Delta Tau ACC-24M2A User Manual download pdf (Page 42)

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101

Accessory 24M2A

Configuring with Turbo PMAC 43

SSI

ACC-24M2A can be configured to process SSI encoder feedback as a binary parallel word in 12, 16, 20,

or 24-bit format. As with all feedback, this data is transferred across the MACRO ring to be used as

position and/or velocity feedback. Each SSI device requires three lines of the ECT.

In the second line of each SSI ECT entry, the number of bits to process is specified. So, there are four

examples given below.

In the third line, specify the maximum change per servo cycle of the encoder counts that is expected. This

is typically equal to 1.25 times the maximum expected velocity of the motor. The units of this entry

are whatever the units of the input register are, typically 1/32 of a count. For example, to limit the change

in one servo cycle to 64 counts with an input register in units of 1/32 count, this third line would be 64*32

= 2048.

In the examples below, the user must specify the maximum count change per servo cycle on the lines

which end -

Example: ACC-24M2A with two motors, each with a 12-bit SSI encoder, one on Node 0, one on

Node 1

#define MaxVelCh1 0 // Maximum count change per servo cycle, Channel 1 –User Input

#define MaxVelCh2 0 // Maximum count change per servo cycle, Channel 2 –User Input

// ACC-24M2A ECT Setup

//Channel 1

MS0,MI120=$30FF54 // Data Source Address location

MS0,MI121=$000FFF // 12-bit SSI conversion

MS0,MI122=MaxVelCh1*32

//Channel 2

MS0,MI123=$30FF74 // Data Source Address location

MS0,MI124=$000FFF // 12-bit SSI conversion

MS0,MI125=MaxVelCh2*32

// ACC-24M2A ECT output setup

MS0,MI101=$12 // Output from 3

line of ECT (MI122)

MS0,MI102=$15 // Output from 6

line of ECT (MI125)

Example: ACC-24M2A with two motors, each with a 16-bit SSI encoder, one on Node 0, one on

Node 1

#define MaxVelCh1 0 // Maximum count change per servo cycle, Channel 1 –User Input

#define MaxVelCh2 0 // Maximum count change per servo cycle, Channel 2 –User Input

// ACC-24M2A ECT Setup

//Channel 1

MS0,MI120=$30FF54 // Data Source Address location

MS0,MI121=$00FFFF // 16-bit SSI conversion

MS0,MI122=MaxVelCh1*32

//Channel 2

MS0,MI123=$30FF74 // Data Source Address location

MS0,MI124=$00FFFF // 16-bit SSI conversion

MS0,MI125=MaxVelCh2*32

// ACC-24M2A ECT output setup

MS0,MI101=$12 // Output from 3

line of ECT (MI122)

MS0,MI102=$15 // Output from 6

line of ECT (MI125)

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Delta Tau ACC-24M2A User Manual Page 42

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