Delta Tau GEO BRICK DRIVE Benutzerhandbuch
Geo Brick Drive User Manual
Macro Connectivity
231
9. Position And Velocity Pointers
If all local motors have digital quadrature encoders (1-line ECT entries), and no other entries are used
in the Encoder Conversion Table then the position (Ixx03) and Velocity (Ixx04) pointers of the
MACRO motors are valid by default (set by firmware) and need not be changed:
in the Encoder Conversion Table then the position (Ixx03) and Velocity (Ixx04) pointers of the
MACRO motors are valid by default (set by firmware) and need not be changed:
MACRO
motor
Motor #
Ixx03, Ixx04
MACRO
motor
Motor #
Ixx03, Ixx04
1
st
5 or 9
$350A
5
th
9 or 13
$3512
2
nd
6 or 10
$350C
6
th
10 or 14
$3514
3
rd
7 or 11
$350E
7
th
11 or 15
$3516
4
th
8 or 12
$3510
8
th
12 or 16
$3518
However, if the Encoder Conversion Table has been modified then the MACRO motors/nodes entries
need to be configured properly. This can be done using the Encoder Conversion Table utility in the
PewinPro2 under Configure>Encoder Conversion Table:
Click on End of Table to access the next available entry
Conversion Type: Parallel position from Y word with no filtering
No Shifting
Width in Bits: 24
Source Address: Servo node Address (See table below)
Record the processed data address.
This is where the position and velocity pointers will be set to for a specific node/motor number.
E.g. I903,2=$351A
This is where the position and velocity pointers will be set to for a specific node/motor number.
E.g. I903,2=$351A
Repeat steps for additional motors/servo nodes