Delta Tau 24E2A, Руководство пользователя

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Accessory 24E2A
To produce a pulse output frequency of 1.667 kHz with the default PFMCLK frequency of 9.83 MHz, we
calculate:
11
380 , 9
667 . 1
* 536 , 65 Mxx07
≅ =
To write this value to the register, a power-on PLC routine is suggested; this can also be done with on-
line commands from the host computer. Sample PLC code to do this for Channel 1, using the above
example value, is:
OPEN PLC 1 ; PLC 1 is first program to execute
CLEAR
M107=11 ; Set pulse frequency
CMD”$*” ; Absolute Position Read
DISABLE PLC 1 ; So will not execute again
CLOSE
PMAC2/Turbo PMAC2 Conversion Table and Motor I-Variables
Once the MACRO Station has been set up to process the MLDT feedback, the PMAC2 or Turbo PMAC2
can process the ongoing position feedback with its conversion table, Ix03, and Ix04 just as for any other
feedback from a MACRO Station.
If the MLDT is used for absolute power-on position for the servo loop, the proper variables must be set
on the PMAC2 or Turbo PMAC2:
PMAC2 Ix10 (Power-On Position Address and Format): To get the absolute position in this format
for Motor x through MACRO node n (n = 0 to 15 decimal), Ix10 should be set to $74000n, where n here
is the hexadecimal representation of the node number (n = 0 to F hex).
Turbo PMAC2 Ixx10 & Ixx95 (Power-On Position Address and Format): To get the absolute
position for Motor xx through MACRO node n (n = 0 to 63 decimal), Ixx10 should be set to n; in hex-
format $0000nn, where nn is the hexadecimal representation of the node number (nn = 00 to 3F hex). If
node 0 is used, Ixx10 should be set to $000100 (256 decimal). Ixx95 should be set to $740000 to specify
parallel data through a MACRO node.
If the MLDT is used for absolute power-on phase position for commutation, the proper variables must be
set on the PMAC2 or Turbo PMAC2:
PMAC2 Ix81 (Power-On Phase Position Address and Format): To get the absolute phase position in
this format for Motor x through MACRO node n (n = 0 to 15 decimal), Ix81 should be set to $74000n,
where n here is the hexadecimal representation of the node number (n = 0 to F hex).
Turbo PMAC2 Ixx81 & Ixx91 (Power-On Phase Position Address and Format): To get the absolute
phase position for Motor xx through MACRO node n (n = 0 to 63 decimal), Ixx81 should be set to n; in
hex-format $0000nn, where nn is the hexadecimal representation of the node number (nn = 00 to 3F hex).
If node 0 is used, Ixx81 should be set to $000100 (256 decimal). Ixx91 should be set to $740000 to
specify parallel data through a MACRO node.
34 MLDT Feedback for UMAC-MACRO