Delta Tau GEO BRICK DRIVE Manuel D’Utilisation
Geo Brick Drive User Manual
Macro Connectivity
226
Configuration Example 1: Brick - Brick
MACRO Ring Master
MACRO Ring Slave
This configuration supports two modes:
Torque Mode: Most commonly used and highly recommended due to setup simplicity and
computational load sharing between Master and Slave.
In this mode, the Master closes strictly the position loop and sends torque commands to the Slave.
The Slave closes the current loop and handles the commutation of the motor.
computational load sharing between Master and Slave.
In this mode, the Master closes strictly the position loop and sends torque commands to the Slave.
The Slave closes the current loop and handles the commutation of the motor.
PWM Mode: Useful when centralized commutation and tuning (current & PID) are desirable.
However, if the application involves Kinematics and/or high computation frequency, Torque
Mode is advised.
In this mode, the Master bypasses the Slave control functions. The Master handles the
commutation, it closes both the current and position loops, sending finally PWM commands
directly to the Slaves’ power amplifier block.
However, if the application involves Kinematics and/or high computation frequency, Torque
Mode is advised.
In this mode, the Master bypasses the Slave control functions. The Master handles the
commutation, it closes both the current and position loops, sending finally PWM commands
directly to the Slaves’ power amplifier block.