PMAC 技术培训(高级).ppt

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1、NEWIDEASINMOTIONE-MOTIONPMAC多轴运动控制卡多轴运动控制卡 （高级培训）（高级培训）1PMAC卡主体结构串行通讯接口 RS-232 and/or RS-422I/O 接口电路 PMAC(1)-style PMAC2-styleCPU Non-Turbo:DSP5600 x (16-bit addressing)Turbo:DSP5630 x (24-bit addressing)总线通讯接口 ISA/VME/PCI PC104/STD USB ETHERNET (Optional DPRAM)MACRO 光缆接口 PMAC2 Ultralite ACC-42P ACC

2、-5E(UMAC)伺服接口电路 PMAC(1)-style ICs PMAC2-style ICs PMAC(1)-style connectors PMAC2-style connectors Mini/Lite/(full)2机器接口2光隔I/O机器接口1扩展编码器接收光隔 16-bit DACs标志信号隔离SRAM128 k x 24 ActiveMemoryCPU24-Bit 20/40/60/80 MHz DSP56002Watchdog 定时器“DSPGATE”4-Channel伺服电路光隔 16-bit DACsBus Comm.InterfaceADC PortBus总线接口S

3、tandard CPU onlyOption 16标志信号隔离“DSPGATE”4-Channel 伺服电路ADC Port编码器接收Option 4A,5A,5B,5COption 2Standard CPU onlyOption 1FLASH 512k x 8 Firmware&User BackupDPRAM 8 k x 16 InterfaceEPROM128 k x 8 固件扩充 SRAM16 k x 24 参数存储EAROM 2 k x 8 Setup Storage显示端口面板端口多路复用口I/O 控制 ICs串行口串行通讯接口比较端口PMAC1结构框图3PMAC上的通道,电机,

4、轴“Channels”“通道”为硬件定义由放大器,编码器,信号接口组成“Motors”“电机”为软件定义非TurboCPUsPMAC支持8个电机TurboCPUsPMAC支持32个电机“Axes”“轴”：为软件定义在运动程序中有效，每个坐标系最多可到9个轴NEWIDEASINMOTION4NEWIDEASINMOTIONNon-TurboPMAC/PMAC2CPU版本*已经停产5PMAC参数存储器设定NEWIDEASINMOTION固板软件固板软件的缺省值的缺省值1.I变量设定2.转换表设定3.VME/DPRAM地址设定PMAC主机主机读写 EEPROM or Flash不被激不被激活的寄存器

5、活的寄存器 RAM,DSP,ASICs上的激上的激活的寄存器活的寄存器工作寄存器工作寄存器PMAC复位方式1.重新上电2.INIT/信号低/高3.$指令 参数初始化1、E51 On:PMAC12、E3 On:PMAC23、$*指令SAVE指令正常复位复位、初始化6PMAC程序和缓冲区存储NEWIDEASINMOTION RAM中激中激活的缓存活的缓存带后备电池主存储器PMAC1Programs和buffers自动被电池存储PMAC主机读写 RAM中激中激活的缓存活的缓存Flash主存储器PMAC1.5,PMAC2Programsandbuffers必须用SAVE指令进行存储到FLASH中PMA

6、C主机读写 Flash缓存缓存SAVEReset7NEWIDEASINMOTIONPMAC(1)系列板卡板卡型号通道数总线串口插槽PMAC-PC*PMAC-LiteMini-PMACPMAC-VME*PMAC-PCI*4/842+4/84/8ISAISAISAVMEPCIRS422RS232/422RS232RS422RS2324221.510.721.5DPRAMOff-BoardOn-BoardOn-BoardOn-BoardOn-Board注释NoJPAN,Interrupts*AvailablewithTurboCPU8PMAC2结构框图FLASH512Kx8FIRMWARE&USER

7、 BACKUPSRAM128Kx24ACTIVEMEMORY8/1612-BITADCsDPRAM8Kx16INTERFACECPU24-BIT40/60/80 MHzDSP56002EXTRA SRAM16Kx24PARAMETERSTORAGEBUSCOMMUNICATIONSINTERFACEWATCHDOGTIMERBUS PORT扩展口模拟量多路复用端口I/O 缓存Option 12/12AOption 16Data&Address BussesOption 2Option 1I/OI/O 缓存MACRO光缆口串行口显示端口I/O 缓存手轮接口I/O 缓存比较输出口DRIVERSI/

