Delta Tau ACC-84C Owner's manual

^1 USER MANUAL

^2 Accessory 84C

^3 Universal Serial Encoder Interface Board

^4 3Ax-603929-xUxx

^5 February 11, 2010

Single Source Machine Control Power // Flexibility // Ease of Use

21314 Lassen Street Chatsworth, CA 91311 // Tel. (818) 998-2095 Fax. (818) 998-7807 // www.deltatau.com

^2 (Preliminary Manual)

{This page intentionally left blank}

Copyright Information

This document is furnished for the customers of Delta Tau Data Systems, Inc. Other uses are

unauthorized without written permission of Delta Tau Data Systems, Inc. Information contained

in this manual may be updated from time-to-time due to product improvements, etc., and may not

conform in every respect to former issues.

To report errors or inconsistencies, call or email:

Delta Tau Data Systems, Inc. Technical Support

Phone: (818) 717-5656

Fax: (818) 998-7807

Email: support@deltatau.com

Website: http://www.deltatau.com

Operating Conditions

All Delta Tau Data Systems, Inc. motion controller products, accessories, and amplifiers contain

static sensitive components that can be damaged by incorrect handling. When installing or

handling Delta Tau Data Systems, Inc. products, avoid contact with highly insulated materials.

Only qualified personnel should be allowed to handle this equipment.

In the case of industrial applications, we expect our products to be protected from hazardous or

conductive materials and/or environments that could cause harm to the controller by damaging

components or causing electrical shorts. When our products are used in an industrial

environment, install them into an industrial electrical cabinet or industrial PC to protect them

from excessive or corrosive moisture, abnormal ambient temperatures, and conductive materials.

If Delta Tau Data Systems, Inc. products are directly exposed to hazardous or conductive

materials and/or environments, we cannot guarantee their operation.

EN

Dispose in accordance with applicable regulations.

REVISION HISTORY

REV.

DESCRIPTION

DATE

CHG

APPVD

DELTA TAU ACCESSORY 84C MANUAL    FEBRUARY 2010 
TABLE OF CONTENTS     
i 
Table of Contents 
INTRODUCTION .................................................................................................. 2 
Overview........................................................................................................................................................ 2 
SPECIFICATIONS ................................................................................................ 3 
Environmental Specifications ...................................................................................................................... 3 
Physical Specifications ................................................................................................................................. 3 
Electrical Specifications ............................................................................................................................... 3 
Configuration ................................................................................................................................................ 4 
HARDWARE SETUP ............................................................................................ 5 
Switch Configuration ................................................................................................................................... 6 
Address Select Dip Switch SW1 .................................................................................................................. 6 
Turbo PMAC Compact UBUS Switch Settings ......................................................................................... 6 
Connections ................................................................................................................................................... 7 
Encoder Specific Connection Information ................................................................................................. 8 
Yaskawa Sigma II Encoders ...................................................................................................................... 8 
SOFTWARE SETUP ............................................................................................ 9 
Use Turbo Compact UMAC CPU ............................................................................................................... 9 
Synchronous Serial Interface (SSI) ............................................................................................................ 9 
EnDat 2.2 Interface ...................................................................................................................................16 
Yaskawa Sigma II & Sigma III .................................................................................................................22 
Biss C (Unidirectional) Interface (Renishaw) ...........................................................................................44 
HRDWARE REFERENCE SUMMARY ............................................................... 55 
Mechanical Drawing ...................................................................................................................................55 
CONNECTOR DESCRIPTIONS ......................................................................... 56 
Compact UBUS Connector (P1) Pin-Out ..................................................................................................56 
P2 Connector ................................................................................................................................................57 
 
 

DELTA TAU ACCESSORY 84C MANUAL FEBRUARY 2010

SOFTWARE SETUP

2

Introduction

Overview

The Acc-84C Universal Serial Encoder Interface Board provides up to four/eight channels of

serial encoders to be read by the Compact UMAC controllers. The Acc-84C is part of the

Compact UMAC family of expansion cards and these accessory cards are designed to plug into

an industrial Compact UMAC system. The information from these accessories is passed directly

to CPCI CPU via the high speed JEXP expansion bus. Acc-84C supports different serial encoder

protocols depending on the option ordered. These protocols are programmed into an on-board

FPGA upon manufacturing. Multiple common protocols are supported at the moment and future

developments of additional protocols are feasible. Currently Acc-84C supports the following

protocols:

 SSI Synchronous Serial Interface

 EnDat 2.2 EnDat 2.2 interface from HEIDENHAIN

 Yaskawa Yaskawa Sigma II and Sigma III feedback support

Each Acc-84C can only support one of the protocols mentioned above for all four/eight channels.

