Axis output Accessories Acc-24 xith PMAC Lite0 pages

Accessory Tech Notes >

PMAC Expansion-board (Acc-24P) contains interface circuitry for encoders 9-12. To map this into motors 5-8, the following setup is necessary.

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The encoder conversion table must be setup to read the encoders. Use the PMAC-Execs menu-based encoder table setup, accessed from the configure menu. For entries 5-8, change the source address to encoders 9-12. When finished, the table should look as follows. EntryAddressY-Word(Source Address)Conversion Method

1 Y:$720 $C000 1/T extension of encoder 1 $C000 2 Y:$721 $C004 1/T extension of encoder 2 $C004 3 Y:$722 $C008 1/T extension of encoder 3 $C008 4 Y:$723 $C00C 1/T extension of encoder 4 $C00C 5 Y:$724 $C020 1/T extension of encoder 9 $C020 6 Y:$725 $C024 1/T extension of encoder 10 $C024 7 Y:$726 $C028 1/T extension of encoder 11 $C028 8 Y:$727 $C02C 1/T extension of encoder 12 $C02C >

Once the encoder conversion table is set, the encoder setup for axes 5-8 is completed. The factory default settings for Ix03, Ix04, and Ix05 will now apply for encoder-to-axis feedback mapping.

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The Ix02 variable in PMAC is used to tell PMAC where (what address) to put the output command for motor x. The outputs for axes 5 through 8 must be mapped into DACs 9 through 12. For non-commutated axes (+/- 10V torque or velocity output commands) set: I502 = $C023 (DAC 9) I602 = $C022 (DAC 10) I702 = $C02B (DAC 11) I802 = $C02A (DAC 12) For commutated axes (2 sinusoidal phase output commands per axis) set: Ix02 = $C022 (DACs 9 and 10) Ix02 = $C02A (DACs 11 and 12)

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The Ix25 variable is used by PMAC to determine what set of inputs it will look to for motor xҒs overtravel limit switches, home flag, amplifier-fault flag, and amplifier-enable output. Typically, these are the flags associated with an encoder input; specifically those of the position feedback encoder for the motor. It is necessary to reassign the Ix25 variables for motors 5-8 to correspond to the flag set associated with encoders 9-12. Flag source address settings are listed in the table below. LIM 9, HMFL 9, ... $C020 \ LIM10, HMFL 10, ... $C024 LIM 11, HMFL 11, .. $C028 LIM 12, HMFL 12, .. $C02C Typical Ix25 setup for non-commutated motors 5-8 is as follows. I525 = $C020 I625 = $C024 I725 = $C028 I825 = $C02C

Uses of the Acc-24P with PMAC Lite 1 >