Delta Tau GEO BRICK LV 사용자 설명서
Geo Brick LV User Manual
Motor Setup
159
Motor (Quadrature/Torque) command value Registers
Motor# Address (X-memory) Motor# Address (X-memory)
1
$0000BF
5
$0002BF
2
$00013F
6
$00033F
3
$0001BF
7
$0003BF
4
$00023F
8
$00043F
Motors 1-8 Stepper Setup Encoder Conversion Table
I8000=$6800BF ; Parallel read of Y/X:$BF
I8001=$18018
I8001=$18018
; Use 24 bits starting at X bit 0
I8002=$EC0001 ; Integrate result from I8001
I8003=$68013F ; Parallel read of Y/X:$13F
I8004=$18018
I8003=$68013F ; Parallel read of Y/X:$13F
I8004=$18018
; Use 24 bits starting at X bit 0
I8005=$EC0004 ; Integrate result from I8004
I8006=$6801BF ; Parallel read of Y/X:$1BF
I8007=$18018
I8006=$6801BF ; Parallel read of Y/X:$1BF
I8007=$18018
; Use 24 bits starting at X bit 0
I8008=$EC0007 ; Integrate result from I8007
I8009=$68023F ; Parallel read of Y/X:$23F
I8010=$18018
I8009=$68023F ; Parallel read of Y/X:$23F
I8010=$18018
; Use 24 bits starting at X bit 0
I8011=$EC000A ; Integrate result from I8010
I8012=$6802BF ; Parallel read of Y/X:$2BF
I8013=$18018
I8012=$6802BF ; Parallel read of Y/X:$2BF
I8013=$18018
; Use 24 bits starting at X bit 0
I8014=$EC000D ; Integrate result from I8013
I8015=$68033F ; Parallel read of Y/X:$33F
I8016=$18018
I8015=$68033F ; Parallel read of Y/X:$33F
I8016=$18018
; Use 24 bits starting at X bit 0
I8017=$EC0010 ; Integrate result from I8016
I8018=$6803BF ; Parallel read of Y/X:$3BF
I8019=$18018
I8018=$6803BF ; Parallel read of Y/X:$3BF
I8019=$18018
; Use 24 bits starting at X bit 0
I8020=$EC0013 ; Integrate result from I8019
I8021=$68043F ; Parallel read of Y/X:$43F
I8022=$18018
I8021=$68043F ; Parallel read of Y/X:$43F
I8022=$18018
; Use 24 bits starting at X bit 0
I8023=$EC0016 ; Integrate result from I8022
Position, Velocity Pointers: Ixx03, Ixx04
The position and velocity pointers (no external encoder used) will be set to the integration result:
I103=$3503
I104=$3503
; Motor 1 position and velocity feedback
I203=$3506
I204=$3506
; Motor 2 position and velocity feedback
I303=$3509
I304=$3509
; Motor 3 position and velocity feedback
I403=$350C
I404=$350C
; Motor 4 position and velocity feedback
I503=$350F
I504=$350F
; Motor 5 position and velocity feedback
I603=$3512
I604=$3512
; Motor 6 position and velocity feedback
I703=$3515
I704=$3515
; Motor 7 position and velocity feedback
I803=$3518
I804=$3518
; Motor 8 position and velocity feedback
Motor Activation, Commutation Enable: Ixx00, Ixx01
I100,8,100=1
; Motors 1-8 active
I101,8,100=1
; Motors 1-8 Commutation Enabled (from X-register)
Command Output Address: Ixx02
I102=$078002
; Motor 1 Output Address
I202=$07800A
; Motor 2 Output Address
I302=$078012
; Motor 3 Output Address
I402=$07801A
; Motor 4 Output Address
I502=$078102
; Motor 5 Output Address
I602=$07810A
; Motor 6 Output Address
I702=$078112
; Motor 7 Output Address
I802=$07811A
; Motor 8 Output Address