8、OASICINPUT/OUTPUTBUFFERSINPUT/OUTPUTBUFFERS4-ChannelSERVOASIC4-ChannelSERVOASICSERIALCOMMUNICATIONSINTERFACEMACHINE PORT 4MACHINE PORT 2MACHINE PORT 3MACHINE PORT 1DSP GATE 2DSP GATE1DSP GATE1DSP GATE19NEWIDEASINMOTIONPMAC2板卡板卡型号通道数*总线串口插槽*所有型号均有2路附加通道*RS422withOption9L*AvailablewithTurboCPUPMAC2-PC

9、*PMAC2-LiteMini-PMAC2PMAC2-PCI*PMAC2-VME*PMAC2-PCUltralite*PMAC2-VMEUltralite4/8424/84/800ISAISAISAPCIVMEISAVMERS232*RS232/422RS232RS232/422RS232/422RS232*RS232/4221.510.71.5211MACROOff-BoardOff-BoardOff-BoardOff-BoardOff-BoardOn-BoardOn-Board10标准 PMACRAMROMFLASHCPUPWMDACENCCOUNTERS直接 PWM输出 DIG.电路+/

10、-10 V.DAC模拟量输出A/B正交编码器反馈机器I/0 PMAC (MACRO )PMAC2 UltraliteRAMROMFLASHCPUMACROTAXITAXIENCPWMDACI/OENCODERA/B QUADPWM+/-10 V.96 I/O基板+2 背板NO RAMOR FLASHTAXITAXIMACROCPUMACRO STATIONSMACRO STATION PMAC2 Ultralite 板卡板卡 !1)板卡接口只有板卡接口只有 MACRO&I/O 接口接口2)保留了保留了 PMAC2 的基板功能，用的基板功能，用MACRO STATION控制控制8轴。轴。3)PC

11、&VME 格式格式4)TURBO 版本的版本的 PMAC ULTRALITE 能控制能控制 32 轴轴RJ45RJ45OpticalOpticalJEXPMACRO11DeltaTau3U矩阵结构MACROTurbo堆栈式箱体式MACROStackTurboStackUMACTurboUMACMACRONEWIDEASINMOTION12PMACvs.TurboPMAC功能功能PMACTurbo PMAC最大控制轴数832最大伺服通道接口数16(8off-board)40(32off-board)最大MACRO光缆通讯接口数1664(TurboUltralite)最大坐标系数816CPU频率(

12、MHz)20,40,60,8080,100,160CPU时钟周期（uS)0.50.75有效CPU频率(MHz)20,40,60,80120,150,240I,P,Q&M-变量数1024each8192each直接数组调用e.g.P(P1)=2?NoYes用户PID扩展伺服算法功能?NoYes13PMACvs.TurboPMAC(cont.)功能功能PMACTurbo PMAC固件存储器容量32kx2464kx24编译PLC存储器容量15kx2448kx24,432kx24用户缓冲存储器容量34kx4826kx48,212kx48DPRAM容量8kx168kx16,32kx16追加后备电池存储器

13、容量7kx4816kx48,64kx48Lookahead功能?选项标准配置串行口数量12(2ndoptional)同时多端口通讯?NoYes最大同时数据采集源2448最大转换表行数32192单运动最大同时分配M变量363(1个坐标系.)反向运动学功能?NoYes快速运动中改变目的位置功能?NoYes14NEWIDEASINMOTIONTurboPMACCPU版本15要求电压要求电压 4.75 V要求输入频率要求输入频率 20 Hz计数计数 0实时中断实时中断触发器计数定时触发器计数定时后台管理重置计数器最大值后台管理重置计数器最大值(=512)在要求电压或输入频率之下时在要求电压或输入频率之

