Delta Tau GEO BRICK LV Manuale Utente
Geo Brick LV User Manual
Motor Type & Protection Power-On PLCs
154
Servo (brushless/brush) Motor Power-On PLC Sample
The following PLC sets up an 8-axis Geo Brick LV to drive 8 brush or brushless motors:
Open plc 1 clear
// Disable all other PLCs, and kill motors
DIS PLC 0
DIS PLCC 0..31
DIS PLC 2..31
CMD^K
// Axis 1 Settings
CMD"WX:$78014,$F8CCFE" ; Select axis # and set motor mode (Servo)
I5111 = 50 * 8388608/I10 While(I5111 > 0)EndW
CMD"WX:$78014,$F84CFE" ; Clear error(s) on selected axis in Servo mode
I5111 = 50 * 8388608/I10 While(I5111 > 0)EndW
CMD"WX:$78014,$F00CFE" ; Save and write protect channel from strobe word changes
I5111 = 50 * 8388608/I10 While(I5111 > 0)EndW
// Axis 2 Settings
CMD"WX:$78014,$F9CCFE" ; Select axis # and set motor mode (Servo)
I5111 = 50 * 8388608/I10 While(I5111 > 0)EndW
CMD"WX:$78014,$F94CFE" ; Clear error(s) on selected axis in Servo mode
I5111 = 50 * 8388608/I10 While(I5111 > 0)EndW
CMD"WX:$78014,$F10CFE" ; Save and write protect channel from strobe word changes
I5111 = 50 * 8388608/I10 While(I5111 > 0)EndW
// Axis 3 Settings
CMD"WX:$78014,$FACCFE" ; Select axis # and set motor mode (Servo)
I5111 = 50 * 8388608/I10 While(I5111 > 0)EndW
CMD"WX:$78014,$FA4CFE" ; Clear error(s) on selected axis in Servo mode
I5111 = 50 * 8388608/I10 While(I5111 > 0)EndW
CMD"WX:$78014,$F20CFE" ; Save and write protect channel from strobe word changes
I5111 = 50 * 8388608/I10 While(I5111 > 0)EndW
// Axis 4 Settings
CMD"WX:$78014,$FBCCFE" ; Select axis # and set motor mode (Servo)
I5111 = 50 * 8388608/I10 While(I5111 > 0)EndW
CMD"WX:$78014,$FB4CFE" ; Clear error(s) on selected axis in Servo mode
I5111 = 50 * 8388608/I10 While(I5111 > 0)EndW
CMD"WX:$78014,$F30CFE" ; Save and write protect channel from strobe word changes
I5111 = 50 * 8388608/I10 While(I5111 > 0)EndW
// Axis 5 Settings
CMD"WX:$78114,$F8CCFE" ; Select axis # and set motor mode (Servo)
I5111 = 50 * 8388608/I10 While(I5111 > 0)EndW
CMD"WX:$78114,$F84CFE" ; Clear error(s) on selected axis in Servo mode
I5111 = 50 * 8388608/I10 While(I5111 > 0)EndW
CMD"WX:$78114,$F00CFE" ; Save and write protect channel from strobe word changes
I5111 = 50 * 8388608/I10 While(I5111 > 0)EndW
// Axis 6 Settings
CMD"WX:$78114,$F9CCFE" ; Select axis # and set motor mode (Servo)
I5111 = 50 * 8388608/I10 While(I5111 > 0)EndW
CMD"WX:$78114,$F94CFE" ; Clear error(s) on selected axis in Servo mode
I5111 = 50 * 8388608/I10 While(I5111 > 0)EndW
CMD"WX:$78114,$F10CFE" ; Save and write protect channel from strobe word changes
I5111 = 50 * 8388608/I10 While(I5111 > 0)EndW
// Axis 7 Settings
CMD"WX:$78114,$FACCFE" ; Select axis # and set motor mode (Servo)
I5111 = 50 * 8388608/I10 While(I5111 > 0)EndW
CMD"WX:$78114,$FA4CFE" ; Clear error(s) on selected axis in Servo mode
I5111 = 50 * 8388608/I10 While(I5111 > 0)EndW
CMD"WX:$78114,$F20CFE" ; Save and write protect channel from strobe word changes
I5111 = 50 * 8388608/I10 While(I5111 > 0)EndW
// Axis 8 Settings
CMD"WX:$78114,$FBCCFE" ; Select axis # and set motor mode (Servo)
I5111 = 50 * 8388608/I10 While(I5111 > 0)EndW
CMD"WX:$78114,$FB4CFE" ; Clear error(s) on selected axis in Servo mode
I5111 = 50 * 8388608/I10 While(I5111 > 0)EndW
