Delta Tau Geo Brick, User Manual

Page: 230 / 294

Geo Brick Drive User Manual
Macro Connectivity 230
Setting up the Master in Torque Mode
1.
Establish communication to the master using USB, Ethernet, or Serial.
2. Consider starting from factory default settings.
This can be done by issuing a
$$$*** followed by a Save , and a reset $$$ .
3. Consider downloading the suggested M-Variables in the Pewin32Pro2 software.
4.
The master’s motors can now be set up as described in the motor setup section of this manual.
Typically, these are motors #1 through #4 (or #8).
5. C lock settings considerations

The MACRO ring is synchronized at phase rate. The phase clock frequency must be the same on
the master and each of the slaves.

It is advised that the MACRO and servo ICs be set to the same phase frequency.
I6800 = I7000 ; Macro IC0 MaxPhase/PWM Frequency Control
I6801 = I7001 ; Macro IC0 Phase Clock Frequency Control
I6802 = I7002 ; Macro IC0 Servo Clock Frequency Control
6. MACRO ring settings

I80, I81 and I82 enable the ring error check function.

I6840 specifies whether this is a master or a slave.

I6841 specifies which MACRO nodes are enabled. Note, that it is not advised to enable nodes
which will not be used.
I6840=$4030 ; Macro IC0 Ring Configuration/Status, typical master IC setting
I6841=$0FF333 ; Macro IC0 Node Activate Ctrl (Servo nodes 0, 1, 4, 5, 8, 9, 12, 13) – User Input
I78=32 ; Macro Type 1 Master/Slave Communications Timeout
I70=$3333 ; Macro IC 0 Node Auxiliary Register Enable (for 8 macro motors)
I71=0 ; Type 0 MX Mode
#define RingCheckPeriod
20 ; Suggested Ring Check Period [msec]
#define FatalPackErr 15 ; Suggested Fatal Packet Error Percentage [%]
I80=INT(RingCheckPeriod *8388608/I10/(I8+1)+1) ; Macro Ring Check Period [Servo Cycles]
I81=INT(I80* FatalPackErr /100+1) ; Macro Maximum Ring Error Count
I82=I80-I81*4 ; Macro Minimum Sync Packet Count
7. Issue a Save , followed by a reset ( $$$ ) to maintain changes.
8. Activating MACRO motors, Flag Control
The master Geo Brick Drive can be fitted with 1 or 2 servo ICs to service local channels (4 or 8). The
next available channel will be the first macro/slave motor. This allows taking advantage of some of
the default MACRO settings set by the firmware upon detecting a MACRO IC.

If I4900 = $1, then only Servo IC 0 is present, and the first macro motor is #5
I500,8,100=1 ; Activate channels 5-12
I524,8,100=$40001 ; Channels 5-12 flag control ($60001 to disable limits)

If I4900 = $3, then Servo ICs 0 and 1 are present, and the first macro motor is #9
I900,8,100=1 ; Activate channels 9-18
I924,8,100=$40001 ; Channels 9-18 flag control ($60001 to disable limits)