If the customer has two different serial protocols in the system, two separate Acc-84C cards

should be used.

Since Acc-84C is strictly a feedback input card, if the feedback is intended to be used as the

feedback for closed loop servo control, the servo command should be sent out to the amplifier

using a CPCI axis interface card depending on the signal and control type required by amplifier.

Here is a list of possible axis interface cards available for Compact UMAC systems:

 Acc-24C2 Digital amplifier breakout w/ TTL encoder inputs or MLDT

 Acc-24C2A Analog amplifier breakout w/ TTL encoder inputs or MLDT

Up to 12 Acc-84C boards can be connected to one Compact UMAC providing up to 48 channels

of serial encoder feedback.

The Acc-84C board will take the data from the serial encoder and process it as up to four 24-bit

binary parallel words depending on protocol specifications. This data can then processed in the

Compact UMAC encoder conversion table for position and velocity feedback. With proper setup,

the information can also be used to commutate brushless and AC induction motors.

DELTA TAU ACCESSORY 84C MANUAL FEBRUARY 2010

SOFTWARE SETUP

3

Specifications

Environmental Specifications

Description

Specification

Notes

Operating Temperature

0°C to 45°C,

Storage Temperature

-25°C to 70°C

Humidity

10% to 95 % non-condensing

Physical Specifications

Description

Specification

Notes

Dimensions

Length: 16.256 cm (6.4 in.)

Height: 10 cm (3.94 in.)

Width: 2.03 cm (0.8 in.)

Weight

The width is the width of the front plate. The length and height are the dimensions of the PCB.

Electrical Specifications

Description

Specification

Notes

ACC-84C Power Requirements

5V @ _A (10%)

+15V @ _A (10%)

-15V @ _A (10%)

5V current requirement

mentioned is the consumption of

the Acc-84C without any

encoders connected.

DELTA TAU ACCESSORY 84C MANUAL FEBRUARY 2010

SOFTWARE SETUP

4

Configuration

Acc-84C can support different serial encoder protocols depending on selected option. The

following figure shows the part number scheme for Acc-84C.

3 - 3 9 2 9 A - 0 0 - 1 0 - 0A

COMPACT - UMAC ACC-84C

* If Any Additional Option is required, contact factory for digits K and L (Factory Assigned digits).

K L

H

00 - No Additional* Options

xx - Factory assigned digits

for Additional* Options

KL

Factory Assigned Options

Serial Protocol Options

G

G H

H

02 – SSI Protocol

03 – EnDat 2.2 Protocol

06 – Yaskawa Sigma II

0B – BISS-C Protocol

DELTA TAU ACCESSORY 84C MANUAL FEBRUARY 2010

SOFTWARE SETUP

5

Hardware Setup

The Acc-84C uses expansion port memory locations defined by the type of PMAC (Compact

UBUS Turbo) it is directly communicating to. Typically, these memory locations are used with

other Delta Tau 3U I/O accessories such as:

 Acc-11C 32 inputs and 16 outputs, low power, all optically isolated

3U Turbo PMAC

Memory Locations

$078C00, $079C00

$07AC00, $07BC00

$078D00, $079D00

$07AD00, $07BD00

$078E00, $079E00

$07AE00, $07EC00

The Acc-84C has a set of dip switches telling it where to write the information form the serial

encoders to. Once the information is at these locations, we can process the binary word in the

encoder conversion table to use for servo loop closure. Proper setting of the dip switches ensures

all of the JEXP boards used in the application do not interfere with each other.

