Delta Tau Acc-51E, Руководство пользователя

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Accessory 51E
20 Turbo UMAC and the UMAC Interpolator
The following table shows the possible entries when PMAC2-style Servo ICs are used, as in the Acc-51E:
Servo IC # Channel 1 Channel 2 Channel 3 Channel 4
2 $FF8200 $FF8208 $FF8210 $FF8218
3 $FF8300 $FF8308 $FF8310 $FF8318
4 $FF9200 $FF9208 $FF9210 $FF9218
5 $FF9300 $FF9308 $FF9310 $FF9318
6 $FFA200 $FFA208 $FFA210 $FFA218
7 $FFA300 $FFA308 $FFA310 $FFA318
8 $FFB200 $FFB208 $FFB210 $FFB218
9 $FFB300 $FFB308 $FFB310 $FFB318
2* $FF8220 $FF8228 $FF8230 $FF8238
3* $FF8320 $FF8328 $FF8330 $FF8338
4* $FF9220 $FF9228 $FF9230 $FF9238
5* $FF9320 $FF9328 $FF9330 $FF9338
6* $FFA220 $FFA228 $FFA230 $FFA238
7* $FFA320 $FFA328 $FFA330 $FFA338
8* $FFB220 $FFB228 $FFB230 $FFB238
9* $FFB320 $FFB328 $FFB130 $FFB338
Note:
By setting the bit-19 mode switch to 1, the second hex digit changes from 7 to F.
A/D Converter Address: The second line of the entry contains $0 in the first hex digit and the base
address of the first of two A/D converters to be read in the low 19 bits (bits 0 to 18). The second A/D
converter will be read at the next higher address. The following table shows the possible entries when
PMAC2-style Servo ICs are used, as in the Acc-51E:
Servo IC # Channel 1 Channel 2 Channel 3 Channel 4
2 $078205 $07820D $078215 $07821D
3 $078305 $07830D $078315 $07831D
4 $079205 $07920D $079215 $07921D
5 $079305 $07930D $079315 $07931D
6 $07A205 $07A20D $07A215 $07A21D
7 $07A305 $07A30D $07A315 $07A31D
8 $07B205 $07B20D $07B215 $07B21D
9 $07B305 $07B30D $07B315 $07B31D
2* $078225 $07822D $078235 $07823D
3* $078325 $07832D $078335 $07833D
4* $079225 $07922D $079235 $07923D
5* $079325 $07932D $079335 $07933D
6* $07A225 $07A22D $07A235 $07A23D
7* $07A325 $07A32D $07A335 $07A33D
8* $07B225 $07B22D $07B235 $07B23D
9* $07B325 $07B32D $07B335 $07B33D
A/D Bias Term: The third line of the entry contains the bias in the A/D converter values. This line
should contain the value that the A/D converters report when ideally they should report zero. Turbo
PMAC subtracts this value from both A/D readings before calculating the arctangent. Many users will
leave this value at 0, but it is particularly useful to remove the offsets of single-ended analog encoder
signals.
This line is scaled so that the maximum A/D converter reading provides the full value of the 24-bit
register (+/-2
23
, or +/-8,388,608). Generally, it is set by reading the A/D converter values directly as 24-
bit values, computing the average value over a cycle or cycles, and entering this value here.