User manual

Accessory 24E2A
30 Ultralite/MACRO Station Setup
flags, disable their normal functions with Ix25, or use a channel n where none of the flags is used for the
normal axis functions.
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 must be set up on MACRO Station variable MSn,MI916. 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 Mode DAC Mode Pulse and Direction
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
amplifiers
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).
DAC Output Mode Example for Acc-24E2A at MACRO Station
MS0,MI916=3 ;DAC output for Channel 1
MS1,MI916=3 ;DAC output for Channel 2
MS4,MI916=3 ;DAC output for Channel 3
MS5,MI916=3 ;DAC output for Channel 4
MS8,MI916=3 ;DAC output for Channel 5
MS9,MI916=3 ;DAC output for Channel 6
MS12,MI916=3 ;DAC output for Channel 7
MS13,MI916=3 ;DAC output for Channel 8
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
automatically based on the SW1 connector and firmware of the MACRO Station. 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)