Axis 3Ax-603397-xUxx User Manual page 23

Accessory 24E2
Usually, the Ixx03, Ixx04, and Ixx05 variables contain the address of a processed position value in the
encoder conversion table, even when the raw data comes from the ACC-24E2. The first line of the
encoder conversion table is at address $003501; the last line is at address $0035C0.
Ixx10: Motor xx Power-On Position Address
Ixx10 tells the Turbo PMAC where to read absolute power-on position, if any. Typically, the only times
Ixx10 will contain the address of an ACC-24E2 register is if the position is obtained from an A/D
converter on an ACC-28B connected through the ACC-24E2, or if it is obtained from an MLDT (e.g.
TM
Temposonics ) sensor excited directly from an ACC-24E2.
The following table shows the possible values of Ixx10 for MLDT timer registers:
Ixx10 for ACC-24E2 MLDT Timer Registers (Ixx95=$170000)
Servo Chan. 1
IC #
2 $078200
3 $078300
4 $079200
5 $079300
6 $07A200
7 $07A300
8 $07B200
9 $07B300
Ixx24: Motor xx Flag Mode
Ixx24 defines how to read and use the flags for Motor xx that are in the register specified by Ixx25. Ixx24
is a set of independent control bits. There are two bits that must be set correctly to use a flag set on an
ACC-24E2.
Bit 0 of Ixx24 must be set to 1 to tell the Turbo PMAC that this flag set is in a Type 1 PMAC2-style
Servo IC. Bit 18 of Ixx24 must be set to 0 to tell the Turbo PMAC that this flag set is not transmitted
over a MACRO ring. Other bits of Ixx24 may be set as desired for a particular application.
Ixx25: Motor xx Flag Address
Ixx25 tells Turbo PMAC where to access its flag data for Motor xx. If ACC-24E2 is interfaced to the
flags, Ixx25 must contain the address of the flag register in ACC-24E2.
The following table shows the address of the flag register for each channel of each ACC-24E2.
Servo Chan. 1
IC #
2 $078200
3 $078300
4 $079200
5 $079300
6 $07A200
7 $07A300
8 $07B200
9 $07B300
Ixx81: Motor xx Power-On Phase Position Address
Ixx81 tells Turbo PMAC2 where to read absolute power-on position for motor phase commutation, if any.
Typically, it will contain the address of an ACC-24E2 register for only two types of absolute phasing
sensors: hall-effect commutation sensors (or their optical equivalents) connected to the U, V, and W input
Connections
Chan. 2 Chan. 3
$078208 $078210
$078308 $078310
$079208 $079210
$079308 $079310
$07A208 $07A210
$07A308 $07A310
$07B208 $07B210
$07B308 $07B310
Chan. 2 Chan. 3
$078208 $078210
$078308 $078310
$079208 $079210
$079308 $079310
$07A208 $07A210
$07A308 $07A310
$07B208 $07B210
$07B308 $07B310
Chan. 4
st
$078218 1 ACC-24E2x Channel n Timer
nd
$078318 2 ACC-24E2x Channel n Timer
rd
$079218 3 ACC-24E2x Channel n Timer
th
$079318 4 ACC-24E2x Channel n Timer
th
$07A218 5 ACC-24E2x Channel n Timer
th
$07A318 6 ACC-24E2x Channel n Timer
th
$07B218 7 ACC-24E2x Channel n Timer
th
$07B318 8 ACC-24E2x Channel n Timer
Chan. 4
st
$078218 1 ACC-24E2x Channel n Flag Set
nd
$078318 2 ACC-24E2x Channel n Flag Set
rd
$079218 3 ACC-24E2x Channel n Flag Set
th
$079318 4 ACC-24E2x Channel n Flag Set
th
$07A218 5 ACC-24E2x Channel n Flag Set
th
$07A318 6 ACC-24E2x Channel n Flag Set
th
$07B218 7 ACC-24E2x Channel n Flag Set
th
$07B318 8 ACC-24E2x Channel n Flag Set
Notes
Notes
19