14、下时强制强制0值输出值输出放大器禁能放大器禁能“FEFCO”输出输出(PMAC1)“WDO”输出锁存输出锁存(PMAC2)PMACWatchdog看门狗计时器NEWIDEASINMOTION16PMAC编码器输入电路无编码器或单端编码器输入：pin1to2差分+2.5V输入开集电极编码器输入：pin2to3差分+5V输入能支持编码器电路外部XOR丢失差分编码器输入方式直接接卡NEWIDEASINMOTION+R2R2R123AA+5v17PMAC(1)标志信号输入标志信号输入标志信号输入FAULTn+LIMn-LIMnHMFLn必须光隔输入三路电源线回路Note:可定义共源极或共阴极输入NEW

15、IDEASINMOTIONAGNDFGNDGNDTo ASICGNDPMAC外部E89E9018PMAC2ACC-8x标志信号输入NEWIDEASINMOTION+V0V0V+VRETURNFLAGnGNDTo PMAC2+5V必须光隔输入共阴极输出,连接RETURNto+24V共源极输出,连接RETURNto0V4路标志信号共用1个RETURN标志信号输入标志信号输入USERnPLIMnMLIMnHOMEn外部ACC-8x19HOME1-4+LIM1-4-LIM1-4FAULT1-4PMAC(1)“DSPGATE”门阵列ICDAC移位寄存器(4)EncoderControl模拟量控制ADC移

16、位寄存器(4)ADC16bitMUX标志信号控制Encoder1Encoder2Encoder3Encoder4DSP-Gate编码器采样频率伺服频率相频率DAC/ADC可选频率时钟输入InputFlagsOutputFlagsSerialDataOutSerialDataInClockMuxControlACC-28Board4模拟量输入12344模拟量输出16bit精度AENA1-4EQU1-44编码器输入ABCABCABCABC24-bitDataBus5-bitAddressBus光电隔离DAC4DAC1DAC2DAC320时钟,to30MHz位置比较寄存器相位捕获寄存器零位信号捕获寄

17、存器24bitup/down位置计数器(30MHzMax)伺服位置捕获寄存器定时器(2)1/T编码器周期测量状态&控制寄存器EQU位置捕获触发A/B正交译码W/modeControlX1,X2,X4,P,D,CLK数字延时滤波总线数据控制24-bit数据5-bit地址伺服时钟编码器输入AB4标记信号“C”通道信号相时钟每个门阵列每个门阵列4路电路路电路OUT计数方向5inputs3Status16ControlsFlags1)ENC错误2)捕获3)EQU编码器功能:DSPEncoder/Flag门电路(1of4)21编码器数字延时滤波NEWIDEASINMOTIONCHACHBSCLK2of3

18、Voting2of3VotingDQDQDQDQDQDQDQDQ22晶振1/21/41/81/161/41/171/21/41/81/161/nE3E4E5E619.6608MHzE34AE34E35E36E37E98123编码器采样时钟(SCLK)DAC/ADC时钟(DCLK)模拟量通道选择(ASEL)相时钟(Phase)E33E32E31E30E29伺服时钟(Servo)NEWIDEASINMOTIONPMAC(1)时钟分配电路n=1to1623ENCODER 1FLAG 1ENCODER 2FLAG 2ENCODER 3FLAG 3ENCODER 4FLAG 4ENCODER/FLAGS

19、TATUS&CONTROLOUTPUT1 A,B,CADCIN1 A,BOUTPUT2 A,B,CADCIN2 A,BOUTPUT3 A,B,CADCIN3 A,BOUTPUT4 A,B,CADCIN4 A,BOUTPUT/ADCINCONTROLCLOCK,PLL 24-bit DATA BUS6-bit ADDRESS BUS392392392392226262626PMAC2门阵列IC“DSPGATE1”24编码器采样时钟控制PFM时钟控制DAC时钟控制ADC时钟控制Int/ExtPhaseInt/ExtServo相时钟控制伺服时钟控制12n12n12n12n131n+11n+1x6锁相

