Axis 3Ax-603397-xUxx User Manual download pdf (Page 22)

Accessory 24E2

Encoder Conversion Table I-Variables

To use feedback or master position data from an ACC-24E2, add entries to the encoder conversion table

(ECT) using I-variables I8000 – I8191 to address and process this data. The default conversion table in

the Turbo PMAC does not contain these entries; it only contains entries for the eight channels on board

the Turbo PMAC.

Usually, the position data obtained through an ACC-24E2 board is an incremental encoder feedback, and

occasionally an A/D converter feedback from an ACC-28E board or ACC-36E.

The ECT entries for ACC-24E2 incremental encoder channels are shown in the following table:

Servo

IC #

Chan. 1 Chan. 2 Chan. 3 Chan. 4 Notes

2 $m78200 $m78208 $m78210 $m78218 1

st

ACC-24E2x Channel n Encoder Set

3 $m78300 $m78308 $m78310 $m78318 2

nd

ACC-24E2x Channel n Encoder Set

4 $m79200 $m79208 $m79210 $m79218 3

rd

ACC-24E2x Channel n Encoder Set

5 $m79300 $m79308 $m79310 $m79318 4

th

ACC-24E2x Channel n Encoder Set

6 $m7A200 $m7A208 $m7A210 $m7A218 5

th

ACC-24E2x Channel n Encoder Set

7 $m7A300 $m7A308 $m7A310 $m7A318 6

th

ACC-24E2x Channel n Encoder Set

8 $m7B200 $m7B208 $m7B210 $m7B218 7

th

ACC-24E2x Channel n Encoder Set

9 $m7B300 $m7B308 $m7B310 $m7B318 8

th

ACC-24E2x Channel n Encoder Set

The first hexadecimal digit in the entry, represented by m in the table, is a 0 for the most common 1/T

timer-based extension of digital incremental encoders; it is an 8 for the parallel-data extension of analog

incremental encoders; it is a C for no extension of an incremental encoder.

Motor Addressing I-Variables

For a Turbo PMAC motor to use the servo interface circuitry of the ACC-24E2, several of the addressing

I-variables for the motor must contain the addresses of registers in the ACC-24E2, or the addresses of

encoder conversion table registers containing data processed from the ACC-24E2. These I-variables can

include:

Ixx02: Motor xx Command Output Address

Ixx02 tells Turbo PMAC where to write its command outputs for Motor xx. If ACC-24E2 is to create the

command signals, Ixx02 must contain the address of the register.

The following table shows the address of the A output register for each channel of each ACC-24E2.

These addresses can be used for single analog outputs, double analog outputs, or direct PWM outputs.

Servo

IC #

Chan. 1 Chan. 2 Chan. 3 Chan. 4 Notes

2 $078202 $07820A $078212 $07821A 1

st

ACC-24E2x Channel n DAC/PWMnA

3 $078302 $07830A $078312 $07831A 2

nd

ACC-24E2x Channel n DAC/PWMnA

4 $079202 $07920A $079212 $07921A 3

rd

ACC-24E2x Channel n DAC/PWMnA

5 $079302 $07930A $079312 $07931A 4

th

ACC-24E2x Channel n DAC/PWMnA

6 $07A202 $07A20A $07A212 $07A21A 5

th

ACC-24E2x Channel n DAC/PWMnA

7 $07A302 $07A30A $07A312 $07A31A 6

th

ACC-24E2x Channel n DAC/PWMnA

8 $07B202 $07B20A $07B212 $07B21A 7

th

ACC-24E2x Channel n DAC/PWMnA

9 $07B302 $07B30A $07B312 $07B31A 8

th

ACC-24E2x Channel n DAC/PWMnA

If the C output register for a given ACC-24E2 and channel is used (primarily for pulse and direction

output), simply add 2 to the address shown in the above table. For example, on the first ACC-24E2,

output register 1C is at address $078204.

Ixx03: Motor xx Position-Loop Feedback Address

Ixx04: Motor xx Velocity-Loop Feedback Address

Ixx05: Motor xx Master Position Address

18 Connections

1 2 ... 17 18 19 20 21 22 23 24 25 26 27 ... 43 44

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