Delta Tau Geo Brick, User Manual

Page: 254 / 294

Geo Brick Drive User Manual
Macro Connectivity 254
Transferring the X9-X12 Analog Inputs/Outputs
A Geo Brick Drive MACRO slave can be populated with up to:

4 x 16-bit analog inputs (connectors X9 through X12)

4 x 12-bit filtered PWM ±10V analog outputs (connectors X9 through X12)
These inputs and outputs are typically mapped using suggested or pre-defined M-Variables at the
following addresses:
Analog Inputs, connectors X9-X12 Analog Outputs, connectors X9-X12
M505->Y:$078105,8,16,S ; ADC Input 1
M605->Y:$07810D,8,16,S ; ADC Input 2
M705->Y:$078115,8,16,S ; ADC Input 3
M805->Y:$07811D,8,16,S ; ADC Input 4 M502->Y:$078102,8,16,S ; Analog DAC 1
M602->Y:$07810A,8,16,S ; Analog DAC 2
M702->Y:$078112,8,16,S ; Analog DAC 3
M802->Y:$07811A,8,16,S ; Analog DAC 4
Note
Some Geo Brick Drives may not be fully populated with all the analog
inputs and outputs. The non-existent ones can be simply deleted from
the example codes.
We will use the Servo Node method to transfer the X9-X12 analog data. Servo nodes 8, 9, 12, and 13 will
carry the analog output data in the 24-bit register, and the analog input data in the first 16-bit register.
The auxiliary mode Ixx44 is set to PWM mode to allow automatic transferring of ADCs.
Note
This method cannot be used if servo nodes 8, 9, 12, and 13 are already
in use, or if motors 5-8 on the slave are configured.
Servo Node 8 9 12 13
24-bit Y:$78430 Y:$78434 Y:$78438 Y:$7843C DAC Output Data
16-bit
Y:$78431 Y:$78435 Y:$78439 Y:$7843D ADC Input Data
16-bit
Y:$78432 Y:$78436 Y:$7843A Y:$7843E
16-bit Y:$78433 Y:$78437 Y:$7843B Y:$7843F