Brick MACRO - Copley / Other MACRO amp Problem - Resolved

[Richard Naddaf]

Hardware:

Geo Brick LV with MACRO - Copley with MACRO

 

Problem reported:

Position blips (spikes) around zero motor position, more pronounced towards the negative range.

 

Setup:

Motor was set up as #1, and the MACRO data was brought into the first entry of the encoder conversion table (ECT).

 

Resolution:

With local servo ICs on the Brick, it is highly recommended to start MACRO motors at the next available channel.That is:

#5 when 1 x Servo IC is present (I4900=$1)

#9 when 2 x Servo ICs are present (I4900=$3)

This will allow taking advantages of the settings and pointers initiated automatically on power-up by the firmware, and makes for an easier MACRO motor setup.

 

Also, MACRO ECTs should be brought in after the "local" servo gates.

 

Conclusion:

Although it is not theoretically clear why bringing the MACRO data into the first ECT entry caused this to happen. Taking these recommendations into consideration should alleviate this problem.