User manual

Geo Brick Drive User Manual
Macro Connectivity 232
Servo Node Addresses
MACRO
motor
Motor #
Address
Register
MACRO
motor
Motor #
Address
Register
1
st
5 or 9
$78420
Servo Node 0
5
th
9 or 13
$78430
Servo Node 8
2
nd
6 or 10
$78424
Servo Node 1
6
th
10 or 14
$78434
Servo Node 9
3
rd
7 or 11
$78428
Servo Node 4
7
th
11 or 15
$78438
Servo Node 12
4
th
8 or 12
$7842C
Servo Node 5
8
th
12 or 16
$7843C
Servo Node 13
Note
At this point of the setup, you should be able to move the
motor/encoder shaft by hand and see encoder counts in the position
window
10. The flag address Ixx25 is initiated by default in the firmware.
MACRO
motor
Motor #
Ixx25
Register
MACRO
motor
Motor #
Ixx25
Register
1
st
5 or 9
$3440
Servo Node 0
5
th
9 or 13
$3448
Servo Node 8
2
nd
6 or 10
$3441
Servo Node 1
6
th
10 or 14
$3449
Servo Node 9
3
rd
7 or 11
$3444
Servo Node 4
7
th
11 or 15
$344C
Servo Node 12
4
th
8 or 12
$3445
Servo Node 5
8
th
12 or 16
$344D
Servo Node 13
11. The motor command output address Ixx02 is initiated by default in the firmware
MACRO
motor
Motor #
Ixx02
Register
MACRO
motor
Motor #
Ixx02
Register
1
st
5 or 9
$078420
Servo Node 0
5
th
9 or 13
$078430
Servo Node 8
2
nd
6 or 10
$078424
Servo Node 1
6
th
10 or 14
$078434
Servo Node 9
3
rd
7 or 11
$078428
Servo Node 4
7
th
11 or 15
$078438
Servo Node 12
4
th
8 or 12
$07842C
Servo Node 5
8
th
12 or 16
$07843C
Servo Node 13
12. Make sure that the slave motors are phased (e.g. MX0,P8000=1 to initiate the slave phasing routine).
Note
It is probably wise at this point, and before trying to close the loop, to
perform some open loop commands/test (e.g. #nO0). This will ensure
the capability of enabling the slave amplifier(s).
13. Tuning the PID-Loop
The PID gains saved on the slave initially can be a good starting point. Otherwise, tuning (from the
master) can be carried on in the traditional manner - see motor setup section in this manual- there are
no special instructions for tuning the MACRO/slave motors.