Delta Tau ACC-24M2A User Manual download pdf (Page 43)

100

101

Accessory 24M2A

Configuring with Turbo PMAC 44

Example: ACC-24M2A with two motors, each with a 20-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=$0FFFFF // 20-bit SSI conversion

MS0,MI122=MaxVelCh1*32

//Channel 2

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

MS0,MI124=$0FFFFF // 20-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 24-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=$FFFFFF // 24-bit SSI conversion

MS0,MI122=MaxVelCh1*32

//Channel 2

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

MS0,MI124=$FFFFFF // 24-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)

Note

If the direction decode variable, MS<node>, MI910, is changed the

user must save the setting, MSSAVE{node} and reset the card

MS$$${node} before the fractional direction sense matches.

Note

At this point of the setup process, you should be able to move the

motor/encoder shaft by hand and see encoder counts in the position

window

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Delta Tau ACC-24M2A User Manual Page 43

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