DELTA TAU ACCESSORY 84C MANUAL FEBRUARY 2010

SOFTWARE SETUP

6

Switch Configuration

Address Select Dip Switch SW1

The Switch 1 (SW1) settings will allow you to select the starting address location for data from

the first encoder. Data from encoders 2 through 4 will be placed at +4 memory locations from the

base and so on for both the Turbo PMAC 3U

Turbo PMAC Compact UBUS Switch Settings

Chip Select

3U Turbo PMAC

Adderss

Dip Switch SW1 Position

1

2

3

4

CS10

Y:$78C00

Close

Y:$79C00

Close

Open

Close

Y:$7AC00

Close

Open

Y:$7BC00

Close

Open

CS12

Y:$78D00

Open

Close

Y:$79D00

Open

Close

Open

Close

Y:$7AD00

Open

Close

Open

Y:$7BD00

Open

Close

Open

CS14

Y:$78E00

Close

Open

Close

Y:$79E00

Close

Open

Close

Y:$7AE00

Close

Open

Close

Open

Y:$7BE00

Close

Open

DELTA TAU ACCESSORY 84C MANUAL FEBRUARY 2010

SOFTWARE SETUP

7

Connections

Encoders are connected to P2 connector on Acc-84C through backplane. Although the hardware

stays the same regardless of the selected protocol, for convenience of the user, the following table

names the signals based upon supported protocols.

Encoder Connectors Pin-out

Channel 1 to 4

Pin #

Symbol

Function

SSI

EnDat

Yaskawa

Note

22 *

CLK m+

Output

CLK+

21 *

CLK m-

Output

CLK-

19 *

SDI/O m+

Input/Output

DAT+

SDO (blu)

18 *

SDI/O m-

Input/Output

DAT-

SDI (blu/blk)

17 *

ENA m+

16 *

ENA m-

C21, C19, C17

GND

Common

GND

GND (blk)

C22, C20, C18

5V

Output

+5V DC

+5V DC (red)

* The pins on Row A, B, D and E are met for those Encoder signals.

** m is channel number 1 through 4. Row A is for ch1, Row B is for ch2. Row D is for ch3, and Row

D is for ch4.

Encoder Connectors Pin-out

Channel 5 to 8

Pin #

Symbol

Function

SSI

EnDat

Yaskawa

Note

12 *

CLK n+

Output

CLK+

11 *

CLK n-

Output

CLK-

10 *

SDI/O n+

Input/Output

DAT+

SDO (blu)

9 *

SDI/O n-

Input/Output

DAT-

SDI (blu/blk)

8 *

ENA n+

7 *

ENA n-

C11, C9, C7

GND

Common

GND

GND (blk)

C12, C10, C8

5V

Output

+5V DC

+5V DC (red)

* The pins on Row A, B, D and E are met for those Encoder signals.

** n is channel number 5 through 8. Row A is for ch5, Row B is for ch6. Row D is for ch7, and Row 8

is for ch4.

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SOFTWARE SETUP

8

Encoder Specific Connection Information

Yaskawa Sigma II Encoders

Yaskawa Sigma II absolute encoders require a 3.6V battery to maintain the multi-turn data while

the controller is powered down. This battery should be placed outside of Acc-84C and the

Yaskawa Sigma II encoder, possibly on the cable. The battery should be installed between orange

(+3.6V) and orange/black wires (GND). Use of ready-made cables by Yaskawa is recommended.

(Yaskawa part number: UWR00650)

135

246

+5VDC (Red)

BAT+ (Orange)

SDO (Blue)

GND (Black)

BAT-

(Orange/Black)

SDI (Blue/Black)

Yasukawa Encoder Cable has Female connector by Default

The previous diagram shows the pin assignment from mating IEEE 1394 Yaskawa Sigma II

connector to ACC-84C encoder input. The Molex connector required for IEEE 1394 can be

acquired as receptacle kit from Molex, 2.00mm (.079”) Pitch Serial I/O Connector, Receptacle

Kit, Wire-to-Wire, Molex Part Number: 0542800609.

