Delta Tau Acc-51E, Руководство пользователя

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Accessory 51E
Introduction 1
INTRODUCTION
Delta Tau’s Acc-51E UMAC Interpolator Accessory is a sine wave input interpolator designed to
interface two (optionally four) analog quadrature encoders to Delta Tau Data System’s UMAC Euro card
style devices.
The Acc-51E is a 3U size card that mounts in the same racks as Delta Tau’s Turbo UMAC or MACRO
station processors.
Features
The Interpolator accepts inputs from two (optionally four) sinusoidal or quasi-sinusoidal encoders and
provides encoder position data to the motion processor. This interpolator creates 4,096 steps per sine-
wave cycle.
The Interpolator can accept a voltage-source (1Vp-p) signal from the encoder. A jumper selects between
unterminated or 120

input termination.
The maximum sine-cycle frequency input is approximately 8 MHz (8,000,000 SIN cycles/sec), which
gives a maximum speed of about 32.768 billion steps per second.
When used with a 1000 line sinusoidal rotary encoder, there will be 4,096,000 discrete states per
revolution (128,000 software counts). The maximum calculated electrical speed of this encoder would be
8,000 RPS or 480,000 RPM, which exceeds the maximum physical speed of most encoders.
The Acc-51E is considered an axis device in the UBUS backplane. Therefore, the memory map for this
card is similar to the Acc-24E2x style axis cards.
Limitations when Used With Original UMAC MACRO CPU (602804)
The original UMAC MACRO CPU has been designed as an 8-axis device. The Acc-51E occupies the
same backplane select lines as Acc-24E2 style axis cards and is configured using the same I-Variables as
that of a typical MACRO Station. Therefore, the Acc-51E occupies a minimum of four axes in the
MACRO station application.
If there are more than four motors to be configured in the UMAC MACRO system Delta Tau
recommends using the MACRO16 CPU (603719) which can service six Servo IC cards (16 servo
channels total).