Delta Tau GEO BRICK LV ユーザーズマニュアル
Geo Brick LV User Manual
MACRO Connectivity
226
Servo Node Addresses
MACRO
motor
Motor # Address
Register
MACRO
motor
Motor #
Address
Register
1
st
5 or 9
$78420
Servo Node 0
5
th
9 or 13
$78430
Servo Node 8
2
nd
6 or 10
$78424
Servo Node 1
6
th
10 or 14
$78434
Servo Node 9
3
rd
7 or 11
$78428
Servo Node 4
7
th
11 or 15
$78438
Servo Node 12
4
th
8 or 12
$7842C
Servo Node 5
8
th
12 or 16
$7843C
Servo Node 13
10. The flag address Ixx25 is initiated by default in the firmware:
MACRO
motor
Motor #
Ixx25
Register
MACRO
motor
Motor #
Ixx25
Register
1
st
5 or 9
$3440
Servo Node 0
5
th
9 or 13
$3448
Servo Node 8
2
nd
6 or 10
$3441
Servo Node 1
6
th
10 or 14
$3449
Servo Node 9
3
rd
7 or 11
$3444
Servo Node 4
7
th
11 or 15
$344C
Servo Node 12
4
th
8 or 12
$3445
Servo Node 5
8
th
12 or 16
$344D
Servo Node 13
11. The motor command output address Ixx02 is initiated by default in the firmware:
MACRO
motor
Motor #
Ixx02
Register
MACRO
motor
Motor #
Ixx02
Register
1
st
5 or 9
$078420
Servo Node 0
5
th
9 or 13
$078430
Servo Node 8
2
nd
6 or 10
$078424
Servo Node 1
6
th
10 or 14 $078434
Servo Node 9
3
rd
7 or 11
$078428
Servo Node 4
7
th
11 or 15 $078438
Servo Node 12
4
th
8 or 12
$07842C Servo Node 5
8
th
12 or 16 $07843C Servo Node 13
12. Tuning the PID-Loop
With stepper motors, these are computed empirically, and can be set to the following:
Ixx30=1024
Ixx31=0
Ixx32=85
Ixx33=1024
Ixx34=1
Ixx30=1024
Ixx31=0
Ixx32=85
Ixx33=1024
Ixx34=1
13. Issue a SAVE followed by a $$$ to maintain changes
The motor setup is now finished and both Master and Slave units are in post-reset mode (power-up),
therefore local and Macro motors need to be phased.
therefore local and Macro motors need to be phased.
Motors attached directly to the master are initialized and phased in the traditional manner. Motors
attached to the slave are initialized by executing the handshaking PLC (e.g. issuing MX0, P8000=1).
attached to the slave are initialized by executing the handshaking PLC (e.g. issuing MX0, P8000=1).