Power Brick Controller User Manual
Manual Motor Setup
157
Common Non-Commutated Motor Setup Elements
The following, are common motor structure elements for setting up motors using the True DAC output type
with the Power Brick Controller. Typically, when using DAC output, the amplifier commutates the motor,
and PMAC does not need to, so associated settings can be omitted.
// Overtravel limits (set Motor[].pLimits = 0 to disable)
Motor[
1
].pLimits = PowerBrick[
0
].Chan[
0
].Status.a
Motor[
2
].pLimits = PowerBrick[
0
].Chan[
1
].Status.a
Motor[
3
].pLimits = PowerBrick[
0
].Chan[
2
].Status.a
Motor[
4
].pLimits = PowerBrick[
0
].Chan[
3
].Status.a
Motor[
5
].pLimits = PowerBrick[
1
].Chan[
0
].Status.a
Motor[
6
].pLimits = PowerBrick[
1
].Chan[
1
].Status.a
Motor[
7
].pLimits = PowerBrick[
1
].Chan[
2
].Status.a
Motor[
8
].pLimits = PowerBrick[
1
].Chan[
3
].Status.a
// Amplifier Fault Level
–
This varies with amplifier
Motor[
1
].AmpFaultLevel =
1
Motor[
2
].AmpFaultLevel =
1
Motor[
3
].AmpFaultLevel =
1
Motor[
4
].AmpFaultLevel =
1
Motor[
5
].AmpFaultLevel =
1
Motor[
6
].AmpFaultLevel =
1
Motor[
7
].AmpFaultLevel =
1
Motor[
8
].AmpFaultLevel =
1
// Output Mode DAC
PowerBrick[
0
].Chan[
0
].OutputMode =
7
PowerBrick[
0
].Chan[
1
].OutputMode =
7
PowerBrick[
0
].Chan[
2
].OutputMode =
7
PowerBrick[
0
].Chan[
3
].OutputMode =
7
PowerBrick[
1
].Chan[
0
].OutputMode =
7
PowerBrick[
1
].Chan[
1
].OutputMode =
7
PowerBrick[
1
].Chan[
2
].OutputMode =
7
PowerBrick[
1
].Chan[
3
].OutputMode =
7
// DAC Strobe Word
PowerBrick[
0
].DacStrobe = $
7
FFFE000
PowerBrick[
1
].DacStrobe = $
7
FFFE000
// No ADC Feedback Used for DAC Control
Motor[
1
].pAdc =
0
Motor[
2
].pAdc =
0
Motor[
3
].pAdc =
0
Motor[
4
].pAdc =
0
Motor[
5
].pAdc =
0
Motor[
6
].pAdc =
0
Motor[
7
].pAdc =
0
Motor[
8
].pAdc =
0
// Activate Motors
Motor[
1
].ServoCtrl =
1
Motor[
2
].ServoCtrl =
1
Motor[
3
].ServoCtrl =
1
Motor[
4
].ServoCtrl =
1
Motor[
5
].ServoCtrl =
1
Motor[
6
].ServoCtrl =
1
Motor[
7
].ServoCtrl =
1
Motor[
8
].ServoCtrl =
1
