Delta Tau ACC-24M2A User Manual download pdf (Page 44)

100

101

Accessory 24M2A

Configuring with Turbo PMAC 45

Resolver

ECT Setup

ACC-24M2A has up to two channels of resolver inputs. The inputs may be used as feedback or master

reference signals for the PMAC servo loops. The basic configuration of the drive contains one 10-bit fixed

resolution tracking resolver-to-digital (R-to-D) converters, with an optional second resolver when a dual

axis driver is ordered. ACC-24M2A creates the AC excitation signal (ResOut) for up to two resolvers,

accepts the modulated sine and cosine signals back from these resolvers, demodulates the signals and

derives the position of the resolver from the resulting information, in an absolute sense if necessary.

The specifics for this configuration are as follows (Ch1 and Ch2):

Example: ACC-24M2A with two motors, each with a resolver, one on Node 0, one on Node 1,

wherein the clockwise direction of the motor’s shaft’s rotation is positive

// ACC-24M2A ECT Setup

// Channel 1

MS0,MI120=$E0FF00 // Data Source Address location ,CW

MS0,MI121=$00FF5C // A/D Converter Address Setup

MS0,MI122=0 // Sine/Cosine Bias –User Input

// Channel 2 CW

MS0,MI123=$E0FF20 // Data Source Address location, CW

MS0,MI124=$00FF5C // A/D Converter Address Setup

MS0,MI125=0 // Sine/Cosine Bias –User Input

// 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 resolver, one on Node 0, one on Node 1,

wherein the counterclockwise direction of the motor’s shaft’s rotation is positive

// ACC-24M2A ECT Setup

// Channel 1

MS0,MI120=$E8FF00 // Data Source Address location ,CCW

MS0,MI121=$00FF5C // A/D Converter Address Setup

MS0,MI122=0 // Sine/Cosine Bias –User Input

// Channel 2 CW

MS0,MI123=$E8FF20 // Data Source Address location, CCW

MS0,MI124=$00FF5C // A/D Converter Address Setup

MS0,MI125=0 // Sine/Cosine Bias –User Input

// 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 that the third line of the entry for each channel (in this example, MI122 for Channel 1 and MI124 for

Channel 2) contains the bias in the A/D converter values. This line should contain the value that the A/D

converters report when they should ideally report zero. The MACRO Station subtracts this value from

both A/D readings before calculating the arctangent. Many users will leave this value at 0, but it is

particularly useful to remove the offsets of single-ended analog encoder signals. If it appears that the

encoder has an offset, the user can compensate for it in these variables. This line is scaled so that the

maximum A/D converter reading provides the full value of the 24-bit register (+/-2

). Generally, it is set

by reading the A/D converter values directly as 24-bit values (in this example, from Y:$C090 for Channel

1 and from Y:$C098 for Channel 2), computing the average value over a cycle or cycles, and entering this

value here.

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Delta Tau ACC-24M2A User Manual Page 44

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