Delta Tau Geo Brick, User Manual

Page: 243 / 294

Geo Brick Drive User Manual
Macro Connectivity 243
16. Activating MACRO Motor s
Variable I4900 reports how many servo ICs is the Geo Brick Drive populated with. Knowing that
each Servo IC services 4 axes, querying I4900 will reveal how many local channels are occupied and
thus the number of the 1
st
available motor on the Macro Ring:
If I4900= Servo ICs present
Local
Motors
First Motor#
On The Ring Activation
2-axis Slave
$1 IC0 only (4-axis) 1 – 4 5
I500,2,100=1
$3 IC0, and IC1(8-axis) 1 – 8 9 I900,2,100=1
17. Position, Velocity pointers
If all local motors have digital quadrature encoders (1-line ECT entries), and no other entries are used
in the Encoder Conversion Table then the position (Ixx03) and Velocity (Ixx04) pointers of the
MACRO motors are valid by default (set by firmware) and need not be changed:
MACRO
motor
Motor # Ixx03, Ixx04
MACRO
motor
Motor #
Ixx03, Ixx04
1
st
5 or 9 $350A 5
th
9 or 13 $3512
2
nd
6 or 10 $350C
6
th
10 or 14 $3514
3
rd
7 or 11 $350E 7
th
11 or 15 $3516
4
th
8 or 12 $3510 8
th
12 or 16 $3518
However, if the Encoder Conversion Table has been modified then the MACRO motors/nodes entries
need to be configured properly. This can be done using the Encoder Conversion Table utility in the
PewinPro2 under Configure>Encoder Conversion Table:
a. Click on End of Table to access the next available entry
b. Conversion Type: Parallel position from Y word with no filtering
c. No Shifting
d. Width in Bits: 24
e. Source Address: Servo node Address (See table below)
f. Record the processed data address.
This is where the position and velocity pointers will be set to for a specific node/motor number.
E.g. I903,2=$351A
g. Repeat steps for additional motors/servo nodes