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Delta Tau GEO BRICK LV User Manual

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Geo Brick LV User Manual
 
Motor Setup 
 160 
Current Feedback, ADC Mask, Commutation angle: Ixx82, Ixx84, Ixx72  
I182=$078006 
 
; Motor 1 Current Feedback Address  
I282=$07800E 
 
; Motor 2 Current Feedback Address 
I382=$078016 
 
; Motor 3 Current Feedback Address 
I482=$07801E 
 
; Motor 4 Current Feedback Address 
I582=$078106 
 
; Motor 5 Current Feedback Address 
I682=$07810E 
 
; Motor 6 Current Feedback Address 
I782=$078116 
 
; Motor 7 Current Feedback Address 
I882=$07811E 
 
; Motor 8 Current Feedback Address 
I184,8,100=$FFFC00 
; Motors 1-8 Current Loop Feedback Mask, 14-bit (Geo Brick LV Specific) 
I172,8,100=512  
; Commutation Phase Angle.2-Phase opposite voltage & current sign 
 
 
 
; (Geo Brick LV Specific) 
 
Flag Address, Mode Control: Ixx25, Ixx24 
I125=$078000 
 
; Motor 1 Flag Address  
I225=$078008 
 
; Motor 2 Flag Address 
I325=$078010 
 
; Motor 3 Flag Address 
I425=$078018 
 
; Motor 4 Flag Address 
I525=$078100 
 
; Motor 5 Flag Address 
I625=$078108 
 
; Motor 6 Flag Address 
I725=$078110 
 
; Motor 7 Flag Address 
I825=$078118 
 
; Motor 8 Flag Address 
I124=$800401 
 
; Motor 1 Flag Control. High True Amp Fault, disable 3
rd
 Harmonic  
I224=$800401 
 
; Motor 2 Flag Control. High True Amp Fault, disable 3
rd
 Harmonic 
I324=$800401 
 
; Motor 3 Flag Control. High True Amp Fault, disable 3
rd
 Harmonic 
I424=$800401 
 
; Motor 4 Flag Control. High True Amp Fault, disable 3
rd
 Harmonic 
I524=$800401 
 
; Motor 5 Flag Control. High True Amp Fault, disable 3
rd
 Harmonic 
I624=$800401 
 
; Motor 6 Flag Control. High True Amp Fault, disable 3
rd
 Harmonic 
I724=$800401 
 
; Motor 7 Flag Control. High True Amp Fault, disable 3
rd
 Harmonic 
I824=$800401 
 
; Motor 8 Flag Control. High True Amp Fault, disable 3
rd
 Harmonic 
 
Commutation Address, Cycle size: Ixx83, Ixx70, Ixx71  
I183=$3503 
 
; Motor 1 on-going Commutation Address (ECT Integration Result) 
I283=$3506 
 
; Motor 2 on-going Commutation Address (ECT Integration Result) 
 
I383=$3509 
 
; Motor 3 on-going Commutation Address (ECT Integration Result) 
I483=$350C 
 
; Motor 4 on-going Commutation Address (ECT Integration Result) 
I583=$350F 
 
; Motor 5 on-going Commutation Address (ECT Integration Result) 
I683=$3512 
 
; Motor 6 on-going Commutation Address (ECT Integration Result) 
I783=$3515 
 
; Motor 7 on-going Commutation Address (ECT Integration Result) 
I883=$3518 
 
; Motor 8 on-going Commutation Address (ECT Integration Result) 
I170,8,100=1 
 
; Motors 1-8 Single cycle size  
I171,8,100=65536 
; Microsteps per Ixx70 commutation cycles