ; Integrate result from I8019 
I8021=$68043F  ; Parallel read of Y/X:$43F 
I8022=$18018 
; Use 24 bits starting at X bit 0 
I8023=$EC0016  ; Integrate result from I8022 
 
Position, Velocity Pointers: Ixx03, Ixx04 
The position and velocity pointers (no external encoder used) will be set to the integration result:  
I103=$3503 
I104=$3503 
; Motor 1 position and velocity feedback 
I203=$3506 
I204=$3506 
; Motor 2 position and velocity feedback 
I303=$3509 
I304=$3509 
; Motor 3 position and velocity feedback 
I403=$350C 
I404=$350C 
; Motor 4 position and velocity feedback 
I503=$350F 
I504=$350F 
; Motor 5 position and velocity feedback 
I603=$3512 
I604=$3512 
; Motor 6 position and velocity feedback 
I703=$3515 
I704=$3515 
; Motor 7 position and velocity feedback 
I803=$3518 
I804=$3518 
; Motor 8 position and velocity feedback 
 
Motor Activation, Commutation Enable: Ixx00, Ixx01 
I100,8,100=1 
; Motors 1-8 active 
I101,8,100=1 
; Motors 1-8 Commutation Enabled (from X-register) 
 
Command Output Address: Ixx02 
I102=$078002 
 
; Motor 1 Output Address 
I202=$07800A 
 
; Motor 2 Output Address 
I302=$078012 
 
; Motor 3 Output Address 
I402=$07801A 
 
; Motor 4 Output Address 
I502=$078102 
 
; Motor 5 Output Address 
I602=$07810A 
 
; Motor 6 Output Address 
I702=$078112 
 
; Motor 7 Output Address 
I802=$07811A 
 
; Motor 8 Output Address