Delta Tau Geo Brick, User Manual

Page: 147 / 294

Geo Brick Drive User Manual
Pinouts and Software Setup 147
With Servo IC 0 sourcing the clock at its enhanced settings (9.0 KHz PWM), the following are suggested
Servo IC 1 clock settings which would provide a good analog output signal:
Servo IC 0
Clock Settings
Resulting
Frequencies KHz
Servo IC 1
Clock Settings
Resulting
Frequencies KHz
I7000=3275
I7001=0
I7002=3
I10=1863964
PWM
PHASE
SERVO
9.0
18
4.5
I7100=816
I7101=3
I7102=3
I7104=0
PWM
PHASE
SERVO
PWM
Deadtime
36
18
4.5
0
Note that n=4 in this case
Note
These Servo IC 1 clock settings are optimized for a good quality
analog output signal. If any one of axes 5-8 is used for direct PWM
control then the analog output signal quality should be compromised
with a much lower PWM frequency, or not used at all.
For Help with clock settings, use the Delta Tau Calculator:
DT Calculator Forum Link
Analog Outputs Suggested M-Variables:
// De-activate Motors 5-8 to write directly to the analog outputs
I500,4,100=0
; De-activate channels 5-8
I569,4,100=816 ; Set Output Limit --User Input
// Analog Outputs:
M502->Y:$078102,8,16,S
; Analog DAC Output (DAC5), Connector X9
M602->Y:$07810A,8,16,S ; Analog DAC Output (DAC6), Connector X10
M702->Y:$078112,8,16,S ; Analog DAC Output (DAC7), Connector X11
M802->Y:$07811A,8,16,S ; Analog DAC Output (DAC8), Connector X12
Testing the Analog Outputs
With the setting of I7100=816 (per the above example), writing directly to the assigned M-variable (i.e.
Mxx02) should produce the following voltage output:
Mxx02 Single Ended [VDC] Differential [VDC]
-816 -10 -20
-408 -5 -10
0 0 0
408 +5 +10
816 +10 +20
The output voltage is measured between AGND and DAC+ for single-ended operation and between
DAC- and DAC+ for differential operation.
Writing values greater than I7100 (i.e. 816) in Mx02 will saturate the output to 10, or 20 volts in single-
ended or differential mode respectively.
Note
MACRO connectivity provides more analog output options, e.g. ACC-
24M2A.