Delta Tau GEO BRICK LV Benutzerhandbuch
Geo Brick LV User Manual
Motor Setup
164
Phasing, Power-On Mode: Ixx80, Ixx73, Ixx74, Ixx81, Ixx91
I180=0 I173=0 I174=0 ;
I280=0 I273=0 I274=0 ;
I380=0 I373=0 I374=0 ;
I480=0 I473=0 I474=0 ;
I580=0 I573=0 I574=0 ;
I680=0 I673=0 I674=0 ;
I780=0 I773=0 I774=0 ;
I880=0 I873=0 I874=0 ;
I280=0 I273=0 I274=0 ;
I380=0 I373=0 I374=0 ;
I480=0 I473=0 I474=0 ;
I580=0 I573=0 I574=0 ;
I680=0 I673=0 I674=0 ;
I780=0 I773=0 I774=0 ;
I880=0 I873=0 I874=0 ;
I181=$3503
; Motor 1 Power-On Commutation, Integrated Output #1
I281=$3506
; Motor 2 Power-On Commutation, Integrated Output #2
I381=$3509
; Motor 3 Power-On Commutation, Integrated Output #3
I481=$350C
; Motor 4 Power-On Commutation, Integrated Output #4
I581=$350F
; Motor 5 Power-On Commutation, Integrated Output #5
I681=$3512
; Motor 6 Power-On Commutation, Integrated Output #6
I781=$3515
; Motor 7 Power-On Commutation, Integrated Output #7
I881=$3518
; Motor 8 Power-On Commutation, Integrated Output #8
I191,8,100=$500000
; Mtrs 1-8 Pwr-on Pos. format Read 16 (11+5) bits of X register Ixx81
Position-
Loop PID Gains: Ixx30…Ixx39
I130,8,100=1024
;
I131,8,100=0
;
I132,8,100=85
;
I133,8,100=1024
;
I134,8,100=1
;
I135,8,100=0
;
I136,8,100=0
;
I137,8,100=0
;
I138,8,100=0
;
I139,8,100=0
;