Delta Tau ACC-24E2S, Руководство пользователя

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Accessory 24E2S
UMAC Software Setup 16
I7mn0: Servo IC m Channel n Encoder Decode Control
Typically, I7mn0 is set to 3 or 7 for x4 quadrature decode, depending on which way is up. If the channel is
used for open-loop stepper drive, I7mn0 is set to 8 to accept internal pulse-and-direction, or to 0 to accept
external pulse-and-direction (e.g. from an Acc-8S). It is set to 12 if the channel is used for MLDT
feedback.
I7mn2: Servo IC m Channel n Capture Control
I7mn2 determines whether the encoder index channel, an input flag, or both, are used for the capture of
the encoder position.
I7mn3: Servo IC m Channel n Capture Flag Select
I7mn3 determines which input flag is used for encoder capture, if one is used.
I7mn6: Servo IC m Channel n Output Mode Select
I7mn6 determines whether the A and B outputs are DAC or PWM, and whether the C output is PFM
(pulse-and-direction) or PWM. Typically, it is set to 0, either for 3-phase PWM, or to 3 for DACs and
PFM.
Encoder Conversion Table I-Variables
To use feedback or master position data from an Acc-24E2, entries must be added to the encoder
conversion table (ECT) using I-variables I8000 – I8191 to address and process this data. The default
conversion table in the Turbo PMAC does not contain these entries; it only contains entries for the eight
channels on board the Turbo PMAC.
Usually, the position data obtained through an Acc-24E2 board is an incremental encoder feedback, and
occasionally an A/D converter feedback from an Acc-28B board connected through the Acc-24E2.
The ECT entries for Acc-24E2 incremental encoder channels are shown in the following table:
Servo IC # Chan. 1 Chan. 2 Chan. 3 Chan. 4 Notes
2 $m78200 $m78208 $m78210 $m78218 First Acc-24E2x Channel n Encoder Set
3 $m78300 $m78308 $m78310 $m78318 Second Acc-24E2x Channel n Encoder Set
4 $m79200 $m79208 $m79210 $m79218 Third Acc-24E2x Channel n Encoder Set
5 $m79300 $m79308 $m79310 $m79318 Fourth Acc-24E2x Channel n Encoder Set
6 $m7A200 $m7A208 $m7A210 $m7A218 Fifth Acc-24E2x Channel n Encoder Set
7 $m7A300 $m7A308 $m7A310 $m7A318 Sixth Acc-24E2x Channel n Encoder Set
8 $m7B200 $m7B208 $m7B210 $m7B218 Seventh Acc-24E2x Channel n Encoder Set
9 $m7B300 $m7B308 $m7B310 $m7B318 Eight Acc-24E2x Channel n Encoder Set
The first hexadecimal digit in the entry, represented by m in the table, is a 0 for the most common 1/T timer-based
extension of digital incremental encoders; it is an 8 for the parallel-data extension of analog incremental encoders;
it is a C for no extension of an incremental encoder.
Motor Addressing I-Variables
For a Turbo PMAC motor to use the servo interface circuitry of the Acc-24E2, several of the addressing
I-variables for the motor must contain the addresses of registers in the Acc-24E2, or the addresses of
encoder conversion table registers containing data processed from the Acc-24E2. These I-variables can
include:
Ixx02: Motor xx Command Output Address
Ixx02 tells Turbo PMAC where to write its command outputs for Motor xx. If Acc-24E2 is to create the
command signals, Ixx02 must contain the address of the register.