Delta Tau GEO BRICK LV 사용자 설명서
Turbo PMAC User Manual
Setting Up Feedback and Master Position Sensors
61
Conversion Table Processing Setup – Turbo PMAC Interface
Usually, digital quadrature signals, even if synthesized, are processed in the conversion table with the 1/T
extension method (method digit $0), which uses timers associated with the counter to compute fractional
count information that enhances smoothness of motion. The source address specified is that of the base
address of the channel (e.g. $78200 for Servo IC 0 Channel 1); Turbo PMAC will use several registers of
that channel to assemble the enhanced position information automatically.
extension method (method digit $0), which uses timers associated with the counter to compute fractional
count information that enhances smoothness of motion. The source address specified is that of the base
address of the channel (e.g. $78200 for Servo IC 0 Channel 1); Turbo PMAC will use several registers of
that channel to assemble the enhanced position information automatically.
For details of setting up the encoder conversion table to process synthesized quadrature encoder signals,
consult the section Setting up the Encoder Conversion Table section in this manual and the specification
for variables I8000 – I8191 in the Software Reference Manual.
consult the section Setting up the Encoder Conversion Table section in this manual and the specification
for variables I8000 – I8191 in the Software Reference Manual.
Conversion Table Processing Setup – MACRO Station Interface
If the synthesized quadrature signal is connected to a remote MACRO Station, the conversion table
processing (usually 1/T extension) is done in the MACRO Station, and the resulting enhanced position
information is passed back to the Turbo PMAC, where it is processed by the Turbo PMAC’s encoder
conversion table as unshifted parallel data (usually method digit $2, mode switch bit = 1), because it
already has fractional count information, before use by the servo. For details of setting up the encoder
conversion table to process synthesized quadrature encoder signals, consult the MACRO Station manuals,
the Setting up the Encoder Conversion Table section in this manual, and the specification for variables
I8000 – I8191 in the Software Reference Manual.
processing (usually 1/T extension) is done in the MACRO Station, and the resulting enhanced position
information is passed back to the Turbo PMAC, where it is processed by the Turbo PMAC’s encoder
conversion table as unshifted parallel data (usually method digit $2, mode switch bit = 1), because it
already has fractional count information, before use by the servo. For details of setting up the encoder
conversion table to process synthesized quadrature encoder signals, consult the MACRO Station manuals,
the Setting up the Encoder Conversion Table section in this manual, and the specification for variables
I8000 – I8191 in the Software Reference Manual.
Setting Up for Power-On Absolute Position
It is possible to get absolute position directly from the Acc-8D Option 7 through the multiplexer port.
Most commonly, this is just the absolute position within one motor revolution or even one commutation
cycle to establish the commutation phase reference position without any motion. This section
summarizes the variable settings for this technique; refer to the Software Reference Manual for details.
Most commonly, this is just the absolute position within one motor revolution or even one commutation
cycle to establish the commutation phase reference position without any motion. This section
summarizes the variable settings for this technique; refer to the Software Reference Manual for details.
Absolute Phase Power-On Position Address and Format: Ixx81, Ixx91, MI11x
To read an R/D converter for absolute phase position from a board directly connected to the Turbo
PMAC, Ixx81 must be set to the address of the converter board on the multiplexer port (not directly in
Turbo PMAC’s address space). Bits 16 – 23 of Ixx91 must be set to the location of the converter on the
board at that address.
PMAC, Ixx81 must be set to the address of the converter board on the multiplexer port (not directly in
Turbo PMAC’s address space). Bits 16 – 23 of Ixx91 must be set to the location of the converter on the
board at that address.
If the R/D board is connected to a MACRO Station, Ixx81 is set to the MACRO node number, and Ixx91
is set to $730000. On the MACRO Station, MI11x is set to specify the address of the converter board on
the multiplexer port in bits 0 – 7, and the location of the converter on the board in bits 16 – 23.
is set to $730000. On the MACRO Station, MI11x is set to specify the address of the converter board on
the multiplexer port in bits 0 – 7, and the location of the converter on the board in bits 16 – 23.
Motor phase offset variable Ixx75 contains the difference between the absolute resolver position and the
resulting phase angle position (if any).
resulting phase angle position (if any).
Absolute Servo Power-On Position Address and Format: Ixx10, Ixx95, MI11x
To read one, two, or three R/D converters for absolute phase position from a board directly connected to
the Turbo PMAC, Ixx81 must be set to the address of the first converter board on the multiplexer port
(not directly in Turbo PMAC’s address space). Bits 16 – 23 of Ixx91 must be set to the location of the
first (fine) converter used on the board at that address.
the Turbo PMAC, Ixx81 must be set to the address of the first converter board on the multiplexer port
(not directly in Turbo PMAC’s address space). Bits 16 – 23 of Ixx91 must be set to the location of the
first (fine) converter used on the board at that address.
If the R/D board is connected to a MACRO Station, Ixx81 is set to the MACRO node number, and Ixx91
is set to $730000. On the MACRO Station, MI11x is set to specify the address of the converter board on
the multiplexer port in bits 0 – 7, and the location of the converter on the board in bits 16 – 23.
is set to $730000. On the MACRO Station, MI11x is set to specify the address of the converter board on
the multiplexer port in bits 0 – 7, and the location of the converter on the board in bits 16 – 23.
If a second resolver, geared down from the first by an integer factor of n, is used to get multi-turn absolute
position, motor variable Ixx99 must be set to this value of n. If a third resolver, geared down from the
second by an integer factor of m, is used to extend the range of the multi-turn absolute position, motor
variable Ixx98 must be set to this value of m.
position, motor variable Ixx99 must be set to this value of n. If a third resolver, geared down from the
second by an integer factor of m, is used to extend the range of the multi-turn absolute position, motor
variable Ixx98 must be set to this value of m.