User manual

Accessory 24E2
18 Connections
The following table shows the address of the flag register for each channel of each Acc-24E2.
Servo
IC #
Chan. 1
Chan. 2
Chan. 3
Chan. 4
Notes
2
$078200
$078208
$078210
$078218
1
st
Acc-24E2x Channel n Flag Set
3
$078300
$078308
$078310
$078318
2
nd
Acc-24E2x Channel n Flag Set
4
$079200
$079208
$079210
$079218
3
rd
Acc-24E2x Channel n Flag Set
5
$079300
$079308
$079310
$079318
4
th
Acc-24E2x Channel n Flag Set
6
$07A200
$07A208
$07A210
$07A218
5
th
Acc-24E2x Channel n Flag Set
7
$07A300
$07A308
$07A310
$07A318
6
th
Acc-24E2x Channel n Flag Set
8
$07B200
$07B208
$07B210
$07B218
7
th
Acc-24E2x Channel n Flag Set
9
$07B300
$07B308
$07B310
$07B318
8
th
Acc-24E2x Channel n Flag Set
Ixx81: Motor xx Power-On Phase Position Address
Ixx81 tells Turbo PMAC2 where to read absolute power-on position for motor phase commutation, if any.
Typically, it will contain the address of an Acc-24E2 register for only two types of absolute phasing
sensors: hall-effect commutation sensors (or their optical equivalents) connected to the U, V, and W input
flags on an Acc-24E2 channel, or the encoder counter filled by simulated quadrature from a Yaskawa
absolute encoder connected to the Acc-24E2 through an Acc-57E board.
The following table contains the possible settings of Ixx81 to read the encoder counters for Yaskawa
absolute encoders:
Turbo PMAC Ixx81 Acc-24E2 Encoder Register Settings (Ix91=$480000 - $580000)
Servo
IC #
Chan. 1
Chan. 2
Chan. 3
Chan. 4
Notes
2
$078201
$078209
$078211
$078219
1
st
Acc-24E2x Channel n Encoder Reg.
3
$078301
$078309
$078311
$078319
2
nd
Acc-24E2x Channel n Encoder Reg.
4
$079201
$079209
$079211
$079219
3
rd
Acc-24E2x Channel n Encoder Reg.
5
$079301
$079309
$079311
$079319
4
th
Acc-24E2x Channel n Encoder Reg.
6
$07A201
$07A209
$07A211
$07A219
5
th
Acc-24E2x Channel n Encoder Reg.
7
$07A301
$07A309
$07A311
$07A319
6
th
Acc-24E2x Channel n Encoder Reg.
8
$07B201
$07B209
$07B211
$07B219
7
th
Acc-24E2x Channel n Encoder Reg.
9
$07B301
$07B309
$07B311
$07B319
8
th
Acc-24E2x Channel n Encoder Reg.
Ixx82: Motor xx Current Feedback Address
Ixx82 tells Turbo PMAC where to get its current-loop feedback every phase update cycle. If Ixx82 is set
to 0, Turbo PMAC does not perform current-loop calculations for Motor xx.
The following table shows the possible values of Ixx82 for Acc-24E2 ADC register pairs:
Turbo PMAC Ixx82 Acc-24E2 ADC Register Settings
ADC Register
Channel #
1
st
Acc-24E2
2
nd
Acc-24E2
3
rd
Acc-24E2
4
th
Acc-24E2
Channel 1
$078206
$079206
$07A206
$07B206
Channel 2
$07820E
$07920E
$07A20E
$07B20E
Channel 3
$078216
$079216
$07A216
$07B216
Channel 4
$07821E
$07921E
$07A21E
$07B21E
Channel 5
$078306
$079306
$07A306
$07B306
Channel 6
$07830E
$07930E
$07A30E
$07B30E
Channel 7
$078316
$079316
$07A316
$07B316
Channel 8
$07831E
$07931E
$07A31E
$07B31E