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
Содержание PBC Series
Страница 5: ......
Страница 74: ...Power Brick Controller User Manual Connections and Software Setup 74 Motor 1 HomeOffset 0...
Страница 203: ...Power Brick Controller User Manual Appendix A Digital Inputs Schematic 203 APPENDIX A DIGITAL INPUTS SCHEMATIC...
Страница 204: ...Power Brick Controller User Manual Appendix B Digital Outputs Schematic 204 APPENDIX B DIGITAL OUTPUTS SCHEMATIC...
Страница 205: ...Power Brick Controller User Manual Appendix C Analog I Os Schematics 205 APPENDIX C ANALOG I OS SCHEMATICS...
Страница 206: ...Power Brick Controller User Manual Appendix C Analog I Os Schematics 206...
Страница 207: ...Power Brick Controller User Manual Appendix D Limits Flags Schematic 207 APPENDIX D LIMITS FLAGS SCHEMATIC...
