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Geo Brick LV User Manual
PinOuts and Software Setup
53
Ch. 5-8 PFM Setup Example
// Encoder Conversion Table, for channels 5-8
I8004=$C78100
I8004=$C78100
; Entry 5 incremental encoder, no extension
I8005=$C78108
; Entry 6 incremental encoder, no extension
I8006=$C78110
; Entry 7 incremental encoder, no extension
I8007=$C78118
; Entry 8 incremental encoder, no extension
// Channels 5-8 Output Mode Select, Encoder/Decode
I7116,4,10=3
I7116,4,10=3
; Servo IC 1, Channels 5-8 Output Mode Select to PFM
I7110,4,10=8 ; Servo IC 1, Channels 5-8 Encoder Decode, Internal Pulse and Direction
// Channels 5-8 Command Output Register
I502=$78104 ; Channel 5, PFM
I602=$7810C
// Channels 5-8 Command Output Register
I502=$78104 ; Channel 5, PFM
I602=$7810C
; Channel 6, PFM
I702=$78114
; Channel 7, PFM
I802=$7811C
; Channel 8, PFM
In PFM mode, it is possible to:
Write directly to the PFM output register using the suggested M-Variable definition (Mxx07)
The corresponding channel has to be deactivated in this mode (Ixx00=0)
The corresponding channel has to be deactivated in this mode (Ixx00=0)
Issue open loop commands to a channel/motor, e.g.:#5O5
The corresponding channel has to be activated in this mode (Ixx00=1)
The corresponding channel has to be activated in this mode (Ixx00=1)
Issue closed loop commands to a channel/motor, e.g.: #5J=1000
The corresponding channel has to be activated (Ixx00=1) and the position loop PID gains have to
be implemented.
The corresponding channel has to be activated (Ixx00=1) and the position loop PID gains have to
be implemented.
Writing directly to the PFM register
// Channels 5-8 Suggested M-Variables, PFM command output
M507->Y:$78104,8,16,S ; Channel 5, Min=0, Max= Calculated I569
M607->Y:$7810C,8,16,S ; Channel 6, Min=0, Max= Calculated I669
M707->Y:$78114,8,16,S ; Channel 7, Min=0, Max= Calculated I769
M807->Y:$7811C,8,16,S ; Channel 8, Min=0, Max= Calculated I869
M507->Y:$78104,8,16,S ; Channel 5, Min=0, Max= Calculated I569
M607->Y:$7810C,8,16,S ; Channel 6, Min=0, Max= Calculated I669
M707->Y:$78114,8,16,S ; Channel 7, Min=0, Max= Calculated I769
M807->Y:$7811C,8,16,S ; Channel 8, Min=0, Max= Calculated I869
Writing directly to the suggested M-variable(s) values proportional to
Ixx69 produces corresponding frequencies:
Ixx69 produces corresponding frequencies:
Suggested
M-
Variable
Output
Frequency
PFM [KHz]
0
0
1213
11
2427
22
Issuing Open-Loop Commands
Activating the motor channel should be sufficient at this point to allow open loop commands. Note that an
open loop command of zero magnitude (#nO0) will result in a zero frequency output, and an open loop
command of 100 (#nO100) will result in the maximum calculated frequency output.
open loop command of zero magnitude (#nO0) will result in a zero frequency output, and an open loop
command of 100 (#nO100) will result in the maximum calculated frequency output.
I500,4,100=1
; Channels 5-8 active
Going back to the setup example, these are some open loop commands
resulting frequencies:
resulting frequencies:
Open
Loop
Command
Output
Frequency
PFM [KHz]
0
0
50
11
100
22