User manual

Geo Brick Drive User Manual
Motor Setup 166
Condition
Use/Download
Description
If I4900=$1 and I4902=$0
I7000s
Servo IC 0 present
If I4900=$3 and I4902=$0
I7100s and I7000s
Servo IC 0, 1 present
If I4900=$1 and I4902=$1
I6800s and I7000s
Servo IC 0 and Macro IC 0 present
If I4900=$3 and I4902=$1
I6800s, I7100s and I7000s
Servo IC 0, 1 and Macro IC 0 present
Note
Certain clock settings can be alternatively changed for specific
functions (i.e. Filtered PWM output). This is explained in each
pertaining section.
Clock Calculations
The following clock calculations are used in subsequent motor setup section(s) in certain downloadable
scripts. They can also serve as a way to verify if the clock settings have been configured correctly:
I15=0 ; Trigonometric calculation in degrees
#define MaxPhaseFreq P8000 ; Max Phase Clock [KHz]
#define PWMClk P8001 ; PWM Clock [KHz]
#define PhaseClk P8002 ; Phase Clock [KHz]
#define ServoClk P8003 ; Servo Clock [KHz]
MaxPhaseFreq=117964.8/(2*I7000+3)
PWMClk=117964.8/(4*I7000+6)
PhaseClk=MaxPhaseFreq/(I7001+1)
ServoClk=PhaseClk/(I7002+1)
ADC Strobe Word (I7m06)
In normal mode operation (see also enhanced mode section), the ADC Strobe word(s) on a Geo Brick
Drive should be set to $3FFFFF.
I7106=$3FFFFF ; Servo IC 1 ADC Strobe Word
I7006=$3FFFFF ; Servo IC 0 ADC Strobe Word
Note
The ADC Strobe Word can be alternatively changed for specific
functions (i.e. Analog Inputs, IGBT temperature, or bus readings). See
enhanced mode section.
Note
Turbo PMAC firmware version 1.947 or later sets the ADC strobe
word in the Geo Brick Drive to $3FFFFF automatically (by default).