Axis 3Ax-603397-xUxx User Manual download pdf (Page 30)

Accessory 24E2

Conversion Table Processing I-Variables

The pulse timer for Servo IC m Channel n holds a number proportional to the time and therefore the

position. This must be processed in the conversion table before it can be used by the servo loop. It is best

to use the filtered parallel data conversion, a 3-line entry in the table (three consecutive I-variables).

Line 1 (Method and Address): This 24-bit value (6 hex digits) should begin with a 3 (filtered parallel

data) followed by the address of the timer register. The possible values for this line are shown in the

following table:

Encoder Conversion Table Parallel Filtered Data Format First Line for ACC-24E2A Boards with

Servo IC m Channel n

ACC-24 # Servo IC # Channel 1 Channel 2 Channel 3 Channel 4

1A 2 $378200 $378208 $378210 $378218

1B 3 $378300 $378308 $378310 $378318

2A 4 $379200 $379208 $379210 $379218

2B 5 $379300 $379308 $379310 $379318

3A 6 $37A200 $37A208 $37A210 $37A218

3B 7 $37A300 $37A308 $37A310 $37A318

4A 8 $37B200 $37B208 $37B210 $37B218

4B 9 $37B300 $37B308 $37B310 $37B318

Line 2 (Width and Start): This 24-bit value should be set to $013000 to specify the use of 19 bits ($013)

starting at bit 0.

Line 3 (Max Change): This 24-bit value should be set to a value slightly greater than the maximum true

velocity ever expected, expressed in timer LSBs per servo cycle. With a typical MLDT, the 117.96 MHz

timer LSB represents 0.024 mm (0.00094 inches); the default servo cycle is 0.442 msec.

The result of this conversion is in the X-register of the third line. Any functions using this value should

address this register. For example, if this were the first entry in the table, which starts at $003501, the

result would be in X:$003503.

Motor I-Variables

Ixx03 (Position Loop Feedback Address)

To use the result of the conversion table for position-loop feedback for Motor xx, Ixx03 should contain

the address of the result register in the conversion table - $003503 in the above example.

Ixx04 (Velocity Loop Feedback Address)

To use the result of the conversion table for velocity-loop feedback for Motor xx, Ixx04 should contain

the address of the result register in the conversion table - $003503 in the above example.

Ixx05 (Master Position Address)

To use the result of the conversion table for the master position for Motor xx, Ixx05 should contain the

address of the result register in the conversion table - $003503 in the above example.

Ixx10 and Ixx95 (Power-On Position Address and Format)

To use the MLDT for absolute power-on position for Motor xx, Ixx95 should be set to $180000 (up to 24

bits of parallel Y-data) and Ixx10 should be set to the address of the timer register used:

26 MLDT Feedback for UMAC-Turbo and UMAC-MACRO

1 2 ... 25 26 27 28 29 30 31 32 33 34 35 ... 43 44

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Axis 3Ax-603397-xUxx User Manual Page 30