Delta Tau PMAC Pack, Hardware Reference Manual

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96 Acc-24E Acc-24EXP Expansion XP Pack
Encoder Conversion Table Setup
To read encoders interfaced into the Expansion Pack, PMAC’s encoder conversion table must be set up to
read and process the encoder signals. To set up the Encoder Conversion Table, use the PMAC
Executive’s menu-based encoder table setup, which is accessed from the
CONFIGURE
menu. For entries 5
through 8, change the
SOURCE ADDRESS
to encoders 9 through 12. When finished, your table should look
as follows:
Entry Address Y-Word
(Source
Address)
Conversion Method
1 Y:$720 $00C000 1/T extension of encoder 1 at $C000
2 Y:$721 $00C004 1/T extension of encoder 2 at $C004
3 Y:$722 $00C008 Q
4 Y:$723 $00C00C 1/T extension of encoder 4 at $C00C
5 Y:$724 $00C020 1/T extension of encoder 9 at $C020
6 Y:$725 $00C024 1/T extension of encoder 10 at $C024
7 Y:$726 $00C028 1/T extension of encoder 11 at $C028
8 Y:$727 $00C02C 1/T extension of encoder 12 at C02C
Once the encoder conversion table is set, the encoder setup for axes 5 through 8 is completed. The factory
default settings for Ix03, Ix04, and Ix05 will now apply for encoder-to-axis feedback mapping.
Motor Output Command Setup
The Ix02 variable in PMAC is used to tell PMAC where (what address) to map the output command for
motor x. The outputs for axes 5 through 8 must be mapped into DACs 9 through 12.
For non-commutated axes (
)
10V torque or velocity output commands) set:
•
I502 = $C023 (DAC 9)
•
I602 = $C022 (DAC 10)
•
I702 = $C02B (DAC 11)
•
I802 = $C02A (DAC 12)
For commutated axes (2 sinusoidal phase output commands per axis) set:
•
Ix02 = $C022 (DACs 9 and 10)
•
Ix02 = $02A (DACs 11 and 12)
Flag Input Command Setup
The Ix25 variable is used by PMAC to determine what set of inputs it will look to for motor x’s
overtravel limit switches, home flag, amplifier-fault flag, and amplifier enable output. Typically, these are
the flags associated with an encoder input; specifically those of the position feedback encoder for the
motor. It is necessary to reassign the Ix25 variables for motors 5 through 8 to correspond to the flag set
associated with encoders 9 through 12. Flag source address settings are as follows:
•
LIM9, HMFL 9,…$C020
•
LIM10, HMFL 10,…$C024
•
LIM11, HMFL11,…$C028
•
LIM12, HMFL12,…$C02C