Delta Tau Geo Brick, User Manual

Page: 233 / 294

Geo Brick Drive User Manual
Macro Connectivity 233
Setting up the Slave in PWM Mode
1.
Establish communication to the slave 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.
C lock 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.

The MACRO IC must be sourcing the clock (parameter I19). A Save followed by a $$$ are
required whenever I19 is changed.

It is advised to have both the MACRO and servo ICs set at the same phase frequency.
I19 = 6807 ; Clock source, MACRO IC 0
I6800 = I7000 ; Macro IC 0 MaxPhase/PWM Frequency Control
I6801 = I7001 ; Macro IC 0 Phase Clock Frequency Control
I6802 = I7002 ; Macro IC 0 Servo Clock Frequency Control
5.
MACRO ring settings

I80, I81 and I82 enable the ring error check function.

I85 specifies a station number which the slave unit is assigned to (e.g. multiple slave stations).

I6840 specifies whether this is a master or a slave.

I6841 specifies which MACRO nodes are enabled. Note, that it is not advised to enable nodes
which will not be used.

Ixx44 specifies the MACRO command address and mode for slave motors.
I85=1 ; Station number #1 (if multiple slaves) – User Input
I6840=$4080
; Macro IC 0 Ring Configuration/Status
I6841=$0FF333 ; Macro IC 0 Node Activate Ctrl (servo nodes 0, 1, 4, 5, 8, 9, 12, and 13)
I124,8,100=$20001
; Flag mode control, disable limits on slave (enable on master side)
#define RingCheckPeriod
20 ; Suggested Ring Check Period [msec]
#define FatalPackErr 15 ; Suggested Fatal Packet Error Percentage [%]
I80=INT(RingCheckPeriod *8388608/I10/(I8+1)+1) ; Macro Ring Check Period [Servo Cycles]
I81=INT(I80* FatalPackErr /100+1) ; Macro Maximum Ring Error Count
I82=I80-I81*4 ; Macro Minimum Sync Packet Count
I144=$
0 78423 ; MacroIC0 Node 0 Command Address. PWM Mode
I244=$ 0 78427 ; MacroIC0 Node 1 Command Address. PWM Mode
I344=$ 0 7842B ; MacroIC0 Node 4 Command Address. PWM Mode
I444=$ 0 7842F ; MacroIC0 Node 5 Command Address. PWM Mode
I544=$ 0 78433 ; MacroIC0 Node 8 Command Address. PWM Mode
I644=$ 0 78437 ; MacroIC0 Node 9 Command Address. PWM Mode
I744=$ 0 7843B ; MacroIC0 Node12 Command Address. PWM Mode
I844=$ 0 7843F ; MacroIC0 Node13 Command Address. PWM Mode
6. Issue a Save followed by a $$$ to maintain changes.