User manual

Geo Brick Drive User Manual
Macro Connectivity 245
18. Typical MACRO motor settings
 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
 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
 The Flag Control Ixx24 is typically set to $40001 ($60001 to disable hardware over-travel limits).
 The commutation position addresses Ixx83 is initiated by default in the firmware.
MACRO
motor
Motor #
Ixx83
Register
MACRO
motor
Motor #
Ixx83
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
 The commutation enable Ixx01 should be set to 3, indicating that commutation is performed from
Y registers (specified in Ixx83).
 The PWM Scale Factor Ixx66 is set up as follows:
If Motor Voltage > Bus Voltage: Ixx66 = 1.1 * 16384
If Motor Voltage < Bus Voltage: Ixx66 = 1.1 * 16384 * MtrVolt / BusVolt
 The commutation angle Ixx72 should be set to 1365.
 The current feedback mask Ixx84 should be set to $FFF000.