Delta Tau GEO BRICK LV Benutzerhandbuch
Geo Brick LV User Manual
MACRO Connectivity
225
9. Position And Velocity Pointers (Ixx03, Ixx04)
If all local motors have digital quadrature encoders (or 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:
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:
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:
4. Click on End of Table to access the next available entry
5. Conversion Type: Parallel position from Y word with no filtering
6. No Shifting
7. Width in Bits: 24
8. Source Address: Servo node Address (See table below)
9. 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
E.g. I903,2=$351A
10. Repeat steps for additional motors/servo nodes