Delta Tau GEO BRICK LV User Manual
Geo Brick LV User Manual
Motor Setup
167
Commutation Position Address, Commutation Enable: Ixx83, Ixx01
Quadrature / Sinusoidal / HiperFace
For these types of feedback devices, it is recommended to use the quadrature data for commutation. And
Ixx01 should be equal to 1, indicating commutation from an X-register:
Ixx01 should be equal to 1, indicating commutation from an X-register:
I183=$078001
; Motor 1 Commutation source address
I283=$078009
; Motor 2 Commutation source address
I383=$078011
; Motor 3 Commutation source address
I483=$078019
; Motor 4 Commutation source address
I583=$078101
; Motor 5 Commutation source address
I683=$078109
; Motor 6 Commutation source address
I783=$078111
; Motor 7 Commutation source address
I883=$078119
; Motor 8 Commutation source address
I101,8,100=1
; Motors 1-8 Commutation Enabled, from X-register
SSI / EnDat / BiSS
Technique 1
PMAC expects the commutation data to be left most shifted. With technique 1, this is satisfied if the
encoder data fulfills or exceeds 24 bits. But if the data length is less than 24 bits then it is recommended,
for simplicity, to use the processed encoder conversion table result. Ixx01 is then set up correspondingly
for either a Y- or X- register.
encoder data fulfills or exceeds 24 bits. But if the data length is less than 24 bits then it is recommended,
for simplicity, to use the processed encoder conversion table result. Ixx01 is then set up correspondingly
for either a Y- or X- register.
If the Singleturn + Multiturn data fulfills 24 bits; ST+MT ≥ 24 bits:
I183=$78B20
; Motor 1 Commutation source address
I283=$78B24
; Motor 2 Commutation source address
I383=$78B28
; Motor 3 Commutation source address
I483=$78B2C
; Motor 4 Commutation source address
I583=$78B30
; Motor 5 Commutation source address
I683=$78B34
; Motor 6 Commutation source address
I783=$78B38
; Motor 7 Commutation source address
I883=$78B3C
; Motor 8 Commutation source address
I101,8,100=3
; Motors 1-8 Commutation Enabled, from Y-register
If the Singleturn + Multiturn data does not fulfill 24 bits; ST+MT < 24 bits:
I183=I104
; Motor 1 Commutation source address
I283=I204
; Motor 2 Commutation source address
I383=I304
; Motor 3 Commutation source address
I483=I404
; Motor 4 Commutation source address
I583=I504
; Motor 5 Commutation source address
I683=I604
; Motor 6 Commutation source address
I783=I704
; Motor 7 Commutation source address
I883=I804
; Motor 8 Commutation source address
I101,8,100=1
; Motors 1-8 Commutation Enabled, from X-register
Technique 2/3
With techniques 2 and 3, the commutation-dedicated encoder conversion table (see feedback setup
section) result is the commutation source. And Ixx01 should be equal to 1 indicating an X-register:
section) result is the commutation source. And Ixx01 should be equal to 1 indicating an X-register:
// These addresses can differ depending on the encoder conversion table management
I183=$3512
I183=$3512
; Motor 1 Commutation source address -User Input
I283=$3514
; Motor 2 Commutation source address -User Input
I383=$3516
; Motor 3 Commutation source address -User Input
I483=$3518
; Motor 4 Commutation source address -User Input
I583=$351A
; Motor 5 Commutation source address -User Input
I683=$351C
; Motor 6 Commutation source address -User Input
I783=$351E
; Motor 7 Commutation source address -User Input
I883=$3520
; Motor 8 Commutation source address -User Input
I101,8,100=1
; Motors 1-8 Commutation Enabled, from X-register