Delta Tau Geo Brick, User Manual

Page: 229 / 294

Geo Brick Drive User Manual
Macro Connectivity 229
The slave motors should be phased before setting Ixx44. This can be done through a handshaking PLC
and using MACRO auxiliary MX commands to trigger the phase routine.
Slave Handshaking PLC Example: Phase then kill Motor #1:
M133->X:$0000B0,13,1 ; Mtr1 Desired Velocity bit
M140->Y:$0000C0,0,1 ; Mtr1 In-position bit
P8000=0 ; Handshaking flag
Open PLC 1 Clear
IF (P8000 = 1)
CMD"#1K"
I5111= 250 *8388608/I10 While(I5111>0) EndW
I144=0 ; Turn Auxiliary Control off
I5111= 250 *8388608/I10 While(I5111>0) EndW
CMD"#1$"
I5111= 250 *8388608/I10 While(I5111>0) EndW
While (M133 = 0 OR M140 = 0) EndW
CMD"#1K"
I5111= 250 *8388608/I10 While(I5111>0) EndW
I144=$178423
; Turn Auxiliary Control on
I5111= 250 *8388608/I10 While(I5111>0) EndW
P8000 = 0
EndIf
Close
Issuing MX0,P8000=1 from the master will then initiate the phasing routine.
Note a
bout Slave Motors’ I2T
I2T setting parameters, Ixx69, Ixx57 and Ixx58, should be configured properly, for complete protection,
when the motor is controlled locally.
I2T setting parameters, Ixx57 and Ixx58, should be set to zero on the slave side when it is in auxiliary
mode, and configured for the corresponding channel over MACRO (on the master side).
As a rule of thumb, and for a given channel:
If Ixx44 Slave Master
= 0
Ixx57 as computed
Ixx58 as computed
Ixx69 as computed Ixx57 as computed
Ixx58 as computed
Ixx69 as computed
!= 0
Ixx57 = 0
Ixx58 = 0
Ixx69 as computed
On the master side, the computed values from the slave can be copied into the corresponding motor
MACRO channel.