CMD"WX:$78114,$F30CFE" ; Save and write protect channel from strobe word changes
I5111 = 50 * 8388608/I10 While(I5111 > 0)EndW
Dis PLC 1
Close
// Disable all other PLCs, and kill motors
DIS PLC 0
DIS PLCC 0..31
DIS PLC 2..31
CMD^K
// Axis 1 Settings
CMD"WX:$78014,$F8CCFE" ; Select axis # and set motor mode (Servo)
I5111 = 50 * 8388608/I10 While(I5111 > 0)EndW
CMD"WX:$78014,$F84CFE" ; Clear error(s) on selected axis in Servo mode
I5111 = 50 * 8388608/I10 While(I5111 > 0)EndW
CMD"WX:$78014,$F00CFE" ; Save and write protect channel from strobe word changes
I5111 = 50 * 8388608/I10 While(I5111 > 0)EndW
// Axis 2 Settings
CMD"WX:$78014,$F9CCFE" ; Select axis # and set motor mode (Servo)
I5111 = 50 * 8388608/I10 While(I5111 > 0)EndW
CMD"WX:$78014,$F94CFE" ; Clear error(s) on selected axis in Servo mode
I5111 = 50 * 8388608/I10 While(I5111 > 0)EndW
CMD"WX:$78014,$F10CFE" ; Save and write protect channel from strobe word changes
I5111 = 50 * 8388608/I10 While(I5111 > 0)EndW
// Axis 3 Settings
CMD"WX:$78014,$FACCFE" ; Select axis # and set motor mode (Servo)
I5111 = 50 * 8388608/I10 While(I5111 > 0)EndW
CMD"WX:$78014,$FA4CFE" ; Clear error(s) on selected axis in Servo mode
I5111 = 50 * 8388608/I10 While(I5111 > 0)EndW
CMD"WX:$78014,$F20CFE" ; Save and write protect channel from strobe word changes
I5111 = 50 * 8388608/I10 While(I5111 > 0)EndW
// Axis 4 Settings
CMD"WX:$78014,$FBCCFE" ; Select axis # and set motor mode (Servo)
I5111 = 50 * 8388608/I10 While(I5111 > 0)EndW
CMD"WX:$78014,$FB4CFE" ; Clear error(s) on selected axis in Servo mode
I5111 = 50 * 8388608/I10 While(I5111 > 0)EndW
CMD"WX:$78014,$F30CFE" ; Save and write protect channel from strobe word changes
I5111 = 50 * 8388608/I10 While(I5111 > 0)EndW
// Axis 5 Settings
CMD"WX:$78114,$F8CCFE" ; Select axis # and set motor mode (Servo)
I5111 = 50 * 8388608/I10 While(I5111 > 0)EndW
CMD"WX:$78114,$F84CFE" ; Clear error(s) on selected axis in Servo mode
I5111 = 50 * 8388608/I10 While(I5111 > 0)EndW
CMD"WX:$78114,$F00CFE" ; Save and write protect channel from strobe word changes
I5111 = 50 * 8388608/I10 While(I5111 > 0)EndW
// Axis 6 Settings
CMD"WX:$78114,$F9CCFE" ; Select axis # and set motor mode (Servo)
I5111 = 50 * 8388608/I10 While(I5111 > 0)EndW
CMD"WX:$78114,$F94CFE" ; Clear error(s) on selected axis in Servo mode
I5111 = 50 * 8388608/I10 While(I5111 > 0)EndW
CMD"WX:$78114,$F10CFE" ; Save and write protect channel from strobe word changes
I5111 = 50 * 8388608/I10 While(I5111 > 0)EndW
// Axis 7 Settings
CMD"WX:$78114,$FACCFE" ; Select axis # and set motor mode (Servo)
I5111 = 50 * 8388608/I10 While(I5111 > 0)EndW
CMD"WX:$78114,$FA4CFE" ; Clear error(s) on selected axis in Servo mode
I5111 = 50 * 8388608/I10 While(I5111 > 0)EndW
CMD"WX:$78114,$F20CFE" ; Save and write protect channel from strobe word changes
I5111 = 50 * 8388608/I10 While(I5111 > 0)EndW
// Axis 8 Settings
CMD"WX:$78114,$FBCCFE" ; Select axis # and set motor mode (Servo)
I5111 = 50 * 8388608/I10 While(I5111 > 0)EndW
CMD"WX:$78114,$FB4CFE" ; Clear error(s) on selected axis in Servo mode
I5111 = 50 * 8388608/I10 While(I5111 > 0)EndW
CMD"WX:$78114,$F30CFE" ; Save and write protect channel from strobe word changes
I5111 = 50 * 8388608/I10 While(I5111 > 0)EndW
Dis PLC 1
Close