Delta Tau GEO BRICK LV 사용자 설명서

Geo Brick LV User Manual

Table of Contents

ADC Offsets: Ixx29, Ixx79 .............................................................................................................. 171

Current-Loop Gains: Ixx61, Ixx62, Ixx76 ........................................................................................ 172

Motor Phasing, Power-On Mode: Ixx73, Ixx74, Ixx80, Ixx81, Ixx91 ................................................ 173

Open-Loop Test, Encoder Decode: I7mn0 ...................................................................................... 193

Position-Loop PID Gains: Ixx30…Ixx39 ......................................................................................... 195

DC Brush Motor Software Setup ............................................................................................. 196

Before you start .............................................................................................................................. 196

Phasing Search Error Bit, Current-Loop Integrator Output (Ixx96) ................................................ 196

Flags, Commutation, Phase Angle, ADC Mask: Ixx24, Ixx01, Ixx72, Ixx84 ..................................... 197

PWM Scale Factor: Ixx66............................................................................................................... 197

Current Feedback Address: Ixx82 ................................................................................................... 197

Commutation Cycle Size: Ixx70, Ixx71 ............................................................................................ 198

I2T Protection, Magnetization Current: Ixx57, Ixx58, Ixx69, Ixx77 ................................................. 198

ADC Offsets: Ixx29, Ixx79 .............................................................................................................. 199

Current-Loop Gains, Open-Loop/Enc. Decode: Ixx61, Ixx62, Ixx76, I7mn0 .................................... 199

Position-Loop PID Gains: Ixx30…Ixx39 ......................................................................................... 200

MACRO CONNECTIVITY ................................................................................................. 201

Introduction to MACRO ........................................................................................................... 201

MACRO Configuration Examples ............................................................................................ 202

Review: MACRO Nodes and Addressing ......................................................................................... 203

Review: MACRO Auxiliary Commands ........................................................................................... 204

Configuration Example 1: Brick

– Brick (Servo Motors) ........................................................... 205

Setting up the Slave in Torque Mode ............................................................................................... 206

Setting up the Master in Torque Mode ............................................................................................ 209

Setting up the Slave in PWM Mode ................................................................................................. 212

Setting up the Master in PWM Mode............................................................................................... 213

Configuration Example 2: Brick

– Brick (Stepper Motors) ........................................................ 219

Setting up the Slave in Torque Mode for Steppers ........................................................................... 219

Setting up the Master in Torque Mode for Steppers ......................................................................... 224

Configuration Example 3: Brick

– Geo MACRO Drive ............................................................. 227

Brick

– Brick MACRO I/O Data Transfer.................................................................................. 235

Transferring the Digital (Discrete) Input and Outputs .................................................................... 236

Transferring The X9-X12 Analog Inputs/Outputs ............................................................................ 241

Transferring The J9 Analog Inputs ................................................................................................. 243

MACRO Limits, Flags and Homing .......................................................................................... 244

Limits and Flags ............................................................................................................................. 244

Homing from Master ...................................................................................................................... 244

Homing from Slave ......................................................................................................................... 244

MACRO Suggested M-Variables ..................................................................................................... 245

Absolute Position Reporting Over MACRO ............................................................................. 247

MACRO Configuration Power-Up Sequence ........................................................................... 248

TROUBLESHOOTING ........................................................................................................ 249

Serial Number and Board Revisions Identification ................................................................... 249

D1: Error Codes ...................................................................................................................... 250