ACC-51S Manual
Contents
1. Accessory 51S The diagram shown below is a simple single ended encoder wiring interface This encoder has SIN and COS outputs that provide a 1V peak to peak output that has a voltage offset of 2 5Vdc Note that the SIN COS and INDEX lines are tied to the 2 5V internal references on the interpolator card SIN SIN REFS 3 0Vpk SINUSOIDAL ENCODER 2 5Vde REFC INDX INDX ENC PWR GND SINGLE ENDED ENCODER CONNECTION The diagram shown below is similar to the diagram above This encoder has SIN and COS outputs that provide a 1V peak to peak output that has a voltage offset of 0 0Vdc Note that the SIN COS and INDEX lines are tied to the GND on the interpolator card and usually the encoder requires a bipolar supply SINUSOIDAL ENCODER ALTERNATE SINGLE ENDED ENCODER CONNECTION The diagram shown below is a single ended encoder that provides a reference output This encoder has SIN and COS outputs which provide a 1 V peak to peak output that has a voltage offset which is provided as an output of the encoder The SIN COS and INDEX lines are tied to the encoder s reference output This type of encoder connection is expected to be more precise than the typical single ended encoder as shown in the first diagram above because the internal reference usually set at 2 5Vdc is the mechanism that establishes the offsets for2. Global Clock Control 1 4 PWM Cl Base 05h_ Control Word 1 ADCIA serial input Base 06h Enc Compare Auto Increment 1 ADCI1B serial input Base 07h_ Enc Compare Value B1 Enc Compare Value B1 Base 08h Status Word 2 Time Between Enc Counts SCLKs Base 09h Phase Raw Count 2 Time Since Last Enc Count SCLKs Base OAh Servo Count 2 PWM A2 2 Base OBh Flag Position Capture 2 PWM B2 Channel Base 0Ch DAC Strobe Output Word 1 4 PWM C2 Base ODh Control Word 2 ADC2A serial input Base 0OEh Enc Compare Auto Increment 2 ADC2B serial input Base OFh_ Enc Compare Value B2 Enc Compare Value B2 Base 10h Status Word 3 Time Between Enc Counts SCLKs Base 1lh Phase Raw Count 3 Time Since Last Enc Count SCLKs Base 12h Servo Count 3 PWM A3 3 Base 13h Flag Position Capture 3 PWM B3 Channel Base 14h_ ADC Strobe Output Word 1 4 PWM C3 Base 15h_ Control Word 3 ADC3A serial input Base 16h_ Enc Compare Auto Increment 3 ADC3B serial input Base 17h_ Enc Compare Value B3 Enc Compare Value B3 Base 18h Status Word 4 Time Between Enc Counts SCLKs Base 19h Phase Raw Count 4 Time Since Last Enc Count SCLKs Base 1Ah Servo Count 4 PWM A4 Channel 4 Base 1Bh_ Flag Position Capture 4 PWM B4 Base 1Ch PWM Freq Dead time PFM Width PWM C4
3. 78806 6 7880A 8 7880E ACC 51S channels 1 4 become PMAC channels 1 4 if ACC 51S jumper E1 connects pins 2 and 3 ACC 51S channels 1 4 become PMAC channels 5 8 if ACC 51S jumper E1 connects pins 1 and 2 Setting the Conversion Table Entries Manually Encoder Channel Address The first line of the two line entry contains F in the first hex digit and the base address of the encoder channel to be read in the low 19 bits bits 0 to 15 If bit 19 is set to 1 making the second hex digit 8 PMAC expects a PMAC2 style Servo IC for the interpolator as in the ACC 51S for the PMAC2A PC 104 The last four hex digits of the line contain the base address of the encoder channel used The following table shows the possible entries for the ACC 51S which uses the Servo ICs of the PMAC2A PC 104 main board Channels 1 4 and the ACC 1P Axis 5 8 board Channels 5 8 High Resolution Interpolator Entry First Lines for ACC 51S Channel Channel Channel Channel Entry Entry Entry Entry 1 FF8000 3 FF8010 5 FF8100 7 FF8110 2 FF8008 4 FF8018 6 FF8108 8 FF8118 A D Converter Address The second line of the entry contains 00 in the first two hex digits and the base address of the first of two A D converters to be read in the low 16 bits bits 0 to 15 the last four hex digits The second A D converter will be read at the next higher address The following table shows the possible entries when t
4. Amplifier and motor grounding can play a significant role in how noise is generated in a machine It is possible that noise may be reduced in a motor based system by the use of inductors that are placed between the motor and the amplifier 6 Encoder Connections Accessory 51S PHOTOS OF PMAC2A PC 104 WITH ACC 51S HL _ OT Ih ya ky FEA A TA 4 Axis PC 104 PMAC with 4 Axis Interpolator Attached 1 8 inch adapter cable is shown at top of picture 2 Breakout accessory card p n 603688 is shown for conversion to PMAC1 style JMACH connector at right side of mounting plate End View of 4 Axis with Interpolator 1 This view shows three D SUB connectors for encoder inputs 2 Ribbon cable is used for flag inputs Photos of PMAC2A PC 104 with ACC 51S Accessory 51S 3 Shown with power supplied at right side of bottom board End View of PC 104 1 End view of interpolator shows D SUB for encoder connection 2 Adapter board shows connections of the 50 pin JMACH1 and 34 pin JMACH2 ribbon cables JMACH provides DAC outputs and JMACH2 provides limit switch inputs at PC 104 processor as 8 Axis PC 104 with Interpolator Attached 8 Photos of PMAC2A PC 104 with ACC 51S Accessory 51S PRINCIPLE OF OPERATION J gt av Counter psc B Sin Cos aes Differential Signals Photo i f Amplifier Current Encoder l Controller The sine and cosine signals from the enco
5. 1 4 Base 1Dh Control Word 4 ADC4A serial input Base 1Eh Enc Compare Auto Increment 4 ADC4B serial input Base 1Fh_ Enc Compare Value B4 Enc Compare Value B4 Base address of DSPGATE1 on PMAC2A PC 104 is C000 Base address of DSPGATE1 on ACC 1P is C020 Offset Register Mapping Definitions 21 Accessory 51S Viewing Actual Encoder Position When using the PMAC executive program to view position the data returned from the PMAC does not include the fractional part The following information will show how to display the complete position information in a watch window As a sub count interpolator device the interpolator input is seen as a whole number counter with three fractional digits There are 32 sub steps that occur per single whole number step Each change of the data is seen by PMAC as 1 32th 0 03125 count Since PMAC uses fractional arithmetic the result will be represented with a resolution to 1 32 of a whole number step Refer to the recommended M Variable definitions for Mx62 assignments There should be a M Variable assigned for each axis to be displayed This variable points to the encoder actual position register Write a PLC that includes the following equation for each axis to be displayed as follows Px Mx62 Ix08 32 Where 1x08 is the gearing value for a particular axis typically 96 Px is an available P Variable Mx62 is a pointer P
