Delta Tau Geo Brick, User Manual

Page: 234 / 294

Geo Brick Drive User Manual
Macro Connectivity 234
Setting up the Master in PWM Mode
1.
Establish communication to the Geo Brick Drive 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. These
are motors #1 through #8 (or #4 if it is a 4-axis Geo Brick Drive).
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 (Geo MACRO Drives).

It is also 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
Note
It is not necessary for the master to have the MACRO IC sourcing the
clock. But if it is desired, I19 can be simply set to 6807 followed by a
save and a reset ($$$).
6. MACRO ring settings

I80, I81 and I82 enable the ring error check function.

I6840 specifies whether this is a master or a slave.

I6841 specifies which MACRO nodes are enabled. Note, that it is not advised to enable nodes
which will not be used.
I6840=$4030 ; Macro IC 0 Ring Configuration/Status
I6841=$0FF333 ; Macro IC 0 Node Activate Ctrl 8-axis (servo nodes 0, 1, 4, 5, 8, 9, 12, 13)
I78=32
; Macro Type 1 Master/Slave Communications Timeout
I70=$3333 ; Macro IC 0 Node Auxiliary Register Enable (for 8 Ring motors)
I71=0 ; Type 0 MX Mode
#define RingCheckPeriod
20 ; Suggested Ring Check Period [msec]
#define FatalPackErr 15 ; Suggested Fatal Packet Error Percentage [%]
I80=INT(RingCheckPeriod *8388608/I10/(I8+1)+1) ; Macro Ring Check Period [Servo Cycles]
I81=INT(I80* FatalPackErr /100+1) ; Macro Maximum Ring Error Count
I82=I80-I81*4 ; Macro Minimum Sync Packet Count
7. Issue a Save , followed by a reset ( $$$ ) to maintain changes.