User manual

Accessory 24E2

Output Mode Select (MSn,MI916)

The ACC-24E2 family of boards can be used for multiple mode outputs. At the MACRO Station, the

output mode on MACRO Station variable MSn,MI916 must be set up. The table below shows the output

modes available for each of the ACC-24E2 boards. The output mode select will be set up automatically if

using either the P2Setup or the Turbo Setup programs.

Board Direct PWM M

DAC M

Pulse and Direct

ACC-24E2 Yes No Yes

ACC-24E2A No Yes Yes

ACC-24E2S No No Yes

The PMAC2 Style outputs allow the PMAC to control up to three individual output channels based on the

mode. These outputs are described as output A, output B, and output C.

MSn, MI916 Output Description Typical Use

0 A, B, and C are PWM Direct PWM Mode Only

1 A and B are DAC

C is PWM

±10V Outputs for torque, velocity and sinusoidal input amplifie

2 A and B are PWM

C is PFM

Stepper Systems

3 A and B are DAC

C is PFM

±10V Outputs with MLDT Feedback

The default output at the MACRO Station is PWM (MSn,I916=0).

MACRO Station Encoder Conversion Table (MSn,MI120-MI151)

At power-up, the MACRO Station will set up all of the key memory locations and MI-Variables based on

the SW1 connector and firmware of the MACRO Station automatically. The key variables set up at

power-up are the encoder conversion table, servo output registers, and flag input registers.

Encoder Conversion Table for ACC-24E2 at MACRO Station

MS0,MI120=$00C040 ;output at X:$0010 at MACRO Station (encoder 1)

MS0,MI121=$00C048 ;output at X:$0011 at MACRO Station (encoder 2)

MS0,MI122=$00C050 ;output at X:$0012 at MACRO Station (encoder 3)

MS0,MI123=$00C058 ;output at X:$0013 at MACRO Station (encoder 4)

MS0,MI120=$00C060 ;output at X:$0014 at MACRO Station (encoder 5)

MS0,MI121=$00C068 ;output at X:$0015 at MACRO Station (encoder 6)

MS0,MI122=$00C070 ;output at X:$0016 at MACRO Station (encoder 7)

MS0,MI123=$00C078 ;output at X:$0017 at MACRO Station (encoder 8)

24 Ultralite/MACRO Station Setup