Axis 24E2, User Manual, Page: 24 / 44

Accessory 24E2
flags on an ACC-24E2 channel, or the encoder counter filled by simulated quadrature from a Yaskawa
absolute encoder connected to the ACC-24E2 through an ACC-57E board.
The following table contains the possible settings of Ixx81 to read the encoder counters for Yaskawa
absolute encoders:
Turbo PMAC Ixx81 ACC-24E2 Encoder Register Settings (Ix91=$480000 - $580000)
Servo
IC #
Chan. 1 Chan. 2 Chan. 3 Chan. 4 Notes
2 $078201 $078209 $078211 $078219 1
st
ACC-24E2x Channel n Encoder Reg.
3 $078301 $078309 $078311 $078319 2
nd
ACC-24E2x Channel n Encoder Reg.
4 $079201 $079209 $079211 $079219 3
rd
ACC-24E2x Channel n Encoder Reg.
5 $079301 $079309 $079311 $079319 4
th
ACC-24E2x Channel n Encoder Reg.
6 $07A201 $07A209 $07A211 $07A219 5
th
ACC-24E2x Channel n Encoder Reg.
7 $07A301 $07A309 $07A311 $07A319 6
th
ACC-24E2x Channel n Encoder Reg.
8 $07B201 $07B209 $07B211 $07B219 7
th
ACC-24E2x Channel n Encoder Reg.
9 $07B301 $07B309 $07B311 $07B319 8
th
ACC-24E2x Channel n Encoder Reg.
Ixx82: Motor xx Current Feedback Address
Ixx82 tells Turbo PMAC where to get its current-loop feedback every phase update cycle. If Ixx82 is set
to 0, Turbo PMAC does not perform current-loop calculations for Motor xx.
The following table shows the possible values of Ixx82 for ACC-24E2 ADC register pairs:
Turbo PMAC Ixx82 ACC-24E2 ADC Register Settings
ADC Register
Channel #
1
st
ACC-24E2 2
nd
ACC-24E2 3
rd
ACC-24E2 4
th
ACC-24E2
Channel 1 $078206 $079206 $07A206 $07B206
Channel 2 $07820E $07920E $07A20E $07B20E
Channel 3 $078216 $079216 $07A216 $07B216
Channel 4 $07821E $07921E $07A21E $07B21E
Channel 5 $078306 $079306 $07A306 $07B306
Channel 6 $07830E $07930E $07A30E $07B30E
Channel 7 $078316 $079316 $07A316 $07B316
Channel 8 $07831E $07931E $07A31E $07B31E
Ixx83: Motor xx Phase Position Address
Ixx83 tells Turbo PMAC where to get its commutation position feedback every phase update cycle.
Usually, this contains the address of an encoder phase position register.
The following table shows the possible values of Ixx83 for ACC-24E2 encoder phase position registers:
Turbo PMAC Ixx83 ACC-24E2 Encoder Register Settings
Servo
IC #
Chan. 1 Chan. 2 Chan. 3 Chan. 4 Notes
2 $078201 $078209 $078211 $078219 1
st
ACC-24E2x Channel n Encoder Reg.
3 $078301 $078309 $078311 $078319 2
nd
ACC-24E2x Channel n Encoder Reg.
4 $079201 $079209 $079211 $079219 3
rd
ACC-24E2x Channel n Encoder Reg.
5 $079301 $079309 $079311 $079319 4
th
ACC-24E2x Channel n Encoder Reg.
6 $07A201 $07A209 $07A211 $07A219 5
th
ACC-24E2x Channel n Encoder Reg.
7 $07A301 $07A309 $07A311 $07A319 6
th
ACC-24E2x Channel n Encoder Reg.
8 $07B201 $07B209 $07B211 $07B219 7
th
ACC-24E2x Channel n Encoder Reg.
9 $07B301 $07B309 $07B311 $07B319 8
th
ACC-24E2x Channel n Encoder Reg.
20 Connections