Delta Tau ACC-24E2S, Руководство пользователя

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Accessory 24E2S
UMAC Software Setup 17
The following table shows the address of the C output register for each channel of each Acc-24E2S.
These addresses can be used for single analog outputs, double analog outputs, or direct PWM outputs.
Servo
IC #
Chan. 1 Chan. 2 Chan. 3 Chan. 4 Notes
2 $078204 $07820C $078214 $07821C 1
st
Acc-24E2x Channel n PFM/PWMnA
3 $078304 $07830C $078314 $07831C 2
nd
Acc-24E2x Channel n PFM/PWMnA
4 $079204 $07920C $079214 $07921C 3
rd
Acc-24E2x Channel n PFM/PWMnA
5 $079304 $07930C $079314 $07931C 4
th
Acc-24E2x Channel n PFM/PWMnA
6 $07A204 $07A20C $07A214 $07A21C 5
th
Acc-24E2x Channel n PFM/PWMnA
7 $07A304 $07A30C $07A314 $07A31C 6
th
Acc-24E2x Channel n PFM/PWMnA
8 $07B204 $07B20C $07B214 $07B21C 7
th
Acc-24E2x Channel n PFM/PWMnA
9 $07B304 $07B30C $07B314 $07B31C 8
th
Acc-24E2x Channel n PFM/PWMnA
Ixx03: Motor xx Position-Loop Feedback Address
Ixx04: Motor xx Velocity-Loop Feedback Address
Ixx05: Motor xx Master Position Address
Usually, the Ixx03, Ixx04, and Ixx05 variables contain the address of a processed position value in the
encoder conversion table, even when the raw data comes from the Acc-24E2. The first line of the
encoder conversion table is at address $003501; the last line is at address $0035C0.
Ixx10: Motor xx Power-On Position Address
Ixx10 tells the Turbo PMAC where to read absolute power-on position, if any. Typically, the only times
Ixx10 will contain the address of an Acc-24E2 register is if the position is obtained from an A/D
converter on an Acc-28B connected through the Acc-24E2, or if it is obtained from an MLDT (e.g.
Temposonics
TM
) sensor excited directly from an Acc-24E2.
The following table shows the possible values of Ixx10 for MLDT timer registers:
Ixx10 for Acc-24E2 MLDT Timer Registers (Ixx95=$170000)
Servo IC # Chan. 1 Chan. 2 Chan. 3 Chan. 4 Notes
2 $078200 $078208 $078210 $078218 1
st
Acc-24E2x Channel n Timer
3 $078300 $078308 $078310 $078318 2
nd
Acc-24E2x Channel n Timer
4 $079200 $079208 $079210 $079218 3
rd
Acc-24E2x Channel n Timer
5 $079300 $079308 $079310 $079318 4
th
Acc-24E2x Channel n Timer
6 $07A200 $07A208 $07A210 $07A218 5
th
Acc-24E2x Channel n Timer
7 $07A300 $07A308 $07A310 $07A318 6
th
Acc-24E2x Channel n Timer
8 $07B200 $07B208 $07B210 $07B218 7
th
Acc-24E2x Channel n Timer
9 $07B300 $07B308 $07B310 $07B318 8
th
Acc-24E2x Channel n Timer
Ixx24: Motor xx Flag Mode
Ixx24 defines how to read and use the flags for Motor xx that are in the register specified by Ixx25. Ixx24
is a set of independent control bits. There are two bits that must be set correctly to use a flag set on an
Acc-24E2.
Bit 0 of Ixx24 must be set to 1 to tell the Turbo PMAC that this flag set is in a Type 1 PMAC2-style
Servo IC. Bit 18 of Ixx24 must be set to 0 to tell the Turbo PMAC that this flag set is not transmitted
over a MACRO ring. Other bits of Ixx24 may be set as desired for a particular application.
Ixx25: Motor xx Flag Address
Ixx25 tells Turbo PMAC where to access its flag data for Motor xx. If Acc-24E2 is interface to the flags,
Ixx25 must contain the address of the flag register in Acc-24E2.