User manual

Geo Brick Drive User Manual
Motor Setup 165
Hardware Clock: The hardware clock is directly related to sampling rates of encoders, digital
/analog converters, and pulse frequency modulation PFM clock. With the Geo
Brick Drive, the hardware clock setting (I7m03) is mostly used to set PFM clock
frequencies. Also, for increasing the encoder sampling rate for high
speed/resolution digital quadrature encoders.
The following, are recommended clock settings for enhanced performance.
These settings should accommodate a wide variety of applications, from
those performing simple positioning to those demanding more performance
and faster calculation time:
Phase Clock: 18.000 KHz
PWM Clock: 9.0000 KHz
Servo Clock: 4.5000 KHz
The corresponding parameters for these clock settings can be found using the clock calculator in the
Pewin32Pro2 under PMAC Resources >PMAC2 Frequency Calculators >PMAC2 Frequencies:
The equivalent script code for these settings:
I6800=3275 ; MACRO IC0 Max Phase/PWM Frequency Control
I6801=0 ; MACRO IC0 Phase Clock Frequency Control
I6802=3 ; MACRO IC0 Servo Clock Frequency Control
I7100=3275 ; Servo IC1 Max Phase/PWM Frequency Control
I7101=0 ; Servo IC1 Phase Clock Frequency Control
I7102=3 ; Servo IC1 Servo Clock Frequency Control
I7000=3275 ; Servo IC0 Max Phase/PWM Frequency Control
I7001=0 ; Servo IC0 Phase Clock Frequency Control
I7002=3 ; Servo IC0 Servo Clock Frequency Control
I10=1863964 ; Servo Interrupt Time
Note that writing to a non-existent Servo or Macro IC is usually neglected by PMAC but it is not a good
practice for documentation purposes and future configuration(s). Use/download only parameters
pertaining to the Servo and Macro ICs populating your unit: