Turbo PMAC Clipper Hardware Reference Manual
Connections and Software Setup
25
The equivalent Turbo PMAC script code for 8-channel entries
// Channel 1
I8000=$FF8000 ; High resolution interpolator
(Clipper & Acc-51S)
I8001=$078800 ; A/D converter address
(Clipper & Acc-51S)
I8002=$000000 ; Bias Term and Entry result
(Clipper & Acc-51S)
// Channel 2
I8003=$FF8008 ; High resolution interpolator
(Clipper & Acc-51S)
I8004=$078802 ; A/D converter address
(Clipper & Acc-51S)
I8005=$000000 ; Bias Term and Entry result
(Clipper & Acc-51S)
// Channel 3
I8006=$FF8010 ; High resolution interpolator
(Clipper & Acc-51S)
I8007=$078804 ; A/D converter address
(Clipper & Acc-51S)
I8008=$000000 ; Bias Term and Entry result
(Clipper & Acc-51S)
// Channel 4
I8009=$FF8018 ; High resolution interpolator
(Clipper & Acc-51S)
I8010=$078806 ; A/D converter address
(Clipper & Acc-51S)
I8011=$000000 ; Bias Term and Entry result
(Clipper & Acc-51S)
// Channel 5
I8012=$FF8100 ; High resolution interpolator
(Acc-1P & Acc-51S)
I8013=$078808 ; A/D converter address
(Acc-1P & Acc-51S)
I8014=$000000 ; Bias Term and Entry result
(Acc-1P & Acc-51S)
// Channel 6
I8015=$FF8108 ; High resolution interpolator
(Acc-1P & Acc-51S)
I8016=$07880A ; A/D converter address
(Acc-1P & Acc-51S)
I8017=$000000 ; Bias Term and Entry result
(Acc-1P & Acc-51S)
// Channel 7
I8018=$FF8110 ; High resolution interpolator
(Acc-1P & Acc-51S)
I8019=$07880C ; A/D converter address
(Acc-1P & Acc-51S)
I8020=$000000 ; Bias Term and Entry result
(Acc-1P & Acc-51S)
// Channel 8
I8021=$FF8118 ; High resolution interpolator
(Acc-1P & Acc-51S)
I8022=$07880E ; A/D converter address
(Acc-1P & Acc-51S)
I8023=$000000 ; Bias Term and Entry result
(Acc-1P & Acc-51S)
Position and Velocity feedback pointers should now be set to the corresponding ECT result:
I103=$3503 I104=$3503
; (Clipper & Acc-51S)
I203=$3506 I204=$3506
; (Clipper & Acc-51S)
I303=$3509 I304=$3509
; (Clipper & Acc-51S)
I403=$350C I404=$350C
; (Clipper & Acc-51S)
I503=$350F I504=$350F
; (Acc-1P & Acc-51S)
I603=$3512 I604=$3512
; (Acc-1P & Acc-51S)
I703=$3515 I704=$3515
; (Acc-1P & Acc-51S)
I803=$3518 I804=$3518
; (Acc-1P & Acc-51S)
Note
At this point of the setup, you should be able to move the
motor/encoder shaft by hand and see ‘motor’ counts in the position
window.
Counts per User Units
With the interpolation of x 4096 in Turbo PMAC, there are 128 (4096/32) motor counts per sine/cosine
cycles. Motor counts can be monitored in the motor position window upon moving the motor by hand.
Examples
:
A
1024 Sine/Cosine
periods per revolution of a rotary encoder produces 1024 x 128 =
131,072 cts/rev.
A
20 μm
linear encoder resolution produces 128/0.02 =
6400 cts/mm.
Содержание Turbo PMAC Clipper
Страница 5: ......
Страница 11: ...Turbo PMAC Clipper Connections and Software Setup 11 SPECIFICATIONS Part Number ...
Страница 78: ...Turbo PMAC Clipper Hardware Reference Manual Appendix B 78 APPENDIX B SCHEMATICS ...
Страница 79: ...Turbo PMAC Clipper Hardware Reference Manual Appendix B 79 ...
Страница 80: ...Turbo PMAC Clipper Hardware Reference Manual Appendix B 80 ...
Страница 81: ...Turbo PMAC Clipper Hardware Reference Manual Appendix B 81 ...
Страница 82: ...Turbo PMAC Clipper Hardware Reference Manual Appendix B 82 ...
Страница 83: ...Turbo PMAC Clipper Hardware Reference Manual Appendix B 83 ...
Страница 84: ...Turbo PMAC Clipper Hardware Reference Manual Appendix B 84 ...