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Accessory Tech Notes

Axis output Accessories Acc-24 xith PMAC Lite - 7167 Uses of the Acc-24P with PMAC Lite

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

1.

The encoder conversion table must be setup to read the encoders. Use the PMAC-Exec’s 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.

2.

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)

3.

The Ix25 variable is used by PMAC to determine what set of inputs it will look to for motor x’s 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