Power Brick Controller User Manual
Manual Motor Setup
167
Common Motor Setup Elements
The following, are common motor structure elements for setting up motors using Filtered PWM with the
Power Brick Controller.
// 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
// Overtravel limits (set Motor[x].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: PWM
PowerBrick[
0
].Chan[
0
].OutputMode =
0
PowerBrick[
0
].Chan[
1
].OutputMode =
0
PowerBrick[
0
].Chan[
2
].OutputMode =
0
PowerBrick[
0
].Chan[
3
].OutputMode =
0
PowerBrick[
1
].Chan[
0
].OutputMode =
0
PowerBrick[
1
].Chan[
1
].OutputMode =
0
PowerBrick[
1
].Chan[
2
].OutputMode =
0
PowerBrick[
1
].Chan[
3
].OutputMode =
0
// Dac Output
Motor[
1
].pDac = PowerBrick[
0
].Chan[
0
].Pwm[
0
].a
Motor[
2
].pDac = PowerBrick[
0
].Chan[
1
].Pwm[
0
].a
Motor[
3
].pDac = PowerBrick[
0
].Chan[
2
].Pwm[
0
].a
Motor[
4
].pDac = PowerBrick[
0
].Chan[
3
].Pwm[
0
].a
Motor[
5
].pDac = PowerBrick[
1
].Chan[
0
].Pwm[
0
].a
Motor[
6
].pDac = PowerBrick[
1
].Chan[
1
].Pwm[
0
].a
Motor[
7
].pDac = PowerBrick[
1
].Chan[
2
].Pwm[
0
].a
Motor[
8
].pDac = PowerBrick[
1
].Chan[
3
].Pwm[
0
].a
// PWM Scale Factor
Motor[
1
].PwmSf =
32767
Motor[
2
].PwmSf =
32767
Motor[
3
].PwmSf =
32767
Motor[
4
].PwmSf =
32767
Motor[
5
].PwmSf =
32767
Motor[
6
].PwmSf =
32767
Motor[
7
].PwmSf =
32767
Motor[
8
].PwmSf =
32767