6. 10 Principle of Operation Accessory 51S Example 2 A linear brushless motor has a commutation cycle of 60 96 mm 2 4 inches It has a linear scale with a 20 micron line pitch The scale is used for both commutation and servo feedback The commutation uses the hardware counter There are 200 hardware counts per millimeter 5 microns per count so 12 192 hardware counts per commutation cycle Ix70 should be set to 1 and Ix71 should be set to 12 192 The servo uses the interpolated results of the conversion table With 128 software counts per line and 50 lines per millimeter there are 6400 software counts per millimeter or 162 560 software counts per inch The measurement resolution at 4096 states per line is 204 800 states per mm 5 nanometers state Principle of Operation 11 Accessory 51S 12 Principle of Operation Accessory 51S ACC 51S PARAMETER SETUP Note Use of the ACC 51S with the PMAC2A PC 104 requires the use of V1 17C dated April 2004 or newer firmware in the PMAC2A PC 104 Using ACC 51S Data for Feedback The main purpose of the ACC 51S board is to provide feedback or possibly master position data for the PMAC s commutation and or servo use To be used by the servo loop the ACC 51S data must be processed first by PMAC s Encoder Conversion Table ECT The ECT is executed at the beginning of each servo cycle to prepare the required feedback and master data for servo loop us
7. E sade E EE E EE E a Eiai 24 JO 9 Pin DBIS ConneclOr caves cndsxiascsssncadcnsvtesdcneasenscnesndaccnsaneddcnsonded cvbosesdentondobentonentondsbentsnesheubenbondsbentosedbentovess 24 J10 9 Pin DBOS CONNEC ceesccscesccsseeneeseecseseeacesscuceesesaeecesseeassecacessessscssseeacascuceeeesasesesaseessesaeessesasenaeaeness 24 JLT 9 Pin DBIS Connector sssaaa Sure ahdans aa Redvadoteanty ie va otdets eeneede Eea aeai aeae 24 JI 2 9 Pin DBIS CONNCCLON vias cesesoes acter sad stsheasotate agsoigustusste agonsleagsSidestecnasbags Vaan kei A a RAe ai ese 25 TBI User Supplied Power is sccccess cieisdeaas inten nvaicasinn ani aetiiniiiin E ES EEE EREEREER EES EER 25 JUMPER CONFIGURATIONS cssssssssssscssesessscscesesscssesesssesssesessesscsseescessesessssssesssesessesssesessssssesssssessesssesosesess 27 Table of Contents Accessory 51S Fable OF JUMP ers atecsiep as cepet eet eee a deceased ase eh ae eee os E ie eae 27 El Select Gar A AAP eS 8 eirean EE RTENE A TAEA hs Sa abs Baka ing eae awe 27 Fi2 Encoder Power SCleb scscczs s cevess oss coun ive de ci fa scbs oh e000 000 EAEE Vga bd Cs ash gaa RAEES nC oe 27 E3 E4 E5 E6 E7 E8 Encoder Input Select Channel 1 and 2 ccccccccccccccsecesceseceveseveceeseceececseeeseecseesseensensees 27 E9 E10 Ell E12 E13 E14 Encoder Input Select Option l add 2 Chantnels ccccccccescsesseesseeseeeetees 27 Table of Contents Accessory 51S INTRODUCTION Delta
8. Interpolator Entry First Lines for ACC 51S Channel Entry Channel Entry Channel Entry Channel Entry 1 F8C000 3 F8C010 5 F8C020 7 F8C030 2 F8C008 4 F8C018 6 F8C028 8 F8C038 A D Converter Address The second line of the entry contains 00 in the first two hex digits and the base address of the first of two A D converters to be read in the low 16 bits bits 0 to 15 the last four hex digits The second A D converter will be read at the next higher address The following table shows the possible entries when the ACC S1S is used 14 Acc 51S Parameter Setup Accessory 51S High Resolution Interpolator Entry Second Lines for ACC 51S Channel Entry Channel Entry Channel Entry Channel Entry 1 OOFFCO 3 OOFFC4 5 OOFFC8 7 OOFFCC 2 00FFC2 4 00FFC6 6 00FFCA 8 00FFCE ACC 51S channels 1 4 become PMAC channels 1 4 if ACC 51S jumper E1 connects pins 2 and 3 ACC 51S channels 1 4 become PMAC channels 5 8 if ACC 51S jumper E1 connects pins 1 and 2 Example To set up the conversion table manually to process all eight channels of sinusoidal encoders and nothing else use the following command lines could be used VY S 0720 SF8C000 SOOFFCO Ch 1 result in X 0721 VY 0722 SF8C008 S00FFC2 Ch 2 result in X 0723 VY 0724 SF8C010 S00FFC4 Ch 3 result in X 0725 VY 50726 SF8C018
9. count to distinguish it from units of the hardware counter Subsequent calculations such as axis scaling jog speeds etc should use this scaling of 128 software counts per line Acc 51S Parameter Setup 15 Accessory 51S Using ACC 51S Data for Servo Feedback with the Clipper Board Setting the Conversion Table Entries with the Executive Program ACC 51S data must be processed according to the high resolution interpolation method Create entries of this type using the PMAC Executive program or by entering the entries manually with on line commands To use the Executive Program select Configure then Conversion Table to get the setup menu for the ECT For each entry from the pick list for methods select High resolution interpolation Then enter the encoder address and the ADC analog digital converter address The following tables show the addresses to be used Encoder Addresses for ACC 51S Channel Channel Channel Channel Entry Entry Entry Entry 1 78000 3 78010 5 78100 7 78110 2 78008 4 78018 6 78108 8 78118 Channels 1 4 of the ACC 51S correspond to PMAC channels 1 4 if the ACC 51S is connected to the main PMAC2A PC 104 board channels 1 4 of the ACC 51S correspond to PMAC channels 5 8 if the ACC 51S is connected to the ACC 1P board ADC Addresses for ACC 51S Channel Channel Channel Channel Entry Entry Entry Entry 1 78800 3 78804 5 78808 7 7880C 2 78802 4
10. line or 1024 states per hardware count For historical reasons PMAC expects the position it reads for its servo feedback software to have units of 1 32 of a count That is it considers the least significant bit LSB of whatever it reads for position feedback to have a magnitude of 1 32 of a count for the purposes of its software scaling calculations The resulting software units are called software counts and any software parameter that uses counts from the servo feedback e g jog speed in counts msec axis scale factor in counts engineering unit is using these software counts In most cases such as digital quadrature feedback these software counts are equivalent to hardware counts However with the added resolution produced by the ACC 51 interpolator software counts and hardware counts are no longer the same The LSB produced by the interpolator through the encoder conversion table processing is 1 1024 of a hardware count but PMAC software considers it 1 32 of a software count Therefore with the ACC 51 a software count is 1 32 the size of a hardware count The following equations express the relationships between the different units when using the ACC 51 Principle of Operation 9 Accessory 51S 1 line 4 hardware counts 128 software counts 4096 states LSBs line 1 hardware count 32 software counts 1024 states LSBs 1 128 line 1 32 hardware count 1 software count 32 states LSBs 1 4096 line 1 1024 har
