Delta Tau GEO BRICK LV User Manual

 

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Remember to create/edit the motor type and protection power-on PLC 

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At this point of the setup it is assumed that the encoder has been wired and configured correctly 
in  the  Encoder  Feedback  section.  And  that  moving  the  motor/encoder  shaft  by  hand  shows 
encoder counts in the position window. 

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Parameters  with  Comments  ending  with  -User  Input  require  the  user  to  enter  information 
pertaining to their system/hardware. 

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Downloading and using the suggested M-variables is highly recommended.   

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Detailed description of motor setup parameters can be found in the 

 

I124,8,100=$800001 

; Motors 1-8 Flag control, High true amp fault (Geo Brick LV specific)   

I172,8,100=683  

; Motors 1-8 Commutation phase angle (Geo Brick LV specific)  

I184,8,100=$FFFC00 

; Motors 1-8 Current-Loop Feedback Mask Word (Geo Brick LV specific) 

  

 

I166=0.95 * I7000 

 

; Motor #1 PWM Scale Factor, typical setting 

I266=I166 I366=I166 I466=I166 ; Assuming same motor(s) as motor #1  
I566=I166 I666=I166 I766=I166 I866=I166 ; Assuming same motor(s) as motor #1 

 
If Bus Voltage > Motor Rated Voltage: 
Ixx66 acts as a voltage limiter. In order to obtain full voltage output it is set to the PWM count divided by 
DC Bus/Motor voltage ratio: 

#define DCBusInput 

60 

; DC Bus Voltage -User Input  

 
#define Mtr1Voltage 

24 

; Motor 1 Rated Voltage [VDC]-User Input 

#define Mtr2Voltage 

24 

; Motor 2 Rated Voltage [VDC]-User Input 

#define Mtr3Voltage 

24 

; Motor 3 Rated Voltage [VDC]-User Input 

#define Mtr4Voltage 

24 

; Motor 4 Rated Voltage [VDC]-User Input 

#define Mtr5Voltage 

24 

; Motor 5 Rated Voltage [VDC]-User Input 

#define Mtr6Voltage 

24 

; Motor 6 Rated Voltage [VDC]-User Input 

#define Mtr7Voltage 

24 

; Motor 7 Rated Voltage [VDC]-User Input 

#define Mtr8Voltage 

24 

; Motor 8 Rated Voltage [VDC]-User Input 

 
I166=I7000*Mtr1Voltage/DCBusInput 

; Motor 1 PWM Scale Factor 

I266=I7000*Mtr2Voltage/DCBusInput 

; Motor 2 PWM Scale Factor 

I366=I7000*Mtr3Voltage/DCBusInput 

; Motor 3 PWM Scale Factor 

I466=I7000*Mtr4Voltage/DCBusInput 

; Motor 4 PWM Scale Factor 

I566=I7000*Mtr5Voltage/DCBusInput 

; Motor 5 PWM Scale Factor 

I666=I7000*Mtr6Voltage/DCBusInput 

; Motor 6 PWM Scale Factor 

I766=I7000*Mtr7Voltage/DCBusInput 

; Motor 7 PWM Scale Factor 

I866=I7000*Mtr8Voltage/DCBusInput 

; Motor 8 PWM Scale Factor 

 

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