User manual

Brick Controller User Manual
PinOuts and Software Setup 39
I8042=$000000 ; SIN/COS Bias word
I8043=$D8352B ; Tracking filter from conversion location $352B
I8044=$400 ; Maximum change in counts/cycle
I8045=$80000 ; Proportional gain
I8046=$0 ; Reserved setup word
I8047=$1 ; Integral gain
// Channel 7
I8048=$F78B0C ; Resolver Counter Clockwise
I8049=$478B10 ; Excitation address
I8050=$000000 ; SIN/COS Bias word
I8051=$D83533 ; Tracking filter from conversion location $3533
I8052=$400 ; Maximum change in counts/cycle
I8053=$80000 ; Proportional gain
I8054=$0 ; Reserved setup word
I8055=$1 ; Integral gain
// Channel 8
I8056=$F78B0E ; Resolver Counter Clockwise
I8057=$478B10 ; Excitation address
I8058=$000000 ; SIN/COS Bias word
I8059=$D8353B ; Tracking filter from conversion location $353B
I8060=$400 ; Maximum change in counts/cycle
I8061=$80000 ; Proportional gain
I8062=$0 ; Reserved setup word
I8063=$1 ; Integral gain
// End Of Table
I8064=$000000 ; End Of Table
Position, Velocity Feedback Pointers
I103=$3508 I104=$3508
I203=$3510 I204=$3510
I303=$3518 I304=$3518
I403=$3520 I404=$3520
I503=$3528 I504=$3528
I603=$3530 I604=$3530
I703=$3538 I704=$3538
I803=$3540 I804=$3540
Note
At this point of the setup process, you should be able to move the
motor/encoder shaft by hand and see encoder counts in the position
window.