11. to provide power externally Jumper E2 allows external power to be provided to the encoders through pin 4 and pin 5 on J9 J10 J11 and J12 Pin Symbol Function Description Notes 1 GND GND Power Supply Return 2 Vdc Vdc External ENC power E2 must be 2 3 This power must be suitable for encoder specification Connector Descriptions 25 Accessory 51S 26 Connector Descriptions Accessory 51S JUMPER CONFIGURATIONS Table of Jumpers Nomenclature Physical Description Factory Layout Default El 1 2 3 Select card address 2 3 1 2 addressing as second card 2 3 addressing as first card E2 1 2 3 Encoder Power 1 2 1 2 Use internal 5V 2 3 Use external power supply 1 2 3 Channel 1 2 3 E3 E4 E5 1 2 Unterminated encoder inputs 2 3 Terminated encoder inputs E5 is index termination E6 E7 E8 1 2 3 Channel 2 2 3 1 2 Unterminated encoder inputs 2 3 Terminated encoder inputs E8 is index termination E9 E10 E11 1 2 3 Channel 3 opt 1 only 2 3 1 2 Unterminated encoder inputs 2 3 Terminated encoder inputs E11 is index termination E12 E13 E14 1 2 3 Channel 4 opt 1 only 2 3 1 2 Unterminated encoder inputs 2 3 Terminated encoder inputs E14 is index termination E1 Select Card Address This jumper selects this care address if this card is set as first or second ad
12. 78019 6 78109 8 78119 Motor xx Counts per N Commutation Cycles Ixx71 For a Turbo PMAC commutated motor this parameter defines the size of a commutation cycle in conjunction with Ixx70 hardware counts cycle Ixx71 Ixx70 For example if a sinusoidal encoder with 2000 lines is used Ix71 will be set to 8000 hardware counts Motor xx Number of Commutation Cycles N Ixx70 For a PMAC commutated motor Ixx01 1 Ixx70 is used in combination with Ixx71 to define the size of the commutation cycle as Ixx71 Ixx70 counts For example a 4 pole rotary brushless motor has a sinusoidal encoder with 2000 lines There are 8000 hardware counts per revolution and two commutation cycles per revolution of the 4 pole motor Therefore Ix70 will be set to 2 and Ix71 will be set to 8000 Ix83 will contain the address of the hardware counter s phase capture register Commutation Position I Variables 1xx83 The Acc 51S contains a quadrature based encoder register that may be used for commutation position The PMAC2 does not use the Acc 51 s full interpolation to track a motor s position The number of commutation counts per pole revolution or linear scale distance is related to the pitch of the encoder s sinusoidal output multiplied by 4 Therefore commutation appears to the PMAC2 as if it were a quadrature based encoder A D Converter Registers for the Clipper Board Ext ADCa and Ext ADCs are addresses to the same A D converter
13. Accessory 51S DELTA TAU Data Systems Inc NEW IDEAS IN MOTION Single Source Machine Control Power Flexibility Ease of Use 21314 Lassen Street Chatsworth CA 91311 Tel 818 998 2095 Fax 818 998 7807 www deltatau com Copyright Information 2009 Delta Tau Data Systems Inc All rights reserved This document is furnished for the customers of Delta Tau Data Systems Inc Other uses are unauthorized without written permission of Delta Tau Data Systems Inc Information contained in this manual may be updated from time to time due to product improvements etc and may not conform in every respect to former issues To report errors or inconsistencies call or email Delta Tau Data Systems Inc Technical Support Phone 818 717 5656 Fax 818 998 7807 Email support deltatau com Website http www deltatau com Operating Conditions All Delta Tau Data Systems Inc motion controller products accessories and amplifiers contain static sensitive components that can be damaged by incorrect handling When installing or handling Delta Tau Data Systems Inc products avoid contact with highly insulated materials Only qualified personnel should be allowed to handle this equipment In the case of industrial applications we expect our products to be protected from hazardous or conductive materials and or environments that could cause harm to the controller by damaging components or causing electrical s
14. E EE TE VEE EAA E E EAS 2 ENCODER CONNECTIONS cessssiscssstessencsscesecoseusseasonesusenssecsenssaeespuuesansenssssauesdeasives ESNS ESSEEN SSPE SET SSS ESS niss 3 Sinusoidal Encoder Wiring sesoses apup aene ee E E EE EEEE ERER eai SEAE ENEE EES 3 Differential BOKMAL reiese eea eir ae dasa sisnsdbassende eatentxiasveadeeaiebedskes endsessneneudawieaietete artis 3 Sineleknded Format srenekeiirian sisi oiiaii aiia riait ai aiaia aier aiioa enin iea esini 3 Lyp of Cable for Encoder Wir in ge ccccesecsiscctevessesstoas iaatevess uieaiheguaycstes sovaas N e TE E EEEa EEES riia 5 PHOTOS OF PMAC2A PC 104 WITH ACC 51S sesssoeresoesesececoesosoesesesoeossoroesesesoseororoesecesoseosoroeeesoeoseororseeecossesoe 7 PRINCIPLE OF OPERATION ssissecscsssisccectescsacevis se seosstsessebescsdesisssuietossasecseteasessancedastussbeceseecaassvaaeesacssisasnesepeaaenstase 9 ACC 5IS PARAMETER SETUP aicsiesssscstasonscstecsabssuasassvsnscsnievansceniesesusisaboesevesncesdsosabiutesesueavessesevascssvussessvssapivarsese 13 Using ACC S1S Data for Feedback sorrisi keeno onsena odes ches sea cassisdesstesnsabeiersesshevtssistoeeeoenbeveneee 13 Using ACC 51S Data for Commutation Feedback 0 e ec ecesescseseeseeseceeeeecseeeceaeceeesecaeseeesecaeeaeeeaeenesaeeaeeaesaeeaeenes 13 Motor x Software Position Capture and Trigger MOde ccccccccsscssseescesessceseseenesuseeecuseesceseeseesesieeneeaesneeaeerey 13 Using ACC 518S Data for Servo Feedback c ceecceccce
