Delta Tau GEO BRICK LV Manual Do Utilizador
Geo Brick LV User Manual
MACRO Connectivity
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Configuration Example 2: Brick
– Brick (Stepper Motors)
MACRO Ring Master
MACRO Ring Slave
Driving Stepper Motors
Setting up the Slave in Torque Mode for Steppers
1. Establish communication to Slave unit using USB, Ethernet, or Serial.
2. Consider starting from factory default settings.
This can be done by issuing a $$$*** followed by a Save, and a $$$.
3. Consider downloading the suggested M-Variables in the Pewin32Pro2 software.
4. Set up motors per the motor setup section described in this manual.
5. Clock settings considerations
5. Clock settings considerations
The MACRO ring is synchronized at phase rate. Keep in mind that the phase clock frequency must
be the same on both the master and the slave.
be the same on both the master and the slave.
The MACRO IC must be sourcing the clock (parameter I19). A Save followed by a $$$ are
required whenever I19 is changed.
required whenever I19 is changed.
It is advised to have both the MACRO and servo ICs set at the same phase frequency.
I19 = 6807
; Clock source, MACRO IC 0
I6800 = I7000 ; Macro IC 0 MaxPhase/PWM Frequency Control
I6801 = I7001 ; Macro IC 0 Phase Clock Frequency Control
I6802 = I7002 ; Macro IC 0 Servo Clock Frequency Control
I6801 = I7001 ; Macro IC 0 Phase Clock Frequency Control
I6802 = I7002 ; Macro IC 0 Servo Clock Frequency Control
6. Make sure that the motors are fully operational and can be controlled in closed loop (e.g. jog
commands). Position PID tuning is not critical at this point. Fine tuning of the slave motors should be
eventually performed from the master side.
eventually performed from the master side.
7. Kill all motors