Delta Tau Power PMAC Clipper, Руководство пользователя

Страница: 35 / 86

Power PMAC Clipper User Manual
Connections and Software Setup
35

The global parameter ADCnVoltsIn
reports the ADC data in “user” volts.
Where n is the ADC channel number (1 - 4).
GLOBAL ADC1VoltsIn = 0 ; // Voltage input, ADCIN_1
GLOBAL ADC2VoltsIn = 0 ; // Voltage input, ADCIN_2
GLOBAL ADC3VoltsIn = 0 ; // Voltage input, ADCIN_3
GLOBAL ADC4VoltsIn = 0 ; // Voltage input, ADCIN_4
GLOBAL ADC1ZeroOffset = 0.038 ; // Zero Volt Offset1, [volt] --USER ADJUSTABLE
GLOBAL ADC2ZeroOffset = 0.038 ; // Zero Volt Offset2, [volt] --USER ADJUSTABLE
GLOBAL ADC3ZeroOffset = 0.038 ; // Zero Volt Offset3, [volt] --USER ADJUSTABLE
GLOBAL ADC4ZeroOffset = 0.038 ; // Zero Volt Offset4, [volt] --USER ADJUSTABLE
OPEN PLC PtrExamplePLC
ADC1VoltsIn = (ADCIN_1 * 10 / 2048) - ADC1ZeroOffset ;
ADC2VoltsIn = (ADCIN_2 * 10 / 2048) – ADC2ZeroOffset ;
ADC3VoltsIn = (ADCIN_3 * 10 / 2048) – ADC3ZeroOffset ;
ADC4VoltsIn = (ADCIN_4 * 10 / 2048) – ADC4ZeroOffset ;
CLOSE
OPEN PLC ShiftExamplePLC // More efficient less resources
ADC1VoltsIn = ((Clipper[0].Chan[0].AdcEnc[0] >> 20) * 10 / 2048) - ADC1ZeroOffset ;
ADC2VoltsIn = ((Clipper[0].Chan[0].AdcEnc[1] >> 20) * 10 / 2048) – ADC2ZeroOffset ;
ADC3VoltsIn = ((Clipper[0].Chan[0].AdcEnc[2] >> 20) * 10 / 2048) – ADC3ZeroOffset ;
ADC4VoltsIn = ((Clipper[0].Chan[0].AdcEnc[3] >> 20) * 10 / 2048) – ADC4ZeroOffset ;
CLOSE
Using the ADC for Servo Feedback
Using the ADC data for servo feedback requires bringing it into the Encoder Conversion Table (ECT)
into which the motor’s position and velocity elements are assigned to.
Example :
EncTable[ 5 ].pEnc = Clipper[ 0 ].Chan[ 0 ].AdcEnc[ 0 ].a;
EncTable[ 5 ].pEnc1 = Sys.pushm;
EncTable[ 5 ].index1 = 20 ;
EncTable[ 5 ].index2 = 20 ;
EncTable[ 5 ].index3 = 0 ;
EncTable[ 5 ].index4 = 0 ;
EncTable[ 5 ].index5 = 0 ;
EncTable[ 5 ].ScaleFactor = 1 / EXP2( 20 );
Motor[
5 ].pEnc = EncTable[ 5 ].a;
Motor[ 5 ].pEnc2 = EncTable[ 5 ].a;