15. Format The differential format provides a means of using twisted pair wiring which allows for better noise immunity when wired into machinery There are two common output types available with differential style sinusoidal encoders They are current mode and voltage mode style encoder output The current mode encoder output uses a high impedance 11uA pk pk output The voltage mode output encoder uses low impedance 1V pk pk output The voltage mode encoder type is connected to the interpolator as shown Usually termination is selected by using jumpers on the interpolator board SINUSOIDAL ENCODER ENC N PWR DFFERENTAL ENCODER CONN ECTION Note Voltage mode encoders are becoming the more popular choice for machine designs due to their lower impedance outputs Lower impedance outputs represent better noise immunity Therefore more reliable encoder interfaces The ACC 51 uses only voltage mode encoders Single Ended Format The single ended format provides a simpler means of using a sinusoidal encoder Typically fewer wires are needed and the encoders are always the lower impedance voltage output type It should be noted that all the single ended encoder formats shown here may have velocity ripple effects at very slow speeds due to the effects of op amp Vio offsets These offsets cause the sinusoidal signal to be centered at a value that is slightly different than the reference or servo ground Encoder Connections 3
16. MAC s actual position register Note Normally 1x08 32 may be precalculated since gearing is not changed during program operation Put Px into the watch window The value displayed should be the actual position including the fractional data A D Converter Registers Ext ADC and Ext ADC are addresses to the same A D converter When accessed twice the sine data is followed by the cosine data El in POS 2 3 Description Address Ext ADCla y ffc0 Ext ADC1 y ffe1 Ext ADC2 y ffc2 Ext ADC2 y ffe3 Ext ADC3 4 y ffe4 Ext ADC3 y ffc5 Ext ADC4 y ffc6 Ext ADC4 y ffc7 El in POS 1 2 Description Address Ext ADCS y ffc8 Ext ADC5 y ffc9 Ext ADC6 y ffca Ext ADC6 y ffcb Ext ADC7 y ffec Ext ADC7 y ffed Ext ADC8 4 y ffce Ext ADC8 y ffcf 22 Offset Register Mapping Definitions Accessory 51S CONNECTOR DESCRIPTIONS J7 JMACH1 Encod er Quadrature Outputs Typically this connector is connected to JMACHA port on PMAC2A PC104 baseboard 603670 or axis card 603671 with a 26 pin flat cable J7 JMACH1 ENC Quadrature Outputs Weeeeececcocen 26 pin Header Symbol 2 AQUADI AQUAD B o BQ _ AQ SUADS AQ ADi B QUA sea NC n6 CC CR CCC ELLE Wes Beer sappy SRA pi Vee Power Supply To MACHA pin2 5V___ Not Connected To MACHA pin7 CHAI
17. Not Connected To MACHA pin8 CHA2 Not Connected To MACHA pinl1 CHBI _ _ Not Connected_ To JMACHA pin 2 CHB2 _ Pen Not Connecied To MACHA pint CHCI _ _ Not Connected_ To JMACHA pinl6 CHC2 _ PEEPS Not Connecied To MACHA pinl9 CHAS _ _ Not Connected _ To JMACHA pin20 CHA4 _ PEPE Not Comecied To MACHA pints CBs Not Connected To MACHA pin24 CHB4 Connector Descriptions 23 Accessory 51S J9 J10 J11 J12 Encoder Inputs These encoder connections use a 9 pin DSUB connector and provide accessibility through the rear of the computer J9 is for the first channel input and J10 is the second channel input J11 is for the third channel input and J12 is the fourth channel input when option 1 is ordered J9 9 Pin DB9S Connector Pin Symbol Function Description Notes 1 SIN 1 Analog Input Sinusoidal input 2 COS 1 Analog Input Cosine input 3 INDEX 1 Input Index input Analog or TTL levels 4 ENCPWR Output Encoder power 5Vdc or user supplied 5 GND Digital ground 6 SIN 1 Analog Input Sinusoidal input 7 COS 1 Analog Input Cosine input 8 INDEX 1 Input Index input Analog or TTL levels 9 VREF 2 5V Output A D reference output J10 9 Pin DB9S Connector Top View Pin Symbol Function Description Notes 1 SIN 2 Analog Input Sinusoidal input 2 COS 2 Analo
18. S00FFC6 Ch 4 result in X 0727 VY S 0728 SF8C020 S00FFC8 Ch 5 result in X 0729 VY S5072A SF8C028 S00FFCA Ch 6 result in X 072B VY S 072C SF8C030 S00FFCC Ch 7 result in X 072D VY S072E SF8C038 S00FFCE Ch 8 result in X 072F Using the Conversion Table Results The result of the entry is in the X register of the second line The address of this register should be assigned to the servo loop address variable for its particular uses x03 position loop feedback address 1x04 velocity loop feedback address x05 master position address The encoder conversion table starts at PMAC address 0720 If nothing else precedes the high resolution interpolator entries and eight of these entries process the eight sinusoidal encoders in numerical order the following table shows the addresses where the conversion table results can be found The motor servo I Variables should be set to the appropriate address Conversion Table Result Addresses Channel Address Channel Address Channel Address Channel Address 1 0721 3 0725 5 0729 7 072D 2 0723 4 0727 6 072B 8 072F The results found in these addresses are 24 bit values The least significant bit of the result is 1 4096 ofa line of the encoder PMAC software treats the data it reads for the servo loop as having units of 1 32 count so for software purposes a count is 1 128 of a line This can be called a software
19. Tau s ACC 51S Interpolator Accessory is a sine wave input interpolator designed to interface analog quadrature encoders to the PMAC2A PC 104 The ACC S1IS stacks on top of the PMAC2A PC 104 or on top of the ACC 1P 5 8 axis board Features The Interpolator accepts inputs from two optionally four sinusoidal or quasi sinusoidal encoders and provides encoder position data to the PMAC This interpolator creates 4 096 steps per sine wave cycle The Interpolator can accept a voltage source 1 Vp p signal from the encoder A jumper selects between unterminated or 120Q input termination The maximum sine cycle frequency input is 1 4MHz which gives a maximum speed of 5 734 billion steps per second When used with a 1000 line sinusoidal rotary encoder there will be 4 096 000 discrete states per revolution 128 000 software counts The maximum calculated electrical speed of this encoder will be 1 400 RPS or 84 000 RPM which exceeds the maximum physical speed of most encoders The ACC 51S sends quadrature and index signal to PMAC2A PC 104 or ACC 1P through that board s JMACHA port Other incremental encoders cannot be shared on the same JMACHA pins Note The ACC S51S requires version 1 17C April 2004 or newer firmware in PMAC2A PC 104 for proper operation The ACC S51S requires the attached PMAC2A PC104 CPU card to have its 12 15 volts installed otherwise a watchdog condition may occur Board Configuration The base v