DELTA TAU ACCESSORY 84C MANUAL FEBRUARY 2010

HARDWARE REFERENCE SUMMARY

9

Software Setup

Acc-84C supports multiple protocols and for this reason the setup for each of them will be

different. For each protocol, depending on the CPU type, the setup steps differs slightly, but the

general idea regardless of the protocol is the same.

Acc-84C has two sets of registers which needs to be configured depending on the protocol type

and encoder type. First register, which is called Global Register, controls the main settings which

will affect all the encoder input channels on the Acc-84C card. The second set of registers are

channel specific and contains settings dependent on the individual encoder connected to each

channel. Although the addressing for these registers change depending of the CPU used in the

UMAC rack, the settings will be identical.

Use Turbo Compact UMAC CPU

This section is divided into several sections explaining different serial protocols and their settings.

All the examples given is based upon the first addressed channel on Acc-84C which is the factory

default address. User should change these addresses in each example to match their address

settings.

Synchronous Serial Interface (SSI)

To setup a Synchronous Serial Interface Encoder (SSI) , there are two main memory registers

which needs to be set before the Acc-84C reads the feedback, the Global Control Register and

Channel Specific Control Register.

Global Control Register

The global register controls the clock settings and trigger settings of the feedback protocol and it

is located at X-word of the base address +$F for first 4 channels, and +$2F for second 4 channel.

The following table shows the address for Global Control Register for different addresses

settings.

Base

Address

Global Control

Register

Switch Position (SW1)

1

2

3

4

$78C00

X:$78C0F

Close

X:$78C2F

$79C00

X:$79C0F

Close

Open

Close

X:$79C2F

$7AC00

X:$7AC0F

Close

Open

X:$7AC2F

$7BC00

X:$7BC0F

Close

Open

X:$7BC2F

$78D00

X:$78D0F

Open

Close

X:$78D2F

$79D00

X:$79D0F

Open

Close

Open

Close

X:$79D2F

$7AD00

X:$7AD0F

Open

Close

Open

X:$7AD2F

$7BD00

X:$7BD0F

Open

Close

Open

X:$7BD2F

DELTA TAU ACCESSORY 84C MANUAL FEBRUARY 2010

HARDWARE REFERENCE SUMMARY

10

$78E00

X:$78E0F

Close

Open

Close

X:$78E2F

$79E00

X:$79E0F

Close

Open

Close

X:$79E2F

$7AE00

X:$7AE0F

Close

Open

Close

Open

X:$7AE2F

$7BE00

X:$7BE0F

Close

Open

X:$7BE2F

The following table includes the description for each of the bits and their functionality.

Bit Description of Global Register

Located at X-Word Base Address + $F

Located at X-Word Base Address + $2F

01234567891011121314151617181920212223

M Divisor N Divisor Reserved Trigger

Clock Trigger

Edge Trigger Delay Protocol Code

Bit

Type

Default

Name

Description

[23:16]

R/W

$00

M_Divisor

Intermediate clock frequency for SER_Clock. The

intermediate clock is generated from a (M+1) divider

clocked at 100 MHz.

[15:12]

R/W

$0

N_Divisor

Final clock frequency for SER_Clock. The final clock is

generated from a

N

2

divider clocked by the intermediate

clock.

[11:10]

R

$0

Reserved

Reserved and always reads zero.

[09]

R/W

$0

TriggerClock

Trigger clock select for initiating serial encoder

communications:

0= PhaseClock

1= ServoClock

[08]

R/W

$0

TriggerEdge

Active clock edge select for the trigger clock:

0= rising edge

1= falling edge

[07:04]

R/W

$0

TriggerDelay

Trigger delay program relative to the active edge of the

trigger clock. Units are in increments of 20 usec.

[03:00]

R

$2

ProtocolCode

This read-only bit field is used to read the serial encoder

interface protocol supported by the Acc-84C A value of

$2 defines this protocol as SSI.

