Power PMAC Clipper User Manual
ACC-24S3 4-Channel Axis Expansion Stack Board
74
J3: Machine Connector (JMACH1 Port)
The primary machine interface connector is JMACH1, labeled J3 on the ACC-24S3, contains the pins for:
analog outputs, incremental encoder inputs, amplifier fault and enable signals and power-supply
connections. Use the same hardware wiring setup as the base Power PMAC Clipper board.
Configuring Quadrature Encoders
Use the same software setup as the base Power PMAC Clipper board with the following differences:
Gate3 index is 1 (Clipper[1])
Motors 5-8 are used (or motors other than used on the base board)
ECT entries 5-8 are used (or entries other than used on the base board)
The default ECT settings for the first incremental quadrature encoder (typically motor 5) will be:
EncTable[
5
].type =
1
;
// Single 32-bit read
EncTable[
5
].pEnc = Clipper[
1
].Chan[
0
].ServoCapt.a;
// Primary source, ch 1 Servo Capture
EncTable[
5
].pEnc1 = Sys.Pushm;
// Secondary source, none
EncTable[
5
].index1 =
0
;
// left shift, none
EncTable[
5
].index2 =
0
;
// right shift, none
EncTable[
5
].index3 =
0
;
//
EncTable[
5
].index4 =
0
;
//
EncTable[
5
].ScaleFactor =
1
/
256
;
// Scale Factor, LSB location
Channel
Number
Quadrature Encoder
Source Address
5
Clipper[1].Chan[0].ServoCapt.a
6
Clipper[1].Chan[1].ServoCapt.a
7
Clipper[1].Chan[2].ServoCapt.a
8
Clipper[1].Chan[3].ServoCapt.a
Activating the corresponding channel is sufficient to display counts in the position window when the
motor / encoder shaft is moved by hand.
Motor[
5
].ServoCtrl =
1
;
// Channel activation
The position and velocity source(s) must be pointing to the proper ECT result. With quadrature encoders,
they are initialized by the firmware as:
Motor[
5
].pEnc = EncTable[
5
].a;
// Position
Motor[
5
].pEnc2 = EncTable[
5
].a;
// Velocity
Motor[
6
].pEnc = EncTable[
6
].a;
// Position
Motor[
6
].pEnc2 = EncTable[
6
].a;
// Velocity
Motor[
7
].pEnc = EncTable[
7
].a;
// Position
Motor[
7
].pEnc2 = EncTable[
7
].a;
// Velocity
Motor[
8
].pEnc = EncTable[
8
].a;
// Position
Motor[
8
].pEnc2 = EncTable[
8
].a;
// Velocity
Wiring the DAC Output
Use the same hardware wiring setup as the base Power PMAC Clipper board.