20. When accessed twice the sine data is followed by the cosine data El in POS 2 3 Description Address Ext ADC1a y 78800 Ext ADC1B y 78801 Ext ADC2a y 78802 Ext ADC2sB y 78803 Ext ADC3a y 78804 Ext ADC3B y 78805 Ext ADC4a y 78806 Ext ADC4s8 y 78807 E1 in POS 1 2 Description Address Ext ADC5a y 78808 Ext ADCS5B y 78809 Ext ADC6a y 7880A Ext ADC6sB y 7880B Ext ADC7a y 7880C Acc 51S Parameter Setup 19 Accessory 51S M variable definitions for the ADC read of the first 4 encoders 20 Ext ADC7B y 7880D Ext ADC8a y 7880E Ext ADC8B y 7880F M105 gt Y 78800 8 16 s M106 gt Y 78801 8 16 s M205 gt Y 78802 8 16 s M206 gt Y 78803 8 16 s M305 gt Y 78804 8 16 s M306 gt Y 78805 8 16 s M405 gt Y 78806 8 16 s M406 gt Y 78807 8 16 s Acc 51S Parameter Setup Accessory 51S OFFSET REGISTER MAPPING DEFINITIONS The registers in the table below are located inside the DSPGATE1 on the PC 104 PMAC2 processor board part number 60370 or on the axis accessory card part number 603671 DSPGATE1 Registers ADDR X Memory Y Memory Base 00h Status Word 1 Time Between Enc Counts SCLKs Base Olh Phase Raw Count 1 Time Since Last Enc Count SCLKs Base 02h Servo Count 1 PWM Al 1 Base 03h Flag Position Capture 1 PWM B1 Channel Base 04h
21. ble Keep the exposed wire lengths as close as possible to the terminals on the interpolator Note It has been observed that there is an inconsistency in the shielding styles that are used by different encoder manufacturers Be sure to check pre wired encoders to ensure that the shielded wires are not connected at the encoder s side Shielded wires should be connected only on one side of the cable If the encoder has shielded wires that are connected to the case ground of the encoder make sure that the encoder and motor cases are sufficiently grounded and do not connect the shield at the interpolator end If the encoder has pre wired double shielded cable that only has the outer shield connected at the encoder then connect only the inner shielded wires to the interpolator Be sure not to mix the shield interconnections One possible cable type for encoders is Belden 8164 or ALPHA 6318 This is a 4 pair individually shielded cable that has an overall shield This double shielded cable has a relatively low capacitance and is a 100Q impedance cable Encoder Connections 5 Accessory 51S Cables for single ended encoders need to be shielded for the best noise immunity Single ended encoder types cannot take advantage of the differential noise immunity that comes with twisted pair cables Note If noise is a problem in the application careful attention must be given to the method of grounding that is used in the system
22. cesseeaeesessesaeeeseecneeerenseeneeaeeaes 19 Motor xx Number of Commutation Cycles N TXxX70 cccccceccessesceseeseesesseeeecuseesenscussescceeseeseceesecneseecnaeeseeaeeaes 19 Commutation Position 1 Variables 1xX83 css cits ccuscesltscvateits sates de ovens te a sei e i eea Ei EE 19 A D Converter Registers for the Clipper BOQrG ccccccccccccscsesesseeseesseeecuseescuseeseesecueeeecaeeeseeseeseeaeseeeeenaeerenaeeneeas 19 OFFSET REGISTER MAPPING DEFINITIONS sscsssssssssssssssssesssssessesssssessseseesoessesesssesserssesesscessesoseseeoes 21 DSPGATET RE S18 ter iss ces ciaxseseveavesseaicaes saceudeadcuaieds ocsuddes cad vans coancesactageasi eaaa TEE EEE oa ea eaea EEE ESE ONER lig veredss 21 Viewing Actual Encoder Positiot c osc ssscccics sesasistesdcesedicuetbacesnest epccensedeucbebse gusta telus snssncenpssddas stevkevinubeesestaen Ee 22 A D Converter RESIS TS1S ss irosen iaeaea cokcsees soe uate thestussebisentelaudlesicudescsscseotsse a aaia DEEE EE KELE n 22 CONNECTOR DESCRIPTIONS iishitssiescsseseassctesesuedseseessussstecsesdecsenabascossosssbasseseseeusutadessessecoadcoiesesubesiseuseuseseavecsasues 23 J7 IMACHI Encoder Quadrature Outputs cceecceeceseceseceseesecesecseecaeecseeeseeeceeseeeeeeeeneeceaeensecaeeaecsaeeeeeeeeeeereeas 23 J7 JMACHI ENC Quadrature Outputs ccccccccesccsceecssesscesscssesecceescseeceesecssesecaceasesecaeeesesaeeeeaeeaseseseeeaeeaes 23 J9 J10 J11 J12 Encoder Inputs iiion Ra E a
23. der are processed in two ways in the ACC 51 board see diagram First they are sent through comparators that square up the signals into digital quadrature and sent into the quadrature decoding and counting circuit of the Servo IC on the ACC 51 The decoding must be set up for quadrature times 4 decode 19n0 or I7mn0 3 or 7 to generate four counts per line in the hardware counter The units of the hardware counter which are called hardware counts are 1 4 of a line Usually this fact is an internal detail However there are two cases in which this is important 1 Ifthe sinusoidal encoder is used for PMAC based brushless motor commutation the hardware counter not the fully interpolated position value will be used for the commutation position feedback The units of Ixx71 will therefore be hardware counts 2 Ifthe hardware position compare circuits in the Servo IC are used the units of the compare register are hardware counts The same is true of the hardware position capture circuits but these scaling issues are often handled automatically through the move until trigger constructs The second or parallel processing of the sine and cosine signals is through analog to digital converters which produce numbers proportional to the input voltages These numbers are used to calculate mathematically an arctangent value that represents the location within a single line This is calculated to 1 4096 of a line so there are 4096 unique states per
24. dress E2 Encoder Power Select This jumper allows the use of internal Vcc 5Vdc to provide power to the encoders External encoder power may be provided through Pin 2 on TB1 connector E3 E4 E5 E6 E7 E8 Encoder Input Select Channel 1 and 2 Use these jumpers to select which type of input loading will be used for the encoder A 120Q termination is selectable The inputs are approximately 17kQ when not terminated E9 E10 E11 E12 E13 E14 Encoder Input Select Option 1 add 2 Channels Use these jumpers to select which type of input loading will be used for the encoder A 120Q termination is selectable The inputs are approximately 17KQ when not terminated Jumper Configurations 27