20、环PWM最大计数PWM死区时间/PFM脉冲宽度PWMUp/Down计数器最大相PWM计数DT/PW方向计数16840MHz166Address24Data20MHz120MHz采样时钟PFM时钟DAC时钟ADC时钟相伺服n=0-7n=0-7n=0-7n=0-7n=0-15n=0-15外部相外部伺服PMAC2门阵列IC时钟控制25PMAC2时钟信号时序+MaxCount-MaxCountPWMCounterMaxPhasePhaseServot26PMAC/PMAC2时钟跳线控制ClockPMAC(1)PMAC2PMAC2 UltraliteMaxPhaseE98(DAC,ADCClock)I9

21、00I7m00I992I6800PhaseE98,E29-E33I900,I901I7m00,I7m01I992,I997I6800,I6801ServoE98,E29-E33,E3-E6I900,I901,I902I7m00,01,02I992,I997,I998I6800,01,02EncoderSampleE34-E38I903,I907I7m03MI903,MI907DACE98I903,I907I7m03MI903,MI907ADCE98I903,I907I7m03MI903,MI907PFM-I903,I907I7m03MI903,MI907PWM-I900,I906I7m00MI

22、900,MI90627PWM频率/死区时间控制*OutputA指令值OutputB指令值OutputC指令值DAC频率/锁存滤波控制*PFM频率控制*脉冲频率调节器脉宽调节器DAC调节器脉宽调节器脉宽调节器DAC调节器OutputSelectA,BCPWMATOPPWMABOTDACCLKDACADACBPWMBTOPPWMBBOTPWMCTOPPWMCBOTDIRPULSEDACSTROB编码器、定时器输入复用接口PMAC2门电路IC输出通道(1of4)*对所有通道有效28PMAC2门阵列IC编码器/标志信号通道(1of4)TUVWUSER-LIM+LIMHOMEINDEXBAFAULT数字

23、延时滤波器辅助标志信号(Subcount,Hall,FaultCode)数字延时滤波器数字延时滤波器数延器.捕获标志编码器输入霍尔元件传感器解码标志捕获控制器Index选通MUX脉冲方向（脉冲发生器）位置比较A计数器(40MHz)定时器(40/120MHz)译码控制器自动增量比较通道状态通道控制标志捕获位置相位捕获位置伺服捕获位置最后2位计数时间最后计数时间QTCTRLCTRLSS=?伺服时钟相时钟24Data6AddressEQUAENACTRLCTRLCTRL=?位置比较B29PMAC2门电路ICADC输入通道(1of4)ADC输入值AADC寄存器AADC寄存器BADC输入值BADC频率控

24、制*ADC锁存滤波控制*ADC滤波锁存ADCCLKADCINAADCINB6Address24Data相时钟*对所有通道有效30NEWIDEASINMOTIONPMAC(1)脉冲加方向控制轨迹规划PID译码/计数驱动器E方向PMAC+V/FDACACC-8DOpt2Motor主位置31NEWIDEASINMOTIONPMAC2脉冲加方向控制主位置轨迹规划PID累加器r加法器解码器/计数器驱动器E方向脉冲PMAC2Drive&Motor+PFM电路32NEWIDEASINMOTIONPMAC/PMAC2直驱微步控制轨迹规划PID模拟位置H-桥驱动器H-桥驱动器PMACDrive&Motor+DA

25、CDAC主位置正弦波整流33JTHW Multiplexer PortACC8D Opt 7 R/D ConverterACC8D Opt 9 Yaskawa Encoder InterfaceACC18 Thumbwheel BoardACC34 Family I/O BoardsACC35 ExtendersJ8J2J3J4J1JDISP Display PortACC12 FamilyLCD,VFD DisplaysJPAN Control Panel PortACC16 Control PanelACC39 Handwheel InterfaceJRS232/RS422 Serial

26、PortACC20 Handwheel TerminalACC26 Serial IsolatorJRS232/RS422 Serial PortACC20 Handwheel TerminalACC26 Serial IsolatorJOPTO I/O PortACC21 Opto22 Interface CablesJS1,JS2 ADC PortACC28 ADC BoardsJ5JS1J7JS2JEXP Expansion PortOpt 2 DPRAM(ISA)ACC14 I/O BoardACC24 Axis ExpansionACC29 MLDT InterfaceACC36 A

