User manual
Geo Brick Drive User Manual
Pinouts and Software Setup 135
Encoder Conversion Table Setup (Motors 1-8)
The ECT automatic entry is equivalent to:
I8000=$278B20 ; Entry 1 Unfiltered parallel pos of location Y:$78B20
I8001=$024004 ; Width and Bias, total of 36-bits LSB starting at bit#4
I8002=$278B24 ; Entry 2 Unfiltered parallel pos of location Y:$78B24
I8003=$024004 ; Width and Bias, total of 36-bits LSB starting at bit#4
I8004=$278B28 ; Entry 3 Unfiltered parallel pos of location Y:$78B28
I8005=$024004 ; Width and Bias, total of 36-bits LSB starting at bit#4
I8006=$278B2C ; Entry 4 Unfiltered parallel pos of location Y:$78B2C
I8007=$024004 ; Width and Bias, total of 36-bits LSB starting at bit#4
I8008=$278B30 ; Entry 5 Unfiltered parallel pos of location Y:$78B30
I8009=$024004 ; Width and Bias, total of 36-bits LSB starting at bit#4
I8010=$278B34 ; Entry 6 Unfiltered parallel pos of location Y:$78B34
I8011=$024004 ; Width and Bias, total of 36-bits LSB starting at bit#4
I8012=$278B38 ; Entry 7 Unfiltered parallel pos of location Y:$78B38
I8013=$024004 ; Width and Bias, total of 36-bits LSB starting at bit#4
I8014=$278B3C ; Entry 8 Unfiltered parallel pos of location Y:$78B3C
I8015=$024004 ; Width and Bias, total of 36-bits LSB starting at bit#4
Position (Ixx03) and Velocity (Ixx04) Pointers
I103=$3502 ; Motor 1 Position feedback address, ECT processed data
I104=$3502 ; Motor 1 Velocity feedback address, ECT processed data
I203=$3504 ; Motor 2 Position feedback address, ECT processed data
I204=$3504 ; Motor 2 Velocity feedback address, ECT processed data
I303=$3506 ; Motor 3 Position feedback address, ECT processed data
I304=$3506 ; Motor 3 Velocity feedback address, ECT processed data
I403=$3508 ; Motor 4 Position feedback address, ECT processed data
I404=$3508 ; Motor 4 Velocity feedback address, ECT processed data
I503=$350A ; Motor 5 Position feedback address, ECT processed data
I504=$350A ; Motor 5 Velocity feedback address, ECT processed data
I603=$350C ; Motor 6 Position feedback address, ECT processed data
I604=$350C ; Motor 6 Velocity feedback address, ECT processed data
I703=$350E ; Motor 7 Position feedback address, ECT processed data
I704=$350E ; Motor 7 Velocity feedback address, ECT processed data
I803=$3510 ; Motor 8 Position feedback address, ECT processed data
I804=$3510 ; Motor 8 Velocity feedback address, ECT processed data
Motor Activation
I100,8,100=1 ; Motors 1-8 Activated
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.