Delta Tau GEO BRICK LV Manuale Utente
Geo Brick LV User Manual
MACRO Connectivity
221
Encoder Conversion Table Source Address
Motor #
Local
MACRO
Motor #
Local
MACRO
1
$0000BF
$78420
5
$0002BF
$78430
2
$00013F
$78424
6
$00033F
$78434
3
$0001BF
$78428
7
$0003BF
$78438
4
$00023F
$7842C
8
$00043F
$7843C
We will keep the encoder conversion table entries for local control, and add entries for control over
MACRO. These settings would look like:
For local control (to command motor from Slave)
Results
Position, Velocity,
Commutation
Pointers
I8000=$6800BF ; Parallel read of Y/X:$BF
I8001=$018018 ; 24 bits starting at X bit0
I8002=$EC0001 ; Integrate result from I8001
I8003=$68013F ; Parallel read of Y/X:$13F
I8004=$018018 ; 24 bits starting at X bit0
I8005=$EC0004 ; Integrate result from I8004
I8006=$6801BF ; Parallel read of Y/X:$1BF
I8007=$018018 ; 24 bits starting at X bit0
I8008=$EC0007 ; Integrate result from I8007
I8009=$68023F ; Parallel read of Y/X:$23F
I8010=$018018 ; 24 bits starting at X bit0
I8011=$EC000A ; Integrate result from I8010
I8012=$6802BF ; Parallel read of Y/X:$2BF
I8013=$018018 ; 24 bits starting at X bit0
I8014=$EC000D ; Integrate result from I8013
I8015=$68033F ; Parallel read of Y/X:$33F
I8016=$018018 ; 24 bits starting at X bit0
I8017=$EC0010 ; Integrate result from I8016
I8018=$6803BF ; Parallel read of Y/X:$3BF
I8019=$018018 ; 24 bits starting at X bit0
I8020=$EC0013 ; Integrate result from I8019
I8021=$68043F ; Parallel read of Y/X:$43F
I8022=$018018 ; 24 bits starting at X bit0
I8023=$EC0016 ; Integrate result from I8022
I8001=$018018 ; 24 bits starting at X bit0
I8002=$EC0001 ; Integrate result from I8001
I8003=$68013F ; Parallel read of Y/X:$13F
I8004=$018018 ; 24 bits starting at X bit0
I8005=$EC0004 ; Integrate result from I8004
I8006=$6801BF ; Parallel read of Y/X:$1BF
I8007=$018018 ; 24 bits starting at X bit0
I8008=$EC0007 ; Integrate result from I8007
I8009=$68023F ; Parallel read of Y/X:$23F
I8010=$018018 ; 24 bits starting at X bit0
I8011=$EC000A ; Integrate result from I8010
I8012=$6802BF ; Parallel read of Y/X:$2BF
I8013=$018018 ; 24 bits starting at X bit0
I8014=$EC000D ; Integrate result from I8013
I8015=$68033F ; Parallel read of Y/X:$33F
I8016=$018018 ; 24 bits starting at X bit0
I8017=$EC0010 ; Integrate result from I8016
I8018=$6803BF ; Parallel read of Y/X:$3BF
I8019=$018018 ; 24 bits starting at X bit0
I8020=$EC0013 ; Integrate result from I8019
I8021=$68043F ; Parallel read of Y/X:$43F
I8022=$018018 ; 24 bits starting at X bit0
I8023=$EC0016 ; Integrate result from I8022
$3501
$3502
$3503
$3502
$3503
$3504
$3505
$3506
$3505
$3506
$3507
$3508
$3509
$3508
$3509
$350A
$350B
$350C
$350B
$350C
$350D
$350E
$350F
$350F
$3510
$3511
$3512
$3511
$3512
$3513
$3514
$3515
$3514
$3515
$3516
$3517
$3518
$3517
$3518
I103=$3503
I104=I103
I183=I103
I183=I103
I203=$3506
I204=I203
I283=I203
I283=I203
I303=$3509
I304=I303
I383=I303
I383=I303
I403=$350C
I404=I403
I483=I403
I483=I403
I503=$350F
I504=I503
I583=I503
I583=I503
I603=$3512
I604=I603
I683=I603
I683=I603
I703=$3515
I704=I703
I783=I703
I783=I703
I803=$3518
I804=I803
I883=I803
I883=I803