27、DC BoardJMACH Servo Port(s)ACC8 Family Breakout BoardsJEXPPMAC(1)的附件连接34JTHW Multiplexer PortACC8D Opt 7 R/D ConverterACC8D Opt 9 Yaskawa Encoder InterfaceACC18 Thumbwheel BoardACC34 Family I/O BoardsACC35 ExtendersJRS232/RS422 Serial PortACC20 Handwheel TerminalACC26 Serial IsolatorJMACRO PortACC42

28、 MACRO InterfaceJEXP Expansion PortACC14 I/O BoardACC24 Axis ExpansionACC36 ADC BoardJMACH Servo Port(s)ACC8 Family Breakout BoardsPMAC2附件连接JDISP Display PortACC12 FamilyLCD,VFD Displays35PMACAccessoryACC-8DwithOptions2,4,6,&ACC-8PTB11LD1U1U2U5U6LD2U9U10LD3U13U14LD4U15U16U11U8U4U311E211E4E1U7E31111U

29、12J1E9E10E5E6E7E8PMAC ACC-8D OPTION 4QUAD HYDRAULIC VALVE/MOTOR DRIVER110J1TB1E1J2JENC4JENC3JENC2JENC1R3DR3DR3DR3DPMAC ACC-8D OPTION 24 CHAN.V/F CONVERTERJ5J624681012141618202224262830323436384042444648505254565860626413579111315171921232527293133353739414345474951535557596163J3AJ2AJ1AJ4AJ3BJ2BJ1BJ4

30、BTP1TB1R3R4JPMAC/PCBUSJPMAC/VMEBUSPMAC ACC-8DTERMINAL BLOCK BOARD126TB1JENC3JENC2JENC1126TB2JENC41E41E31E21E1159602JPMAC/PCBUSPMAC ACC-8D OPTION 64 CHAN.ENCODER OPTICAL ISOLATORSPMAC ACC-8PTERMINAL BLOCKS ONLY36PMACACC-8DOption4A线性马达驱动器37ACC-8DOption7旋转变压器数字转换器NEWIDEASINMOTION38ACC-8DOption7旋转变压器数字转

31、换器基板提供2极点RDCs可选optionA,提供4极点RDCs12-bit精度:4096计数(1024“线”)/每电子周期能接收2.5kHz,5kHz,10kHz激励单独激励增益调节2.5Vpp-10Vppsin/cos反馈信号提供感应同步器接口NEWIDEASINMOTION39ACC-8DOption7旋转变压器数字转换器(续)通过PMAC多路复用口读入绝对位置从Ix81读入上电相位置从Ix10读入上电伺服位置从I9x,I8x读入上电旋变齿轮比用户使用M变量读入TWR格式通过PMAC通用编码器口读入增量位置类似于编码器输入进行伺服更新只有旋变齿轮设定需要这样做(Onlyfineresol

32、verofgearedsetneedsthis)NEWIDEASINMOTION40编码器细分:数字增量编码器数字细分数字细分模拟信号模拟信号BAAABB编码器编码器PMAC1234比较器比较器“1-Bit A/D”2-bits数字增量数字增量解码解码/计数计数1计数评估计数评估1241编码器细分:模拟量“Sin/Cos”编码器AnalogPhotoCurrentAABB编码器编码器PMACn-bitA/Dnnn-bitA/D+-+-差分放大器差分放大器FlashA/D转换转换Sin/Cos数数Arctan转换表转换表角度数角度数2n-12n-100n-1,n bitsSin/Cos信号信号4

33、2模拟相电流模拟相电流AABB编码器编码器控制器控制器+-+-差分放大器差分放大器正正/余弦余弦信号信号比较器比较器“1-Bit A/D”n-bitA/Dn-bitA/D解码器解码器/计数器计数器编码器细分:高分辨率模拟量“Sin/Cos”编码器43ACC-8A,ACC-8D-Opt8,ACC-DE,ACC-8FE128or256细分数/线(LSB=1/32softwarecount)增量计数频率1xor2x倍最大线输入频率150kHzNEWIDEASINMOTION256x低精度细分器44ACC-51高精度细分器ACC-51P用于PMACPC/ISA,ACC-51E用于UMAC应用于sin/

