Delta Tau Acc-51E, User Manual

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Accessory 51E
UMAC MACRO Station Processor and the UMAC Interpolator 29
If the base address of the encoder conversion table entry is at MI120, then the value of the control word
(recommended in the above section as $000007) should be poked into the MACRO Station processor's
memory at X:$0010.
Example Program to Configure Registers MI198 & MI199
The following example shows a startup PLC that must be written in the PMAC Ultralite Master controller
that will configure the registers needed to operate the Acc-51E.
This sample program will set the registers for four channels of sinusoidal encoder inputs that will appear
at axes 1 through 4 on the UMAC MACRO Station controller. The controller should not be configured to
include the Acc-51E interpolator as four axes for this example to work correctly.
The dipswitches should be set per the second Interp addressing as described in the table above.
OPEN PLC1 CLEAR
P1=$E8C064 MSW0,MI198,P1
;Point to Global Clock Control Register.
P2=$0038D2 MSW0,M199,P2
;Put $38D2 into the register.
P1=$E8C065 MSW0,MI198,P1
;Point to control word for channel 1.
P2=$000007 MSW0,MI199,P2
;Put $07 into the register.
P1=$E8C06D MSW0,MI198,P1
;Point to control word for channel 2.
MSW0,MI199,P2
;Put $07 into the register.
P1=$E8C075 MSW0,MI198,P1
;Point to control word for channel 3.
MSW0,MI199,P2
;Put $07 into the register.
P1=$E8C07D MSW0,MI198,P1
;Point to control word for channel 4.
MSW0,MI199,P2
;Put $07 into the register.
P1=$E80010 MSW0,MI198,P1
;Point to 1
st
3-line entry in encoder conversion table (X side).
P2=$000007 MSW0,MI199,P2
;Place control word here (must be the same as #1 above)
P1=$E80013 MSW0,MI198,P1
;Point to 2
nd
3-line entry in encoder conversion table (X side).
MSW0,MI199,P2
;Place control word here (must be the same as #2 above)
P1=$E80016 MSW0,MI198,P1
;Point to 3
rd
3-line entry in encoder conversion table (X side).
MSW0,MI199,P2
;Place control word here (must be the same as #3 above)
P1=$E80019,MSW0,MI198,P1
;Point to 4
th
3-line entry in encoder conversion table (X side).
MSW0,MI199,P2
;Place control word here (must be the same as #4 above)
DISPLC1
;Run this PLC only once at startup or MACRO Station reset.
CLOSE
The above program assumes that the UMAC MACRO Station is set to operate at node 0. Refer to the
PMAC2 Software Reference Manual or the Turbo PMAC2 Software Reference Manual for the usage of
the MSWx and MSRx commands.
This program must be executed only once at power-up or station reset in the UMAC MACRO Station.