Delta Tau 24E2A - UMAC Turbo Example Setups

Accessory 24E2A
Ixx81: Motor xx Power-On Phase Position Address
Ixx81 tells Turbo PMAC2 where to read absolute power-on position for motor phase commutation, if any.
Typically, it will contain the address of an Acc-24E2 register for only two types of absolute phasing
sensors: hall-effect commutation sensors (or their optical equivalents) connected to the U, V, and W input
flags on an Acc-24E2 channel, or the encoder counter filled by simulated quadrature from a Yaskawa
absolute encoder connected to the Acc-24E2 through an Acc-57E board.
The following table contains the possible settings of Ixx81 to read the encoder counters for Yaskawa
absolute encoders:
Turbo PMAC Ixx81 Acc-24E2 Encoder Register Settings (Ix91=$480000 - $580000)
Servo IC # Chan. 1 Chan. 2 Chan. 3 Chan. 4 Notes
2 $078201 $078209 $078211 $078219 First Acc-24E2x Channel n Encoder Reg.
3 $078301 $078309 $078311 $078319 Second Acc-24E2x Channel n Encoder Reg.
4 $079201 $079209 $079211 $079219 Third Acc-24E2x Channel n Encoder Reg.
5 $079301 $079309 $079311 $079319 Fourth Acc-24E2x Channel n Encoder Reg.
6 $07A201 $07A209 $07A211 $07A219 Fifth Acc-24E2x Channel n Encoder Reg.
7 $07A301 $07A309 $07A311 $07A319 Sixth Acc-24E2x Channel n Encoder Reg.
8 $07B201 $07B209 $07B211 $07B219 Seventh Acc-24E2x Channel n Encoder Reg.
9 $07B301 $07B309 $07B311 $07B319 Eighth Acc-24E2x Channel n Encoder Reg.
Ixx83: Motor xx Phase Position Address
Ixx83 tells Turbo PMAC where to get its commutation position feedback every phase update cycle.
Usually, this contains the address of an encoder phase position register.
The following table shows the possible values of Ixx83 for Acc-24E2 encoder phase position registers:
Turbo PMAC Ixx83 Acc-24E2 Encoder Register Settings
Servo IC # Chan. 1 Chan. 2 Chan. 3 Chan. 4 Notes
2 $078201 $078209 $078211 $078219 First Acc-24E2x Channel n Encoder Reg.
3 $078301 $078309 $078311 $078319 Second Acc-24E2x Channel n Encoder Reg.
4 $079201 $079209 $079211 $079219 Third Acc-24E2x Channel n Encoder Reg.
5 $079301 $079309 $079311 $079319 Fourth Acc-24E2x Channel n Encoder Reg.
6 $07A201 $07A209 $07A211 $07A219 Fifth Acc-24E2x Channel n Encoder Reg.
7 $07A301 $07A309 $07A311 $07A319 Sixth Acc-24E2x Channel n Encoder Reg.
8 $07B201 $07B209 $07B211 $07B219 Seventh Acc-24E2x Channel n Encoder Reg.
9 $07B301 $07B309 $07B311 $07B319 Eighth Acc-24E2x Channel n Encoder Reg.
UMAC Turbo Example Setups
The following section shows how to quickly setup the key variables for a DAC output system and for a
combination torque mode (DAC) and stepper motor (PFM) system.
For these examples, the factory defaults for the other variables will allow the command of DAC outputs
and FM outputs with a low true Amplifier Fault and ±Limits plugged in. If this is not the case then Ixx24
will have to be modified. The PID gains will also have to be modified for optimum closed loop control.
Example A: 4-axis DAC outputs from base address $078200 (servo IC2)
For this type of system, make sure I7mn6 is set for DAC output mode. Remember, UMAC Turbo has
three outputs per channel (CHnA, CHnB, and CHnC)
I7216=3 ;CH1A and CH1B ouputs will be DAC and CH1C output will be PFM
I7226=3 ;CH2A and CH2B ouputs will be DAC and CH2C output will be PFM
I7236=3 ;CH3A and CH3B ouputs will be DAC and CH3C output will be PFM
I7246=3 ;CH4A and CH4B ouputs will be DAC and CH4C output will be PFM
UMAC Software Setup 25