Delta Tau GEO BRICK DRIVE Manuel D’Utilisation

Channel  1  on  a  5/10A  Geo  Brick  Drive  is  driving  a  commutated  brushless  motor.  The  instantaneous 
current output can be calculated as follows: 

// Substitutions and definitions 
#define MaxADC         

P7055  ; Max ADC reading. See electrical specifications 

#define MaxOutput  

 

P7056  ; Maximum Command Output  

#define Mtr1ActQuadCurrent 

M175 

; Motor 1 Actual Quadrature Current 

#define Mtr1ActDirectCurrent  M176 

; Motor 1 Actual Direct Current 

#define GlobalVar1 

 

P7057  ; General Purpose Global Variable 1  

#define GlobalVar2 

 

P7058  ; General Purpose Global Variable 2 

#define Axis1CurrentOutput 

P7059  ; User variable to store Axis-1 current 

 
Mtr1ActQuadCurrent->X:$0000B9,8,16,S   

; #1 Actual quadrature current (Suggested M-var) 

Mtr1ActDirectCurrent->Y:$0000B9,8,16,S  

; #1 Actual direct current (Suggested M-var) 

 
MaxADC= 16.26   

 

 

 

; = 16.26 for 5/10A 

-User Input 

 

 

 

 

 

 

; = 26.02 for 8/16A 

 

 

 

 

 

 

 

; = 48.08 for 15/30A 

 
MaxOutput=32767*0.866   

 

; 32767 * sqrt(3)/2 

 

 
// This PLC returns Axis-1 instantaneous current output (P7059) in Amps 
Open Plc 1 Clear 
// Quad^2 + Direct^2 
GlobalVar1=(Mtr1ActQuadCurrent*Mtr1ActQuadCurrent)+(Mtr1ActDirectCurrent*Mtr1ActDirectCurrent) 
// Get SQRT 
GlobalVar2=exp(0.5*ln(GlobalVar1)) 
// Convert to Current. Assume most efficient bus voltage 
Axis1CurrentOutput=MaxADC*GlobalVar2/(MaxOutput*1.414) 
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