As described in the table, bits 12 to 23 contain two dividers which generate the clock for the

serial clock which will be sent to the encoder. Different encoder manufacturers suggest different

clock settings depending on the length of the cable. Here is the formula for calculating the

resulting clock based upon M and N settings:

MHz

M

ClockSER N

2)1( 100

_



DELTA TAU ACCESSORY 84C MANUAL FEBRUARY 2010

HARDWARE REFERENCE SUMMARY

11

M

N

Clock Frequency

49

0

2.0 MHz

99*

0*

1.0 MHz*

99

1

500.0 KHz

99

2

250.0 KHz

Default Setting : 1 MHz clock

Channel Specific Control Register

Each channel also has its own control register which controls the functionality of each channel.

Parameters such as setting the number of position bits in the serial bit stream, enabling/disabling

channels through the SENC_MODE (when this bit is cleared, the serial encoder pins of that

channel are tri-stated), enabling/disabling communication with the encoder using the trigger

control bit.

Bit Description of Channel Specific Control Register

Channel 1:X:Base+$0 Channel2:X:Base+$4 Channel3:X:Base+$8 Channel 4:X:Base+$C

Channel 5:X:Base+$20 Channel6:X:Base+$24 Channel7:X:Base+$28 Channel 8:X:Base+$2C

01234567891011121314151617181920212223

Reserved Parity Type Trigger

Mode Trigger

Enable Reserved Position Bits

Gray

Code to

Binary

RxData

Ready/

SENC

Bit

Type

Default

Name

Description

[23:16]

R

$00

Reserved

Reserved and always reads zero.

[15:14]

R/W

$00

Parity Type

Parity Type of the received data:

00=None

01=Odd

10=Even

11=Reserved

[13]

R/W

$0

Trigger Mode

Trigger Mode to initiate communication:

0= continuous trigger

1= one-shot trigger

All triggers occur at the defined Phase/Servo clock edge

and delay setting. See Global Control register for these

settings.

[12]

R/W

$0

Trigger Enable

Enable trigger for serial encoder communications:

0= disabled

1= enabled

This bit must be set for either trigger mode. If the

Trigger Mode bit is set for one-shot mode, the hardware

will automatically clear this bit after the trigger occurs.

[11]

R/W

$0

Convert G to

B

Gray code to Binary conversion:

0=Binary

1=Gray

[10]

R

$0

RxData Ready

This read-only bit provides the received data status. It is

low while the interface logic is communicating (busy)

with the serial encoder. It is high when all the data has

been received and processed.

W

$0

SENC_MODE

This write-only bit is used to enable the output drivers

for the SENC_SDO, SENC_CLK, SENC_ENA pins for

DELTA TAU ACCESSORY 84C MANUAL FEBRUARY 2010

HARDWARE REFERENCE SUMMARY

12

each respective channel. It also directly drives the

respective SENC_MODE pin for each channel.

[09:06]

R

$0

Reserved

Reserved and always reads zero.

[05:00]

W

$00

Position Bits

This bit field is used to define the number of position

data bits or encoder resolution:

Range is 12 – 40 (001100 –101000)

Position Data Registers

There are a total of 4 24-bit Y-word registers for each channel which hold feedback response

from the encoder.

In SSI feedback type SerialEncoderDataA register holds the 24 bits of the encoder position data.

If the data exceeds the 24bits available in this register, the upper overflow bits are LSB justified

and readable in the SerialEncoderDataB register.

Serial Encoder Data Register A

01234567891011121314151617181920212223

First 24 bits of position data

Serial Encoder Data Register B

01234567891011121314151617181920212223

First 24 bits of position data

Reserved

Parity

Error

Channel

Data Register A

Data Register B

1

Y: Base +$0

Y: Base +$1

2

Y: Base +$4

Y: Base +$5

3

Y: Base +$8

Y: Base +$9

4

Y: Base +$C

Y: Base +$D

5

Y: Base +$20

Y: Base +$21

6

Y: Base +$24

Y: Base +$25

7

Y: Base +$28

Y: Base +$29

8

Y: Base +$2C

The SerialEncoderDataC and SerialEncoderDataD are reserved for future use and always read

zero.

