Delta Tau GEO BRICK LV Manual De Usuario
Geo Brick LV User Manual
MACRO Connectivity
244
MACRO Limits, Flags and Homing
Limits and Flags
MACRO Motors’ Limits and Flags are automatically copied by the Firmware. They can be accessed from
the Ring Controller using the MACRO Suggested M-Variables.
the Ring Controller using the MACRO Suggested M-Variables.
Note
In a Brick – Brick MACRO configuration, the over-travel limits
should be disabled on the slave side (Ixx24=Ixx24|$20001). They are
only enabled on the master side.
should be disabled on the slave side (Ixx24=Ixx24|$20001). They are
only enabled on the master side.
Homing from Master
If it is desired to home from the master (centralized control) then the position capture should be set to
software capture with Ixx97 = 1.
In this mode, the slave’s Servo IC m Channel n capture control (I7mn2) and flag select control (I7mn3)
have to be configured. This can be achieved from the master side using MX commands:
In a two 8-axis Brick Macro ring, configure Motor #9 to home to User Flag High. Motor #9 corresponds
to Motor#1 on the Slave Station or Servo IC 0 channel 1:
software capture with Ixx97 = 1.
In this mode, the slave’s Servo IC m Channel n capture control (I7mn2) and flag select control (I7mn3)
have to be configured. This can be achieved from the master side using MX commands:
In a two 8-axis Brick Macro ring, configure Motor #9 to home to User Flag High. Motor #9 corresponds
to Motor#1 on the Slave Station or Servo IC 0 channel 1:
MX0, I7012= 2 ; Servo IC 0 Channel 1Capture Control (flag high)
MX0, I7013= 3 ; Servo IC 0 Channel 1Capture Flag Select Control (user flag)
MX0, I7013= 3 ; Servo IC 0 Channel 1Capture Flag Select Control (user flag)
In a two 8-axis Brick Macro ring, configure Motor #14 to home to User Flag High. Motor #14
corresponds to Motor#6 on the Slave Station or Servo IC 1 channel 2:
MX0, I7122= 2 ; Servo IC 1 Channel 2 Capture Control (flag high)
MX0, I7123= 3 ; Servo IC 1 Channel 2 Capture Flag Select Control (user flag)
MX0, I7123= 3 ; Servo IC 1 Channel 2 Capture Flag Select Control (user flag)
Note
In this mode, issuing a #nHome from the Master will initiate the home
move search for the corresponding motor #n
move search for the corresponding motor #n
Homing from Slave
If the full accuracy of the position capture is desired, then the MACRO motor’s homing routine can be
pre-programmed on the slave in a PLC routine and triggered upon demand with a handshaking flag using
MX commands.
pre-programmed on the slave in a PLC routine and triggered upon demand with a handshaking flag using
MX commands.
Note
Software capture with Ixx97 introduces up to 1 background cycle
delay which limits the accuracy of the capture.
delay which limits the accuracy of the capture.
In this mode, the slave’s Servo IC m Channel n capture control (I7mn2) and flag select control (I7mn3)
have to be configured.