Delta Tau GEO BRICK LV User Manual
Geo Brick LV User Manual
PinOuts and Software Setup
108
Encoder Conversion Table - for Commutation (Technique 2)
Commutation with Turbo PMAC does not require high resolution data. With Technique 2, it is
recommended to fix it at 18 bits. This will also eliminate quantization noise.
recommended to fix it at 18 bits. This will also eliminate quantization noise.
Note
It is recommended to insert the commutation ECT entries after all of
the position ECT entries have been configured.
the position ECT entries have been configured.
Assuming that eight encoders have been configured for position, the first ECT for commutation for the
first motor would be at entry number nine:
Conversion Type: Parallel pos from Y word with no filtering
Width in Bits: 18
Offset Location of LSB: = Singleturn/protocol bits – 18 (e.g. 25-18=7)
No shifting
Source Address: serial data register A (same as position ECT for this motor)
Remember to click on Download Entry for the changes to take effect.
This is a 2-line ECT entry, its equivalent script code:
I8016=$2F8B20
; Unfiltered parallel pos of location Y:$78B20 –User Input
I8017=$12007
; Width and Offset. Processed result at X:$3512 –User Input
Note
Record the processed data address (e.g. $3512). This is where the
commutation position address Ixx83 will be pointing to. Also, this will
be used in setting up the power-on phasing routine.
commutation position address Ixx83 will be pointing to. Also, this will
be used in setting up the power-on phasing routine.
The commutation enable, and position address would then be:
I101=1
; Mtr#1 Commutation enable, from X Register
I183=$3512
; Mtr#1 Commutation Position Address –User Input