SSI Feedback Setup Example:

The following example demonstrates how to setup a 32-bit binary SSI encoder for position

control of a brushless motor on the first channel of a Acc-84C. Assume that the documentation

for the encoder suggests 1MHz clock for the length of the cable that we have in the system:

Global Register Setup

DELTA TAU ACCESSORY 84C MANUAL FEBRUARY 2010

HARDWARE REFERENCE SUMMARY

13

X:$78C0F

01234567891011121314151617181920212223

M Divisor N Divisor Reserved Trigger

Clock Trigger

Edge Trigger Delay Protocol Code

010000001000000011000110

201036

WX:$78C0F,$630102 ; 1MHz, Phase Clock, Falling Edge, no Delay

Channel #1 setup example, 32-bit SSI Binary Encoder

Channel 1:X:$78C00

01234567891011121314151617181920212223

Reserved Parity Type Trigger

Mode Trigger

Enable Reserved Position Bits

Gray

Code to

Binary

RxData

Ready/

SENC

000001000010100011000110

024100

WX:$78C00,$001420 ; 32-bit SSI encoder, Binary

I8000=$278C00 ; Unfiltered parallel position of location

; Y:$78C00, normal 5-bit shifting

I8001=$18000 ; 24-bit processed result at $3502

I103=$3502 ; position loop feedback address

I104=$3502 ; velocity loop feedback address

As you may have noticed the encoder conversion table only reads the lower 24 bits of data. This

is acceptable since the data is incremental. Please note that since the data is being read by the

encoder conversion table, as long as ECT has 2 reads in each 24-bit transition, it can handle the

roll-over gracefully and motor position will be updated correctly.

Brushless Motor-SSI Setup Notes, example:

The following settings are only general guidelines for parameters which user needs to set for a

generic brushless motor. These setting very well may be deferent on each system depending on

the amplifier and motor selection.

I100= 1 ; Motor activated

I101= 1 ; Commutation Enable

I103= $3502 ; position feedback address

I104= $3502 ; velocity feedback address

I172= 1365 ; Commutation Phase Angle, amplifier dependent

I184= $FFF000 ; Current-Loop Feedback Mask Word, amplifier dependent

DELTA TAU ACCESSORY 84C MANUAL FEBRUARY 2010

HARDWARE REFERENCE SUMMARY

14

I166= 7636 ; PWM Scale Factor, normally 15% above PWM clock

I102= $78202 ; Command Output Register. First channel of first ACC-24E2

I182= $78206 ; Current Loop Feedback Address. First channel of first ACC-24E2

I183= $3502 ; Commutation Position Address, from resolver ECT result.

; Same as position address of motor if the same encode is used

I124= $20001 ; Flag control. Over-travel-limits are disabled

Check motor manufacturer specifications and refer to Turbo SRM

I170= 1 ; Commutation Cycles per revolution (Number of pole pairs)

I171= 8192*32 ; Counts per revolution. Measured or provided by manufacturer

; shifted 5 bits (*32) because commutation address from ECT

These are Safety parameters, I2T protection. Check motor manufacturer specifications and refer

to Turbo SRM

I157= 8025 ; Motor#1 Continuous Current Limit

I158= 2167 ; Motor#1 Integrated Current Limit

I169= 24077 ; Motor#1 Output Command Limit

Please note that since the ECT table data is being used for commutation, it is better to have the

Servo clock set to the same frequency as the Phase clock so the data is available for commutation

routines.

If you have your Ixx03 and Ixx04 setup properly to point to the correct ECT entry, you should be

able to observe position feedback in the position window when moving the motor by hand.

Using the PMACTuningPro2, you should be able to tune for the Current-Loop gains

I161= 0.05 ; Motor#1 Current-Loop Integral gain

I162= 0.01 ; Motor#1 Current-Loop Forward-path proportional gain

I176= 0.5 ; Motor#1 Current-Loop Back-path proportional gain

Motor Phasing. We suggest using the stepper method for rough phasing

I180= 6 ; Motor#1 Power-up mode

I173= 1200 ; Motor#1 Phase finding output Value

I174= 60 ; Motor#1 Phase finding time

Issue a #1$ from the online command window to phase motor. Completion of phasing routine can

be confirmed by checking the motor status window accessible through View menu in

PEWIN32PRO2 software.

