Delta Tau Geo Brick, User Manual

Page: 255 / 294

Geo Brick Drive User Manual
Macro Connectivity 255
Slave Settings
I6841=I6841|$3300 ; Enable servo nodes 8,9,12,13
I544=$078433 ; MacroIC0 Node 8 Command Address. PWM Mode For ADC Transfer
I644=$078437 ; MacroIC0 Node 9 Command Address. PWM Mode For ADC Transfer
I744=$07843B ; MacroIC0 Node12 Command Address. PWM Mode For ADC Transfer
I844=$07843F ; MacroIC0 Node13 Command Address. PWM Mode For ADC Transfer
I500,4,100=0
; De-activate channels to allow direct DAC writes
Master Settings
I6841=I6841|$3300 ; Enable servo nodes 8,9,12,13
M1302->Y:$78430,8,16,S ; Analog DAC 1
M1402->Y:$78434,8,16,S ; Analog DAC 2
M1502->Y:$78438,8,16,S ; Analog DAC 3
M1602->Y:$7843C,8,16,S ; Analog DAC 4
M1305->Y:$78431,8,16,S ; Analog ADC 1
M1405->Y:$78435,8,16,S ; Analog ADC 1
M1505->Y:$78439,8,16,S ; Analog ADC 1
M1605->Y:$7843D,8,16,S ; Analog ADC 1
At the master side:

The analog DAC (filtered PWM) outputs can now be written to using Mxx02 variables.

The analog ADC inputs can now be read using Mxx05 variables.
Note
This setup example assumes that the DAC (filtered PWM) outputs at
the slave side have been set up properly. See X9-X12 connector setup
section.