25. dware count 1 32 software count 1 state LSB Note that these are only naming conventions Even the position data that is fractional in terms of software counts is real The servo loop can see it and react to it and the trajectory generator can command to it 32 software counts per HW count 128 software counts states per line 1024 states per HW count 4096 states per line l l l l l l l l l l l l l l l l l l l l l l l l l l l l l l l lt p 4 pe p e p Four hardware counts per line l l l One encoder line 1 Example 1 A 4 pole rotary brushless motor has a sinusoidal encoder with 2000 lines It directly drives a screw with a 5 mm pitch The encoder is used for both commutation and servo feedback The commutation uses the hardware counter There are 8000 hardware counts per revolution and 2 commutation cycles per revolution of the 4 pole motor Therefore Ix70 will be set to 2 and Ix71 will be set to 8000 Ix83 will contain the address of the hardware counter s phase capture register For the servo the interpolated results of the conversion table are used There are 128 software counts per line or 256 000 software counts per revolution With each revolution corresponding to 5 mm on the screw there are 51 200 software counts per millimeter The measurement resolution at 4096 states per line is 1 8 192 000 of a revolution or 1 1 638 400 of a millimeter 0 6 nanometers state
26. e It consists of a series of entries each of which reads one or more raw feedback registers processes the data by one of several available methods and computes a single numerical result Using ACC 51S Data for Commutation Feedback If using the sinusoidal encoder processed with the ACC 51S for the commutation position feedback the fully interpolated position value is not used only the quadrature hardware encoder counter position value which has four counts per line of the encoder These can be referred to as hardware counts units of a hardware counter to distinguish them from software counts as explained below Motor variable Ix83 must contain the address of the phase position register for that encoder channel The following table shows the values of Ix83 for each channel Ix83 Commutation Encoder Addresses for ACC 51S Channel Address Channel Address Channel Address Channel Address 1 CO01 3 CO11 5 C021 7 C031 2 C009 4 C019 6 C029 8 C039 Channels 1 4 of the ACC 51S correspond to PMAC channels 1 4 if the ACC 51S is connected to the main PMAC2A PC 104 board channels 1 4 of the ACC 51S correspond to PMAC channels 5 8 if the ACC 51S is connected to the ACC 1P board The Ix70 and Ix71 variables that set the size of the commutation cycle as Ix71 Ix70 counts should then use these hardware counts 1 4 line as units For example with a 4 pole rota
27. e shows the addresses where the conversion table results can be found The motor servo IVariables should be set to the appropriate address Refer to the table below Ixx03 Ix Conversion Conversion Conversion x04 Table 1st Line Table 2nd line Table 3rd line Value Entry Entry Entry Processed Encoder 1 3501 18000 n a single line entry Processed Encoder 2 3502 18001 n a Processed Encoder 3 3503 18002 n a Processed Encoder 4 3504 18003 n a Processed Encoder 5 3505 18004 n a Processed Encoder 6 3506 18005 n a Processed Encoder 7 3507 18006 n a Processed Encoder 8 3508 18007 n a Processed Encoder 9 350B 18008 FF8000 18009 78800 18010 00 Processed Encoder 10 350E 180011 FF8008 18012 78802 18013 00 Processed Encoder 11 3511 180014 FF8010 18015 78804 18016 00 Processed Encoder 12 3514 180017 FF8018 18018 78806 18019 00 Processed Encoder 13 3517 18020 FF8100 18021 78808 18022 00 Processed Encoder 14 351A 18023 FF8108 18024 7880A 18025 00 Processed Encoder 15 351D 18026 FF8110 18027 7880C 18028 00 Acc 51S Parameter Setup 17 Accessory 51S Processed Encoder 16 3520 18029 FF8118 18030 7880E 1803 1 00 The results found in these addresses are 24 bit values The least significant bit of the result is 1 4096 of a line of the encoder PMAC software treats the data it reads for
28. ersion of the ACC 51S consists of a PC 104 form factor board with two sinusoidal encoder inputs for 1V p p sinusoidal encoders Options Option 1 300 603674 OPT Additional two channels channel 3 and 4 Option 1 provides the interface circuitry and connectors for two additional sinusoidal encoders for a total of four encoders on the ACC 51S Note The options described above must be installed at the factory Indicators Refer to the layout diagram of the expansion port interpolator for the location of the indicators on the board D1 D2 D3 D4 Opt 1 AQUAD Indicators These LEDs indicate the A channel quadrature input When the encoder is operating normally this indicator will flicker with a rate that is dependent upon the speed of the moving encoder D1 is input 1 and D2 is input 2 With ACC 51S option 1 D3 is input 3 and D4 is input 4 Introduction 1 Accessory 51S Jumpers Jumper E1 controls whether the A D converters on the ACC 51S are addressed as the first four channels connecting pins 2 and 3 or the second four channels connecting pins 1 and 2 Jumper E2 controls whether the encoders are powered from the ACC 51S connecting pins 1 and 2 or whether external power is required connecting pins 2 and 3 Jumpers E3 E14 control the termination of each of the 12 encoder input signal pairs Connect pins 1 and 2 of each jumper to leave the input pair unterminated Connect pins 2 and 3 of each jumper to terminate
29. g Input Cosine input 3 INDEX 2 Input Index input Analog or TTL levels 4 ENCPWR Output Encoder power 5Vdc or user supplied 5 GND Digital ground 6 SIN 2 Analog Input Sinusoidal input 7 COS 2 Analog Input Cosine input 8 INDEX 2 Input Index input Analog or TTL levels 9 VREF 2 5V Output A D reference output J11 9 Pin DB9S Connector Top View Pin Symbol Function Description Notes 1 SIN 3 Analog Input Sinusoidal input 2 COS 3 Analog Input Cosine input 3 INDEX 3 Input Index input Analog or TTL levels 4 ENCPWR Output Encoder power 5Vdc or user supplied 5 GND Digital ground 6 SIN 3 Analog Input Sinusoidal input i COS 3 Analog Input Cosine input 8 INDEX 3 Input Index input Analog or TTL levels 9 VREF 2 5V Output A D reference output 24 Connector Descriptions Accessory 51S J12 9 Pin DB9S Connector Pin Symbol Function Description Notes 1 SIN 4 Analog Input Sinusoidal input 2 COS 4 Analog Input Cosine input 3 INDEX 4 Input Index input Analog or TTL levels 4 ENCPWR Output Encoder power 5Vdc or user supplied 5 GND Digital ground 6 SIN 4 Analog Input Sinusoidal input 7 COS 4 Analog Input Cosine input 8 INDEX 4 Input Index input Analog or TTL levels 9 VREF 2 5V Output A D reference output TB1 User Supplied Power Use this 2 pin connector
