Delta Tau Power PMAC Clipper, Руководство пользователя

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Power PMAC Clipper User Manual
ACC-24S3 4-Channel Axis Expansion Stack Board
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J10: Handwheel and Pulse/Dir Connector (JHW/PD Port)
JHW/PD port provides two differential Quadrature encoder inputs (HW1 and HW2) and two differential
PFM outputs or PWM output pairs. Use the same hardware wiring setup as the base Power PMAC
Clipper board.
Handwheel Encoder Software Setup
Use the same software setup as the base Power PMAC Clipper board with the following differences:

Gate3 index is 1 (Clipper[1])

Use motors not in current use

Use ECT entries not in current use

Direct address pointers for encoder count direction and error are different
Sys.WpKey = $AAAAAAAA;
// Typical ECT setup for HW1
Gate3[1].Chan[0].SerialEncEna=0
EncTable[9].Type=1
EncTable[9].pEnc=Gate3[1].Chan[0].SerialEncDataA.a
EncTable[9].pEnc1=sys.pushm
EncTable[9].index1=0
EncTable[9].index2=0
EncTable[9].index3=0
EncTable[9].index4=0
EncTable[9].ScaleFactor=1/256
// Typical ECT setup for HW2
Gate3[1].Chan[1].SerialEncEna=0
EncTable[10].Type=1
EncTable[10].pEnc=Gate3[1].Chan[6].SerialEncDataA.a
EncTable[10].pEnc1=sys.pushm
EncTable[10].index1=0
EncTable[10].index2=0
EncTable[10].index3=0
EncTable[10].index4=0
EncTable[10].ScaleFactor=1/256
// Typical pointers for encoder count direction
PTR CountDirHW1->U.IO:$90405C.11.1
PTR CountDirHW2->U.IO:$9040DC.11.1
// Typical pointers for encoder count error
PTR CountErrHW1->U.IO:$90401C.11.1
PTR CountErrHW2->U.IO:$90409C.11.1