Accessory 24E2A
Encoder Conversion Table Parallel Filtered Data Format First Line for Acc-24E2A Boards
Acc-24 # Channel 1 Channel 2 Channel 3 Channel 4
1 $30C040 $30C048 $30C050 $30C058
2 $30C060 $30C068 $30C070 $30C078
Line 2 (Bits Used Mask): This 24-bit value should be set to $07FFFF to specify the use of the low 19
bits of the 24-bit source word.
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 $000010, the
result would be in X:$0012.
Station Motor Node I-Variables
MS{anynode}, MI10x (xth Motor Node Position Loop Feedback Address): To use the result of the
conversion table for position-loop feedback for the xth motor node, MI10x should contain the address of
the result register in the conversion table - $0012 in the previous example.
MS{anynode}, MI11x (xth Motor Node Absolute Position Address): To use the MLDT for absolute
power-on position for the xth motor node, set MI11x to $18xxxx (up to 24 bits of parallel Y-data) from
Station address xxxx, where xxxx is the address of the timer register.
MS{anynode},MI11x xth Motor Node Absolute Position
Acc-24 # Channel 1 Channel 2 Channel 3 Channel 4
1 $30C042 $30C04A $30C052 $30C05A
2 $30C062 $30C06A $30C072 $30C07A
MS{anynode}, MI16x (xth Motor Node MLDT Frequency Control): This variable establishes the
frequency of the excitation pulse sent to the MLDT. Its value is written automatically to the full 24-bit C
sub-channel command register for the channel assigned to this node, so the PFM circuit will create a pulse
train at this frequency.
To compute the output frequency as a function of MI16x, the following formula can be used:
)kHz(Freq_PFMCLK
216,777,16
x16MI
)kHz(OutputFreq =
To compute the required value of MI16x as a function of the desired output frequency, the following
formula can be used:
)kHz(Freq_PFMCLK
)kHz(OutputFreq
*216,777,16MI16x =
Power-On Feedback Address for PMAC2 Ultralite
Both the Ultralite and the Turbo Ultralite can obtain absolute position at power up or upon request (#n$*).
The Ultralite must have Ix10 setup and the Turbo Ultralite needs both Ixx10 and Ixx95 setup to enable
this power on position function. For power on position reads as specified in this document, MACRO
firmware version 1.114 or newer is needed, the Turbo Ultralite firmware must be 1.936 or newer, and
lastly the standard Ultralite must have firmware version 1.16H or newer.
Ix10 permits an automatic read of an absolute position sensor at power-on/reset. If Ix10 is set to 0, the
power-on/reset position for the motor will be considered to be 0, regardless of the type of sensor used.
There are specific settings of PMAC’s/PMAC2’s Ix10 for each type of MACRO interface. If a Turbo
36 MLDT Feedback for UMAC-MACRO
To Next Page
Loading...