30. he ACC S1S is used High Resolution Interpolator Entry Second Lines for ACC 51S Channel Channel Channel Channel 16 Acc 51S Parameter Setup Accessory 51S Entry Entry Entry Entry 1 78800 3 78804 5 78808 7 7880C 2 78802 4 78806 6 7880A 8 7880E ACC 51S channels 1 4 become PMAC channels 1 4 if ACC 51S jumper E1 connects pins 2 and 3 ACC 51S channels 1 4 become PMAC channels 5 8 if ACC 51S jumper E1 connects pins 1 and 2 Example To set up the conversion table manually to process four channels of sinusoidal encoders and nothing else use the following command lines could be used IT8000 SFF8000 18001 S078800 I18002 S0 result in 3503 18003 SFF8008 T8004 S078802 18005 S0 result in 3506 I8006 SFF8010 18007 S078804 I8008 S0 result in 3509 I8009 SFF8018 18010 S078806 I8011 S0 result in 350B Using the Conversion Table Results The result of the entry is in the X register of the second line The address of this register should be assigned to the servo loop address variable for its particular uses x03 position loop feedback address 1x04 velocity loop feedback address Ix05 master position address The encoder conversion table starts at PMAC address 0720 If nothing else precedes the high resolution interpolator entries and eight of these entries process the eight sinusoidal encoders in numerical order the following tabl
31. horts When our products are used in an industrial environment install them into an industrial electrical cabinet or industrial PC to protect them from excessive or corrosive moisture abnormal ambient temperatures and conductive materials If Delta Tau Data Systems Inc products are directly exposed to hazardous or conductive materials and or environments we cannot guarantee their operation REVISION HISTORY REV DESCRIPTION DATE CHG APPVD UPDATED 12 15 VOLT REQUIREMENT P 1 02 13 08 CP S MILICI 2 UPDATED CLIPPER SETUP DESCRIPTION P 16 12 08 09 CP S MILICI CORRECTED ADDRESSING FOR ACC 51S USED WITH CLIPPER 10 01 10 SS S SATTARI Accessory 51S Table of Contents INTRODUCTION aae E sssvesascssecond easesussese susetuceassscnssssessscuessabasnstestyscasdeteussussbechsssesavasestestycsavesteuesese 1 BCAUULOS ss os cisces cosasess Saevees etuctess oe cducesecateoss oncuiesssusau ses SOES EEEN vecnicvions ss SNEER EREN NE TEESE snedus tsventestsocedeoes aa EErEE 1 BOard Compe ura Onn sesse eE E tee EE E EE E T ATE k eee es 1 OPUS esee E cay evehsca E ens seks cup ipsksicks cute says ves E E E E O EE l TNGICOLOTS 503 0525 Sots tes a E ETE a EET AE EE cp lesa tas A AE AET A AREEN 1 DUMPS eS sactec ses vaste A E tap EA E OER A E EAER E E EEN 2 Installa iosas eea e EREE E eR E a aaae ee eE e NE aE e EAE hRS 2 Connectors enean eadera nieee re eea a eaa ea EAE E VEE AANE a AE REEE ESEE EEE N E
32. n0 is used to establish encoder decoding m is the servo IC number as established by the Acc 51E mapping table in the previous section n is the channel number which is the same as the encoder number 1 4 on the Acc 51S board The encoder decode control I variable is set for each channel to which an interpolator is connected A value of 7 is used as default for CCW x4 Quadrature decode Changing the decode direction requires the operator to save the Turbo PMAC s parameters and perform a or cycle power Note Reset the PMAC if the encoder direction has been changed to prevent encoder instability Using ACC 51S Data for Commutation Feedback with Clipper If using the sinusoidal encoder processed with the ACC 51S for the commutation position feedback the fully interpolated position value is not used only the quadrature hardware encoder counter position value which has four counts per line of the encoder These can be referred to as hardware counts units of a hardware counter to distinguish them from software counts as explained below Motor variable Ix83 must contain the address of the phase position register for that encoder channel The following table shows the values of Ix83 for each channel Ix83 Commutation Encoder Addresses for ACC 518S 18 Acc 51S Parameter Setup Accessory 51S Channel Channel Channel Channel Entry Entry Entry Entry 1 78001 3 78011 5 78101 7 78111 2 78009 4
33. ress Channel Address Channel Address Channel Address 1 C000 3 C010 5 C020 7 C030 2 C008 4 C018 6 C028 8 C038 Channels 1 4 of the ACC 51S correspond to PMAC channels 1 4 if the ACC 51S is connected to the main PMAC2A PC 104 board channels 1 4 of the ACC 51S correspond to PMAC channels 5 8 if the ACC 51S is connected to the ACC 1P board ADC Addresses for ACC 51S Channel Entry Channel Entry Channel Entry Channel Entry 1 FFCO 3 FFC4 5 FFC8 7 FFCC 2 FFC2 4 FFC6 6 FFCA 8 FFCE ACC 51S channels 1 4 become PMAC channels 1 4 if ACC 51S jumper E1 connects pins 2 and 3 ACC 51S channels 1 4 become PMAC channels 5 8 if ACC 51S jumper E1 connects pins 1 and 2 Setting the Conversion Table Entries Manually Encoder Channel Address The first line of the two line entry contains F in the first hex digit and the base address of the encoder channel to be read in the low 19 bits bits 0 to 15 If bit 19 is set to 1 making the second hex digit 8 PMAC expects a PMAC2 style Servo IC for the interpolator as in the ACC 51S for the PMAC2A PC 104 The last four hex digits of the line contain the base address of the encoder channel used The following table shows the possible entries for the ACC 51S which uses the Servo ICs of the PMAC2A PC 104 main board Channels 1 4 and the ACC 1P Axis 5 8 board Channels 5 8 High Resolution
