Accessory 8S
Table of Contents i
Table of Contents
INTRODUCTION ........................................................................................................................................ 1
CONNECTORS AND JUMPERS .............................................................................................................. 3
Connectors ................................................................................................................................................. 3
JMACH1 ................................................................................................................................................ 3
P1........................................................................................................................................................... 3
TB2 (Option 1) ....................................................................................................................................... 3
TB3 (Option 1) ....................................................................................................................................... 3
TB4 ........................................................................................................................................................ 3
TB5 ........................................................................................................................................................ 3
TB6 ........................................................................................................................................................ 3
TB7 ........................................................................................................................................................ 3
Jumpers ...................................................................................................................................................... 3
E1........................................................................................................................................................... 3
E2, E3 .................................................................................................................................................... 3
BOARD LAYOUT AND DIMENSIONS ................................................................................................... 5
I-VARIABLE ASSIGNMENTS (NON-TURBO) ...................................................................................... 7
Multi-Channel Control Variables ............................................................................................................... 7
I903, I907 .............................................................................................................................................. 7
I904, I908 .............................................................................................................................................. 7
Single Channel Control Variables .............................................................................................................. 7
I9n0 Encoder/Timer n Decode Control ................................................................................................. 7
I9n6 Output Mode Select ....................................................................................................................... 8
I9n7 Output n Invert Control ................................................................................................................. 8
I9n8 Output n PFM Direction Signal Invert Control ............................................................................ 9
PMAC2 Motor Basic Set Variables for Acc-8S ......................................................................................... 9
Ix00 Motor x Activate ............................................................................................................................ 9
Ix01 Motor x Commutate Enable ........................................................................................................... 9
Ix02 Motor x Command Output Address ............................................................................................... 9
Ix03 Motor x Position Loop Feedback Address ..................................................................................... 9
Ix04 Velocity Loop Feedback ...............................................................................................................10
Ix08, Ix09 Motor x Position and Velocity Loop Scale Factors .............................................................10
Ix11 - Ix19 Motor x Safety Variables ....................................................................................................10
Ix20 - Ix23 Motor Movement Variables ................................................................................................10
Ix25 Motor x Limit/Home Flag Address ...............................................................................................10
Ix29 Motor x Output DAC Bias ............................................................................................................10
Ix69 Motor x Output Command Limit...................................................................................................10
Ix70 Motor x Number of Commutation Cycles .....................................................................................11
PMAC2 Motor Servo Gain I-variables for Acc-8S ...................................................................................11
Ix30 Motor x Proportional Gain ...........................................................................................................11
Ix31 Motor x Derivative Gain ...............................................................................................................11
Ix32 Motor x Velocity Feedforward Gain .............................................................................................11
Ix33 Motor x Integral Gain...................................................................................................................12
Ix34 Motor x Integration Mode ............................................................................................................12
Ix35 Motor x Acceleration Feedforward Gain .....................................................................................12
Ix36 - Ix39 Motor x Notch Filter Coefficients ......................................................................................12
I-VARIABLE ASSIGNMENTS (TURBO) ...............................................................................................13
Multi-Channel Servo IC I-Variables .........................................................................................................13
I7m03 ....................................................................................................................................................13
I7m04 ....................................................................................................................................................13
Channel-Specific Servo IC I-Variables .....................................................................................................13
I7mn0 Encoder/Timer n Decode Control .............................................................................................13