Delta Tau GEO BRICK DRIVE Manuel D’Utilisation

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At this point of the setup process 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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Description of the setup parameters can be found in the 

 

I172,8,100=1365 

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

I184,8,100=$FFF000 

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

  

 

I166=1.10*I7000 

; Motor #1 PWM Scale Factor. Set to 10% above PWM Count. 

I266=I166 I366=I166 I466=I166 I566=I166 

; Assuming same motor(s) as motor #1  

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. For example: 

#define DCBusInput 

325 

; DC Bus Voltage [VDC] = 1.414* 230 VAC -User Input  

 
#define Mtr1Voltage 

156 

; Motor 1 Rated Voltage [VDC], 110 VAC Motor -User Input 

#define Mtr2Voltage 

156 

; Motor 2 Rated Voltage [VDC], 110 VAC Motor -User Input 

#define Mtr3Voltage 

156 

; Motor 3 Rated Voltage [VDC], 110 VAC Motor -User Input 

#define Mtr4Voltage 

156 

; Motor 4 Rated Voltage [VDC], 110 VAC Motor -User Input 

#define Mtr5Voltage 

156 

; Motor 5 Rated Voltage [VDC], 110 VAC Motor -User Input 

#define Mtr6Voltage 

156 

; Motor 6 Rated Voltage [VDC], 110 VAC Motor -User Input 

#define Mtr7Voltage 

156 

; Motor 7 Rated Voltage [VDC], 110 VAC Motor -User Input 

#define Mtr8Voltage 

156 

; Motor 8 Rated Voltage [VDC], 110 VAC Motor -User Input 

 
I166=1.10*I7000*Mtr1Voltage/DCBusInput 

; Motor 1 PWM Scale Factor 

I266=1.10*I7000*Mtr2Voltage/DCBusInput 

; Motor 2 PWM Scale Factor 

I366=1.10*I7000*Mtr3Voltage/DCBusInput 

; Motor 3 PWM Scale Factor 

I466=1.10*I7000*Mtr4Voltage/DCBusInput 

; Motor 4 PWM Scale Factor 

I566=1.10*I7000*Mtr5Voltage/DCBusInput 

; Motor 5 PWM Scale Factor 

I666=1.10*I7000*Mtr6Voltage/DCBusInput 

; Motor 6 PWM Scale Factor 

I766=1.10*I7000*Mtr7Voltage/DCBusInput 

; Motor 7 PWM Scale Factor 

I866=1.10*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