34. ry motor with a 2000 line per revolution sinusoidal encoder Ix70 would be set to 2 four poles two commutation cycles and Ix71 would be set to 8000 2000 x 4 Motor x Software Position Capture and Trigger Mode Ix03 is used to establish position capture Index Position Input Bit 16 of this variable must be set to 1 to function as software index capture There is a background cycle delay typically 2 3 msec which limits the accuracy of the capture x25 is used for the address of the flags for the capture as well as the limit flags and amplifier flags all must be from the same channel number Note As of this manual revision hardware capture is not available for the PMAC2 Acc 51S Parameter Setup 13 Accessory 51S Using ACC 51S Data for Servo Feedback Setting the Conversion Table Entries with the Executive Program ACC 51S data must be processed according to the high resolution interpolation method Create entries of this type using the PMAC Executive program or by entering the entries manually with on line commands To use the Executive Program select Configure then Conversion Table to get the setup menu for the ECT For each entry from the pick list for methods select High resolution interpolation Then enter the encoder address and the ADC analog digital converter address The following tables show the addresses to be used Encoder Addresses for ACC 51S Channel Add
35. sccssecsseesecseeeseeeeesenceseceseceseceaecsaeceaecaaecaeecaeesaeseaeseneseneeeneens 14 Setting the Conversion Table Entries with the Executive Program cccccceccscscssscsseescesesseesesseesecuseeeenseeseeseeseens 14 Setting the Conversion Table Entries Manually cccccccsccccssscsssesceseeseeseeseeseeeeeecnecaeesecseesenseeseeaecseeaeseseeaeeaeeas 14 Using the Conversion Table Results niori sieisen aaien de costes berg eni EEEE i EEE nates Eaa ES anes 15 Using ACC 51S Data for Servo Feedback with the Clipper Board sssessseeessesersesserssrstsesssrsrrssesersesseeeesesesses 16 Setting the Conversion Table Entries with the Executive Progrann ic ccccscccccsccssssseceseseeseeseesesseeeecnseeeenenenaees 16 Setting the Conversion Table Entries Manually ccccccccccccssecsseesesseesceseeseeseteeecuseseesecseeececeeseeseeseeesneeeaeeseeaees 16 Using the Conversion Table ReSUIts cccccccsscssssecceseeseeseeseeseceesecseeecneceeecseescesecseesesateecesesensecaeenaserenaeereeaees 17 E Variables Jor Clipper PPOCESSOP rensa ossiheas tate ag coves Ate ad ainiai siirdeseinad rasa iadi canes 18 Encoder Decode Control I Variables I7mn0 ccccccecsscesesseeseeseesecnseeececeescusecseesecseeeesecseeecusseeenaeeaeeaeserenaeerey 18 Using ACC 51S Data for Commutation Feedback with Clipper ccccccecscesseeseessceseceeceseceaecseecaeeeseeeaeenseeneeas 18 Motor xx Counts per N Commutation Cycles T0x71 ccceccccceccesssceseeseeseessesecnseescn
36. the signal pair through a 120Q resistor Installation The ACC 51S mounts directly on top of the PMAC2A PC 104 board or ACC 1P board to which it interfaces There are stacking connectors along two of the four edges the prongs of the connectors of the ACC 51S board fit into the sockets of the matching connectors of the board below it Connectors J9 J12 are DBYS connectors for the input of sinusoidal encoder signals for channels 1 4 respectively of the ACC 51S J7 provides the output of the generated digital quadrature signals to the PMAC2A PC 104 board or the ACC 1P board immediately below the ACC 51S A cable is provided for connection of these signals 2 Introduction Accessory 51S ENCODER CONNECTIONS Be sure to use shielded twisted pair cabling for sinusoidal encoder wiring Double insulated is recommended The sinusoidal signals are small and must be kept as noise free as possible Avoid cable routing near a noisy motor or driver wiring The use of single ended output style sinusoidal encoders at very slow speeds has been shown to provide large amounts of velocity ripple When very slow speeds are needed use differential output style sinusoidal encoders Sinusoidal Encoder Wiring Sinusoidal encoders operate on the concept that there are two analog signal outputs that have a profile that is 90 out of phase They are available with different drive characteristics some of which are described below Differential
37. the SIN COS and INDEX outputs 3 0Vpk SINUSOIDAL ENCODER REFC 2 6Vde f Lf INDX 2 0Vpk INDX ENC PWR GND SINGLE ENDED ENCODER CONNECTION USING THE ENCODER S REFERENCE OUTPUT Note Do not connect the reference output of the encoder to the REFS and REFC lines on the interpolator card Doing so will cause the interpolator to function incorrectly A Encoder Connections Accessory 51S Type of Cable for Encoder Wiring Low capacitance shielded twisted pair cable is ideal for wiring differential encoders The better the shield wires the better the noise immunity to the external equipment wiring Wiring practice for shielded cables is not an exact science Different applications will present different sources of noise which may require experimentation to achieve the desired results If possible the best cabling to use is a double shielded twisted pair cable Typically there are four pairs used in a differential encoder s wiring The picture below shows how the wiring may be implemented for a typical differential encoder using double shielded twisted pair cable SHIELD INDEX INDEX SHIELD mi a ENC PWR OUTER SHIELD EXAMPLE OF DOUBLE SHIELDED 4 TWISTED PAIR CABLE The shielded wires should be tied to ground Vcc return at the interpolator end It is acceptable to tie the shielded wires together if there are not enough terminals availa
38. the servo loop as having units of 1 32 count so for software purposes a count is 1 128 of a line This can be called a software count to distinguish it from units of the hardware counter Subsequent calculations such as axis scaling jog speeds etc should use this scaling of 128 software counts per line These addresses are actually the default addresses used by Turbo PMACs for single line encoder table references that represent axis through 8 Processed encoders 9 through 12 represent sample entries for an ACC 51S with a Clipper Board Note The encoder table addressing starts at memory location 3501 Turbo PMAC processes all table entries until it finds a first line entry set to 00 unused There must not be any address gaps between the first and last encoder table entry Note Due to timing constraints with the interpolator s conversion processes the interpolator s encoder conversion table entries should be placed at the contiguous end of the table The interpolator may place unnecessary wait states back to the Turbo PMAC s processor if the conversion table entries are placed at the beginning of the conversion table l Variables for Clipper Processor Refer to the Turbo PMAC Software Reference Manual for a more detailed description of the use of the I Variables as described below To process the interpolator s data properly several I Variables must be set Encoder Decode Control I Variables I7mn0 17m
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