Delta Tau GEO BRICK LV User Manual
Geo Brick LV User Manual
PinOuts and Software Setup
54
Issuing Closed-Loop Commands
Issuing closed-loop commands requires activating the channel, setting the flag control, assigning the
position and velocity pointers, and implementing PID gains.
Activating channels, Ixx00
position and velocity pointers, and implementing PID gains.
Activating channels, Ixx00
I500,4,100=1
; Channels 5-8 active
Assigning position and velocity pointers, Ixx03 and Ixx04
I503=$3505 I504=$3505 ; Channel 5 position and velocity pointers
I603=$3506 I604=$3506 ; Channel 6 position and velocity pointers
I703=$3507 I704=$3507 ; Channel 7 position and velocity pointers
I803=$3508 I804=$3508 ; Channel 8 position and velocity pointers
I603=$3506 I604=$3506 ; Channel 6 position and velocity pointers
I703=$3507 I704=$3507 ; Channel 7 position and velocity pointers
I803=$3508 I804=$3508 ; Channel 8 position and velocity pointers
Flag Control, Ixx24
The following diagram showcases important bit settings pertaining to flags, and amplifier information:
23 22 21 20 19 18 17 16 15 14 13 12 11 10
9
8
7
6
5
4
3
2
1
0
Amplifier Enable Use Bit
= 0 Use amp enable output
= 1 Don’t use amp enable
Amplifier Fault Use Bit
= 0 Enable amp fault input
= 1 Disable amp fault input
Overtravel Limit Use Bit
= 0 Enable hardware over-travel limits
= 1 Disable hardware over-travel limits
= 1 Disable hardware over-travel limits
Amplifier Fault Polarity Bit
= 0 For low true amp
= 1 For high true amp
Bit #:
Flag Register Type
Always =1 for Brick Controller
(Turbo PMAC)
Example:
Setting Ixx24 for a low true amplifier, disabling the over-travel limits and amplifier fault input yields
$120001.