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Delta Tau GEO BRICK LV User Manual

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Geo Brick LV User Manual
 
Motor Setup 
 197 
Flags, Commutation, Phase Angle, ADC Mask: Ixx24, Ixx01, Ixx72, Ixx84 
I124,8,100=$800001 
; Motors 1-8 Flag control, High true amp fault (Geo Brick LV specific)   
I101,8,100=1 
 
; Motors 1-8 Commutation enabled 
I172,8,100=512  
; 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) 
  
 
PWM Scale Factor: Ixx66 
If Motor Rated Voltage > Bus Voltage: 
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  about  10%  over  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 
 
Current Feedback Address: Ixx82 
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