Open Loop Test:

1. Issue a #1hmz to zero the position counter in the position window.

2. Issue a #1o1 from the online command window. This will send a 1% command output

and should move the motor slightly.

3. Issue a K to kill motor. If motor has not moved increase the open loop command output

by increments of one until you see counts change in the position window.

4. Repeat steps 1 thru 3 now issuing a negative open loop command #1o-1

DELTA TAU ACCESSORY 84C MANUAL FEBRUARY 2010

HARDWARE REFERENCE SUMMARY

15

5. Positive counts/movement should correspond to a positive open loop command, and

negative movement should correspond to negative commands

6. If step 5 is a true statement, then skip to PID tuning. Otherwise, the encoder counting

direction doesn’t match the commutation direction. In this case, we can either setup the

SSI encoder to send the position in the opposite direction, or we can set the Ixx70 to the

negative value of what we have setup at the moment.

7. Repeat Open Loop test (steps 1 thru 4) to make sure the commutation is correct.

8. PID tuning: Use PMACTuningPro2 Automatic or Interactive to find the best position-

loop gains for your system:

Absolute phase and power-up/reset position

Absolute Servo Power-On Position Address and Format: Ixx10, Ixx95

To read an SSI encoder for absolute servo position, Ixx10 is set to the address of that channel’s

position register. Ixx95 is set according to the specification of the SSI encoder (how many bits,

signed or unsigned value…etc). The motor offset variable Ixx26 contains the difference between

the absolute position and the resulting motor position (if any).

I110= $78C00 ; Absolute Servo power-on position address

I195= $A00000 ; Signed, 32 bits

Absolute Phase Power-On Position Address and Format: Ixx81, Ixx91

To read an R/D converter for absolute phase position, Ixx81 is set to the address of that channel’s

position register. Ixx91 is set according to the specification of the SSI encoder. Please note that

this is only possible if the number of counts in one electrical cycle is less than 224.

I181= $78C00 ; Commutation position address

I191= $180000 ; 24 bits

Motor Phase Offset: Ixx75

Ixx75 holds the distance between the zero position of an absolute encoder used for power-on

phase position (specified by Ixx81 and Ixx91) and the zero position of Turbo PMAC's

commutation cycle. The proper value for this parameter can be found following the procedure

explained in Turbo User Manual.

DELTA TAU ACCESSORY 84C MANUAL FEBRUARY 2010

HARDWARE REFERENCE SUMMARY

16

EnDat 2.2 Interface

This section explains how to setup encoders with EnDat2.2 protocol with Acc-84C. To

setup a EnDat 2.2 encoder, there are two main memory registers which needs to be set before the

Acc-84C reads the feedback, the Global Control Register and Channel Specific Control Register.

Global Control Register

The global register controls the clock settings and trigger settings of the feedback protocol and it

is located at X-word of the base address +$F for first 4 channels, and +$2F for second 4 channel.

The following table shows the address for Global Control Register for different addresses

settings.

Base

Address

Global Control

Register

Switch Position (SW1)

1

2

3

4

$78C00

X:$78C0F

Close

X:$78C2F

$79C00

X:$79C0F

Close

Open

Close

X:$79C2F

$7AC00

X:$7AC0F

Close

Open

X:$7AC2F

$7BC00

X:$7BC0F

Close

Open

X:$7BC2F

$78D00

X:$78D0F

Open

Close

X:$78D2F

$79D00

X:$79D0F

Open

Close

Open

Close

X:$79D2F

$7AD00

X:$7AD0F

Open

Close

Open

X:$7AD2F

$7BD00

X:$7BD0F

Open

Close

Open

X:$7BD2F

$78E00

X:$78E0F

Close

Open

Close

X:$78E2F

$79E00

X:$79E0F

Close

Open

Close

X:$79E2F

$7AE00

X:$7AE0F

Close

Open

Close

Open

X:$7AE2F

$7BE00

X:$7BE0F

Close

Open

X:$7BE2F

The following table includes the description for each of the bits and their functionality:

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Delta Tau ACC-84C Owner's manual

Delta Tau ACC-84C Owner's manual

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