Delta Tau GEO BRICK LV Manual Do Utilizador
Geo Brick LV User Manual
Motor Setup
160
Current Feedback, ADC Mask, Commutation angle: Ixx82, Ixx84, Ixx72
I182=$078006
; Motor 1 Current Feedback Address
I282=$07800E
; Motor 2 Current Feedback Address
I382=$078016
; Motor 3 Current Feedback Address
I482=$07801E
; Motor 4 Current Feedback Address
I582=$078106
; Motor 5 Current Feedback Address
I682=$07810E
; Motor 6 Current Feedback Address
I782=$078116
; Motor 7 Current Feedback Address
I882=$07811E
; Motor 8 Current Feedback Address
I184,8,100=$FFFC00
; Motors 1-8 Current Loop Feedback Mask, 14-bit (Geo Brick LV Specific)
I172,8,100=512
; Commutation Phase Angle.2-Phase opposite voltage & current sign
; (Geo Brick LV Specific)
Flag Address, Mode Control: Ixx25, Ixx24
I125=$078000
; Motor 1 Flag Address
I225=$078008
; Motor 2 Flag Address
I325=$078010
; Motor 3 Flag Address
I425=$078018
; Motor 4 Flag Address
I525=$078100
; Motor 5 Flag Address
I625=$078108
; Motor 6 Flag Address
I725=$078110
; Motor 7 Flag Address
I825=$078118
; Motor 8 Flag Address
I124=$800401
; Motor 1 Flag Control. High True Amp Fault, disable 3
rd
Harmonic
I224=$800401
; Motor 2 Flag Control. High True Amp Fault, disable 3
rd
Harmonic
I324=$800401
; Motor 3 Flag Control. High True Amp Fault, disable 3
rd
Harmonic
I424=$800401
; Motor 4 Flag Control. High True Amp Fault, disable 3
rd
Harmonic
I524=$800401
; Motor 5 Flag Control. High True Amp Fault, disable 3
rd
Harmonic
I624=$800401
; Motor 6 Flag Control. High True Amp Fault, disable 3
rd
Harmonic
I724=$800401
; Motor 7 Flag Control. High True Amp Fault, disable 3
rd
Harmonic
I824=$800401
; Motor 8 Flag Control. High True Amp Fault, disable 3
rd
Harmonic
Commutation Address, Cycle size: Ixx83, Ixx70, Ixx71
I183=$3503
; Motor 1 on-going Commutation Address (ECT Integration Result)
I283=$3506
; Motor 2 on-going Commutation Address (ECT Integration Result)
I383=$3509
; Motor 3 on-going Commutation Address (ECT Integration Result)
I483=$350C
; Motor 4 on-going Commutation Address (ECT Integration Result)
I583=$350F
; Motor 5 on-going Commutation Address (ECT Integration Result)
I683=$3512
; Motor 6 on-going Commutation Address (ECT Integration Result)
I783=$3515
; Motor 7 on-going Commutation Address (ECT Integration Result)
I883=$3518
; Motor 8 on-going Commutation Address (ECT Integration Result)
I170,8,100=1
; Motors 1-8 Single cycle size
I171,8,100=65536
; Microsteps per Ixx70 commutation cycles