User manual

Accessory 24E2
Ixx10 for ACC-24E2 MLDT Timer Registers (Ixx95=$180000)
Servo IC # Channel 1 Channel 2 Channel 3 Channel 4
2 $078200 $078208 $078210 $078218
3 $078300 $078308 $078310 $078318
4 $079200 $079208 $079210 $079218
5 $079300 $079308 $079310 $079318
6 $07A200 $07A208 $07A210 $07A218
7 $07A300 $07A308 $07A310 $07A318
8 $07B200 $07B208 $07B210 $07B218
9 $07B300 $07B308 $07B310 $07B318
Ixx80 (Power-On Mode)
Set Ixx80 to 4 to delay the absolute power-on position read until the pulse-output frequency can be set.
Ixx81 and Ixx91 (Power-On Phase Position Address and Format)
Occasionally the MLDT is used to establish an absolute phase reference position for Turbo-PMAC-
commutated motors. In this case, Ixx81 and Ixx91 are set to the same values as Ixx10 and Ixx95,
respectively (see above).
Pulse Output Frequency
The pulse-output frequency is established by assigning an M-variable to the C sub-channel command
register, and writing a value to that M-variable after every power-up/reset. The suggested M-variable for
the Motor xx using this register is:
Mxx07->Y:{address},8,16,S
where {address} is specified according to the following table:
Mxx07 for ACC-24E2A MLDT Pulse-Output Registers
Servo IC # Channel 1 Channel 2 Channel 3 Channel 4
2 $078204 $07820C $078214 $07821C
3 $078304 $07830C $078314 $07831C
4 $079204 $07920C $079214 $07921C
5 $079304 $07930C $079314 $07931C
6 $07A204 $07A20C $07A214 $07A21C
7 $07A304 $07A30C $07A314 $07A31C
8 $07B204 $07B20C $07B214 $07B21C
9 $07B304 $07B30C $07B314 $07B31C
The frequency of the pulse output should produce a period just slightly longer than the longest expected
response time for the echo pulse. For MLDTs, the response time is approximately 0.35 µsec/mm (9
µsec/inch). On an MLDT 1500 mm (~60 in) long, the longest response time is approximately 540 µsec; a
recommended period between pulse outputs for this device is 600 µsec, for a frequency of 1667 Hz.
To produce the desired pulse output frequency, the following formula can be used (assuming a 16-bit M-
variable definition):
)kHz(Freq_PFMCLK
536,65
07Mxx
)kHz(OutputFreq =
or:
)kHz(Freq_PFMCLK
)kHz(OutputFreq
*536,65Mxx07 =
MLDT Feedback for UMAC-Turbo and UMAC-MACRO 27