Delta Tau TURBO CLIPPER DRIVE ユーザーズマニュアル
Turbo Clipper Drive User Manual
Breakout Board: Wiring, Software Setup
24
ACC-51S: Sinusoidal Feedback (Optional)
The accessory ACC-51S allows the Turbo Clipper Drive to interface to up to 4 sinusoidal
feedback devices. This high resolution interpolator circuitry accepts inputs from sinusoidal or
quasi-sinusoidal encoders (1-Volt peak to peak) and provides encoder position data. It creates
4,096 steps per sine-wave.
feedback devices. This high resolution interpolator circuitry accepts inputs from sinusoidal or
quasi-sinusoidal encoders (1-Volt peak to peak) and provides encoder position data. It creates
4,096 steps per sine-wave.
J9-J12: D-Sub DE-9F
Mating: D-Sub DE-9M
1
2
3
4
5
6
7
8
9
Pin #
Symbol
Function
Description
Notes
1
SIN +
Analog Input
Sinusoidal input+
2
COS +
Analog Input
Cosine input+
3
INDEX +
Input
Index input
Analog or TTL levels
4
ENCPWR
Output
Encoder power
+5VDC
5
GND
Digital ground
6
SIN -
Analog Input
Sinusoidal input-
7
COS -
Analog Input
Cosine input-
8
INDEX -
Input
Index input
Analog or TTL levels
9
VREF
2.5V Output
A-D reference output
// Channel 1
I8000=$FF8000 ; High resolution interpolator
I8001=$078B00 ; A/D converter address
I8002=$000000 ; Bias Term and Entry result
// Channel 2
I8003=$FF8008 ; High resolution interpolator
I8004=$078B02 ; A/D converter address
I8005=$000000 ; Bias Term and Entry result
// Channel 3
I8006=$FF8010 ; High resolution interpolator
I8007=$078B04 ; A/D converter address
I8008=$000000 ; Bias Term and Entry result
// Channel 4
I8009=$FF8018 ; High resolution interpolator
I8010=$078B06 ; A/D converter address
I8011=$000000 ; Bias Term and Entry result
I100,4,100=1
I8000=$FF8000 ; High resolution interpolator
I8001=$078B00 ; A/D converter address
I8002=$000000 ; Bias Term and Entry result
// Channel 2
I8003=$FF8008 ; High resolution interpolator
I8004=$078B02 ; A/D converter address
I8005=$000000 ; Bias Term and Entry result
// Channel 3
I8006=$FF8010 ; High resolution interpolator
I8007=$078B04 ; A/D converter address
I8008=$000000 ; Bias Term and Entry result
// Channel 4
I8009=$FF8018 ; High resolution interpolator
I8010=$078B06 ; A/D converter address
I8011=$000000 ; Bias Term and Entry result
I100,4,100=1
; Axis 1-4 active
Position and Velocity feedback pointers should now be set to the corresponding ECT result:
Position And Velocity Pointers
Channels 1-4
I103=$3503 I104=$3503
I203=$3506 I204=$3506
I303=$3509 I304=$3509
I403=$350C I404=$350C
I203=$3506 I204=$3506
I303=$3509 I304=$3509
I403=$350C I404=$350C
Note
At this point of the setup, you should be able to move the
motor/encoder shaft by hand and see ‘motor’ counts in the
position window
motor/encoder shaft by hand and see ‘motor’ counts in the
position window