34、cos增量编码器或干涉仪支持24路（选项）编码器输入转换表($F方式)计算细分插值后的位置4096细分数/线(LSB=1/32softwarecount)最大线输入频率1MHz45NEWIDEASINMOTION绝对编码器接口46PMAC2信号转接板DriveInterfaceSignalsBreakoutStyleBreakoutConnectorNotesACC8EDualAnalogDIN-RailTerminalBlock12-point-218-bitDACsperaxis-RelaysforampenableACC8FDirectPWM&DigitalCurrentDIN-Rail

35、Mini-D36-pin-Loss-of-encodercircuit-Opt.YaskawaHallDecodeACC8SPulse&DirectionDIN-RailTermBlock10-pointOptionalencoderinterface;“Pulseswallower”forslowdrivesACC8FP DirectPWM&DigitalCurrentPanelMini-D36-pin-UsedinPC-Pack-Loss-of-encodercircuit-Opt.YaskawaHalldecodeACC8FE DirectPWM&DigitalCurrent3U-Rac

36、kMini-D36-pin-UsedinMACROStation-Opt.256xinterpolatorBoardACC8ASingle/DualAnalogDIN-RailD-Sub-1or216BitDACsperaxis-Opt.256xInterpolators47应用于独立的操作界面应用于软件调试液晶屏(LCD)高亮、宽视角真空管(VFD):显示文本“message”显示数值variable直连距离3m(10ft)最大距离200m附加ACC-12DNEWIDEASINMOTIONACC-12系列显示器件48ACC-12系列RowsCharactersPerRowCharacterH

37、eightTypeACC122245mm液晶LCDACC12A2405mmLCDACC12C12406mm真空管Display49ACC-34系列I/O板MountingVoltageRatingOutputCurrentIndividualIsolationInputRCFilterSerialParityACC34ADINRail24V100mANoNoNoACC34AADINRail24V100mAYesYesYes*ACC34BDINRail5V20mANo*No*No*ThisfunctionusuallyprovidedbymatingOpto-22orcompatibleboar

38、d.*RequiresV1.16ornewerfirmware.ACC34DPanel5V20mANo*No*Yes*Board50ACC-34A64点光电隔离I/O板51PMAC/PMAC2I/O点选择DirectionAccessTypicalLatencyNotesPositionCaptureFlagsInputHardware50-500nsecLatchcountedactualpositionPositionCompareFlagsOutputHardware50-500nsecBasedoncountedactualpositionOnboardI/OPortsIn/OutFo

39、reground/BackgroundSoftware200sec-2msec SpeedlimitedbysoftwareratesACC-14FamilyI/OIn/OutForeground/BackgroundSoftware200sec-2msec Opt.3inputscanbelatchedbyservoclockACC-34FamilyI/OIn/OutBackgroundSoftware5-20msecSerialcommunicationstoPMACType52Onlybackgroundaccesspermitted(PLC1-31,on-line)Foreground

40、accessdisabled(PLC0,motionprogram)100microsecondstocopy32-bitwordto/fromACC-34(20MHz)SuggestedapproachislikerealPLCs:AtbeginningofPLCscan,copyallinputwordsintofixed-pointregistersininternalmemoryWorkwithindividualbitsofinternalregisters(Usesingle-bitM-variables)Prepareoutputwordsinfixed-pointregiste

41、rsininternalmemoryAtendofPLCscan,copyalloutputwordsfrominternalregistersNEWIDEASINMOTIONWorkingWithACC-34FamilyI/O53NEWIDEASINMOTIONACC-34FamilyM-VariableDefinitionn=Baseaddressofboardonmultiplexerportassetby5-pointDIPswitchonboard(n=0-248,divisibleby8)InputPort(A):Mx-TWS:n+1OutputPort(B):Mx-TWS:n+6

