Delta 36-R31 User Manual download pdf (Page 62)

ACC-36E Manual

USING ACC-36E WITH UMAC MACRO 62

The equivalent code in Turbo PMAC Encoder Conversion Table parameters:

I8000=$678421 ; Unfiltered parallel pos of location X:$78421

I8001=$00C020 ; Width and Offset.

The position and velocity pointers are then set to the processed data address (i.e. $3502):

I103=$3502 ; Motor #1 position loop feedback address

I104=$3502 ; Motor #1 velocity loop feedback address

Note

If “No Shifting” is used in this example (see “Conversion Shifting

of Parallel Data” in the screenshot on the preceding page), the

result of the Encoder Conversion Table entry (in the X:$3502

) in order to

obtain the same value stored in bits 8-19 of X:$78421.

Analog Input Power-On Position over MACRO

Some analog devices are absolute along the travel range of the motor (e.g., in hydraulic piston

applications). Generally, it is desirable to obtain the motor position (input voltage) on power up or reset.

This procedure can be done in a simple PLC on power-up by writing the processed A/D data into the

motor actual position register (suggested M-Variable Mxx62).

Note

 If the automatic ADC read method is being used, waiting a delay

of about ½ second after the PMAC boots should be allowed for

processing the data before copying it into the motor actual

position register.

 If the manual ADC read method is being used, it is recommended

to add this procedure at the end of the manual read PLC, or in a

subsequent PLC with ½ sec delay to allow data processing.

Example: Reading Motor #1 position on power-up or reset, assuming that the automatic read function is

used, and that M5001 is predefined to read bits 8-19 of the 1

16-bit register of Node 2 of MACRO IC#0

where the result of the first ACC-36E’s ADC channel 1 (unipolar) resides.

End Gat

Del Gat

#define Mtr1ActPos M162 ; Motor #1 Actual Position

; Suggested M-Variable units of 1/32*I108

Mtr1ActPos->D:$8B

#define First36E_ADC1 M5001 ; Channel 1 ADC

First36E_ADC1->X:$078421,8,12,U ; Unipolar

Open PLC 1 Clear

I5111=500*8388608/I10

While(I5111>0) EndWhile ; ½ sec delay

Mtr1ActPos=First36E_ADC1*32*I108 ; Motor #1 Actual Position (scaled to motor counts)

Disable PLC 1 ; Scan once on power-up or reset

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Delta 36-R31 User Manual Page 62

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