User manual

Accessory 24E2
Connections 17
The following table shows the address of the A output register for each channel of each Acc-24E2. These
addresses can be used for single analog outputs, double analog outputs, or direct PWM outputs.
Servo IC #
Chan. 1
Chan. 2
Chan. 3
Chan. 4
Notes
2
$078202
$07820A
$078212
$07821A
1
st
Acc-24E2x Channel n DAC/PWMnA
3
$078302
$07830A
$078312
$07831A
2
nd
Acc-24E2x Channel n DAC/PWMnA
4
$079202
$07920A
$079212
$07921A
3
rd
Acc-24E2x Channel n DAC/PWMnA
5
$079302
$07930A
$079312
$07931A
4
th
Acc-24E2x Channel n DAC/PWMnA
6
$07A202
$07A20A
$07A212
$07A21A
5
th
Acc-24E2x Channel n DAC/PWMnA
7
$07A302
$07A30A
$07A312
$07A31A
6
th
Acc-24E2x Channel n DAC/PWMnA
8
$07B202
$07B20A
$07B212
$07B21A
7
th
Acc-24E2x Channel n DAC/PWMnA
9
$07B302
$07B30A
$07B312
$07B31A
8
th
Acc-24E2x Channel n DAC/PWMnA
If the C output register for a given Acc-24E2 and channel is used (primarily for pulse and direction
output), simply add 2 to the address shown in the above table. For example, on the first Acc-24E2, output
register 1C is at address $078204.
Ixx03: Motor xx Position-Loop Feedback Address
Ixx04: Motor xx Velocity-Loop Feedback Address
Ixx05: Motor xx Master Position Address
Usually, the Ixx03, Ixx04, and Ixx05 variables contain the address of a processed position value in the
encoder conversion table, even when the raw data comes from the Acc-24E2. The first line of the
encoder conversion table is at address $003501; the last line is at address $0035C0.
Ixx10: Motor xx Power-On Position Address
Ixx10 tells the Turbo PMAC where to read absolute power-on position, if any. Typically, the only times
Ixx10 will contain the address of an Acc-24E2 register is if the position is obtained from an A/D
converter on an Acc-28B connected through the Acc-24E2, or if it is obtained from an MLDT (e.g.
Temposonics
TM
) sensor excited directly from an Acc-24E2.
The following table shows the possible values of Ixx10 for MLDT timer registers:
Ixx10 for Acc-24E2 MLDT Timer Registers (Ixx95=$170000)
Servo IC #
Chan. 1
Chan. 2
Chan. 3
Chan. 4
Notes
2
$078200
$078208
$078210
$078218
1
st
Acc-24E2x Channel n Timer
3
$078300
$078308
$078310
$078318
2
nd
Acc-24E2x Channel n Timer
4
$079200
$079208
$079210
$079218
3
rd
Acc-24E2x Channel n Timer
5
$079300
$079308
$079310
$079318
4
th
Acc-24E2x Channel n Timer
6
$07A200
$07A208
$07A210
$07A218
5
th
Acc-24E2x Channel n Timer
7
$07A300
$07A308
$07A310
$07A318
6
th
Acc-24E2x Channel n Timer
8
$07B200
$07B208
$07B210
$07B218
7
th
Acc-24E2x Channel n Timer
9
$07B300
$07B308
$07B310
$07B318
8
th
Acc-24E2x Channel n Timer
Ixx24: Motor xx Flag Mode
Ixx24 defines how to read and use the flags for Motor xx that are in the register specified by Ixx25. Ixx24
is a set of independent control bits. There are two bits that must be set correctly to use a flag set on an
Acc-24E2.
Bit 0 of Ixx24 must be set to 1 to tell the Turbo PMAC that this flag set is in a Type 1 PMAC2-style
Servo IC. Bit 18 of Ixx24 must be set to 0 to tell the Turbo PMAC that this flag set is not transmitted
over a MACRO ring. Other bits of Ixx24 may be set as desired for a particular application.
Ixx25: Motor xx Flag Address
Ixx25 tells Turbo PMAC where to access its flag data for Motor xx. If Acc-24E2 is interfaced to the
flags, Ixx25 must contain the address of the flag register in Acc-24E2.