42、Example:n=0M901-TWS:1M902-TWS:6M1001=M901;copyinputsintoimageM902=M1002;copyimagetooutputs54E1J212345OPEN12345OPENU1U2U4U3J1ACC-35A Option 1The DB37S Connector OptionSW1SW2J212345OPEN12345OPENTB112U1U2U4U3J1ACC-35B Option 1The DB37S Connector OptionSW1SW2ACC-35MultiplexerPortExtendersForusewith:ACC-

43、34familyofI/OinputACC-18thumbwheelinputACC-8DOpt7R/DconverterACC-8DOpt9Yaskawaabsoluteencoderboard55ProvidesOpticalIsolationforRS422/232ControlPanelNumericInput24Char.Display6FunctionKeysACC-20ACC-26Diagram:PMACAccessoriesACC-20andACC-2656PMAC/PMAC2A/DConverterChoices#ofChannelsResolution(bits)Repea

44、tability(bits)VoltageRangeMountingOpticalIsolation?ACC28A4151210VDINRailYesACC28B2,4161510VDINRailYesACC36P1612110-10V,5VISABusNoACC36V1612110-10V,5VVMEBusNoOpt.12,12A8/1612110-5V,2.5VOnboardOptionNoOpt.15(V/F)12onMini11100-10V(10VonLite)OnboardOptionTypePMACFamilyCompatibility11,21,21,221NoYesonMin

45、i57Diagram:ACC-28A4channel,16Bit,Opto-IsolatedA/DConverterACC-28A583UStackBoards ACC-1E 2-Axis Servo Interface Board*ACC-2E 4-Axis Servo Interface Board ACC-3E 48/96/144 TTL I/O Board ACC-4E 24-In/24-Out Isolated I/O Board ACC-6E 16-Channel 12-Bit ADC Board*For use with MACRO Interface/CPU Board onl

46、y59UMACServoICBoards3 Phase PWMDual AnalogPulse&DirectionPulse&DirectionNoneAB QuadSine/CosineOptional HiperfaceAB QuadAB QuadIsolated InputsDiff Enable/FaultIsolated InputsRelay Amp EnableIsolated Amp FaultIsolated InputsDiff Enable/FaultOne Trigger FlagACC-24E2ACC-24E2AACC-24E2SACC-51EOutputFeedba

47、ckFlags60UMACDigitalI/OBoards480242412-24VDC12-24VDC-12-24VDCACC-9EACC-10EACC-11EACC-12E#ofInputsInputVoltage#ofOutputs0-485VACC-14E02448240-48-5-60VDC L:$1000;Points to P0 M10-Y:$BC00,0,12;Points to M0 definitionAction:M10=P100+3;select P(P100+3)M0=P0;Same as P(P100+3)=P0 NEWIDEASINMOTION71P&QVaria

48、bleArrayCapabilities(continued)Setup:M1-L:$1400;Points to C.S.1 Q0 M11-Y:$BC01,0,12;Points to M1 definitionAction:M11=1024+Q0+P10;select C.S.1 Q(Q0+P10)M1=Q99;Same as Q(Q0+P10)=Q99Writing(Turbo):P(P100+3)=P0Q(Q0+P10)=Q99 NEWIDEASINMOTION72$0000$00FF$0100$17FF$1800$BBFF$BC00$BFFF$C000$C03F$D000$DFFF$

49、E000$F000$FFFFInternal DSPMemoryDSP-GateRegistersDual-PortedRAMVME busregistersI/ORegistersExternalStaticRAM(Battery/Flash Backed)X-MemoryY-Memory231615870231615870Fixed-Use Calculation RegistersUser Buffer Storage SpaceUser-Written Servo StorageM-Variable DefinitionsMailbox RegistersVME Setup Regis

50、tersPMACMemory&I/OMap$9FFF$A000Option 16 Battery Backed Parameter Memory73$000000$0007FF/$001FFF1$000800/$0020001$005FFF$006000$007FFF$008000$009FFF$00A000$0107FF/$03FFFF2$050000$053FFF/$05FFFF3$060000$060FFF/$063FFF4$070000$0701FF$078000$07B31FUser-BufferStorageSpaceFixed-UseCalculationRegistersSta