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^2 Accessory 84E

1. SSI Protocol For an SSI encoder Acc84E i Chan j SerialEncDataA is configured as follows Hex Digit Script Bit 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 s 7 e6 5 4 3 2 1 0 FT C Bit 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 74 30 Bit Data P P PPPPPPPPPPPPPPPPPPPPPP 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 Of F Component Single Multi Turn Position Acc84E i Chan j SerialEncDataB is configured as follows Hex Digit ScriptBit 23 P2220 iois i716 is ia annos 7 6 5 413 1211 0 Fio CBit 31 30 29 28 27 26 25 24 23 22 21 20 19 1817 16 15 14 13 12 11 10 9 8 Bit Data E P P P PP PP P Off 31 30 29 28 27 26 25 244 Component PE Single Multi Turn Position Acc84E i Chan j SerialEncDataC and Acc84E i Chan j SerialEncDataD status registers are not used in SSI Protocol Bits Pn represent the bits of single turn and multi turn position Bit EO represents the parity error bit Software Setup 47 ACC S4E User Manual EnDat 2 1 2 2 Protocol For an EnDat 2 1 2 2 encoder Acc84E i Chan j SerialEncDataA is configured as follows
2. Hex Digit _ Script Bit 23 22 27 20 79 is fi7 16 15 14 i3 i2 iifiofo s 7fels5 4 3 2 1 0 fee CBit 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 74 30 Bit Value S S S SS S SS SSS S S S S S S 1615144 13 12 11 10 9 83 7 6 5 4 3 2 1 O BEEE Component Single Turn Position Bit Bit Data Component Description 16 0 Sn Single Turn Bits Sn represent the bits of single turn position Position For a Panasonic encoder with 16 bits of multi turn count Acc84E i Chan j SerialEncDataB is configured as follows Hex Digit l Script Bit 232 I0 i8176 15 14 13 12l1lio o s 7 6ls lal3l2 ilo FT C Bit 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 Miso Bit Value MM MM MM MM MMMM MMMM ee 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 BEMS Component Multi Turn Position Bit Bit Data Component Description 16 0 Mn Multi turn Bits Mn represent the bits of multi turn position Multi turn position is only reported if Position the SerialEncCmdWord component of Acc84E i Chan j SerialEncCmd is set to 2A in which case the encoder ID and alarm code are not reported Acc84E i Chan j SerialEncDataC is configured as follows Hex Digit e Script Bit 23
3. Power PMAC Turbo PMAC Switch Position SW1 Global Control Register Global Control Register 1 2 3 4 ACC84E 0 SerialEncCtrl X 78C0F Close Close Close Close ACC84E 4 SerialEncCtrl X 79COF Close Close Open Close ACC84E 8 SerialEncCtrl X 7ACOF Close Close Close Open ACC84E 12 SerialEncCtrl X 7BCOF Close Close Open Open ACC84E 1 SerialEncCtrl X 78D0F Open Close Close Close ACC84E 5 SerialEncCtrl X 79D0OF Open Close Open Close ACC84E 9 SerialEncCtrl X 7 ADOF Open Close Close Open ACC84E 13 SerialEncCtrl X 7BDOF Open Close Open Open ACC84E 2 SerialEncCtrl X 78E0F Close Open Close Close ACC84E 6 SerialEncCtrl X 79E0OF Close Open Open Close ACC84E 10 SerialEncCtrl X 7 AEOF Close Open Close Open ACC84E 14 SerialEncCtrl X 7BEOF Close Open Open Open Acc84E i SerialEncCtrl is the full word element that comprises the multi channel setup for serial encoder interfaces for the ACC 84E It is comprised of the following components which cannot be accessed as independent elements Appendix B Serial link XY2 100 Protocol Support 133 ACC S4E User Manual Turbo PMAC Hex c Component Power PMAC Digit Bits Functionality Script Bits ClockMDiv 23 16 1 2 31 24 Clock linear division factor ClockNDiv 15 12 3 23 20 Clock exponent division factor TxEnable 11 4 19 Enables transfer of XY2 100 data Parity 10 4 18 Selection of parity bit varia
4. Hex Digit Script Bit 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 41 3 2 10 E C Bit 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 74 30 Bit Data P P PPP PP PP PP PP P P PP PPP PRP PRP PP 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 f Component Single Multi Turn Position Bit Bit Data Component Description 23 0 Pn Single Multi Turn Position Acc84E i Chan j SerialEncDataB is configured as follows Hex Digit _ Script Bit 23 22 21 20 19 18 a7 pie 15 14 13 12 11 10 9 s 7 e 5 4 3 2 1 0 aso C Bit 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 Bit Data E E EEEE P P PP PP PP PP P PRP PRP PPP 5 4 3 2 1 0 T 39 38 37 36 35 34 33 32 31 30 29 28 27 26 25 24 Component TE CE CE CE2 EB EB2 Single Multi Turn Position Bit Bit Data Component Description 15 0 Pn Single Multi Turn Position 18 EO EB2 Error bit 1 reported by the encoder 2 2 only 19 El EB1 Error bit 2 reported by the encoder 20 E2 CE2 CRC error detected by the IC for the 2nd additional information word 2 2 only 21 E3 CE1 CRC error detected by the IC for the 1st additional information word 2 2 only 22 E4 CE CRC error detected by the IC for the position information word 23 E5 TE Timeout error detected by the IC For the EnDat2 2 protocol
5. o l Script Bit 23 22 21 20 19 18 17 16 15 14 13 12 11 109 8s 7l6ls5sl4l3sl2 ilo m C Bit 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 8 74 30 Bit Value E Component SerialEncCmdWord Parity TM TE GB Ena Status NumBits This section provides information about JN Acc84E i Chan j SerialEncCmd that is common to all protocols a For more detailed and protocol specific information refer to the Note corresponding section of the manual The 8 bit component SerialEncCmdWord is used to define a command value sent to the serial encoder in a protocol specific manner This value can be changed during an application for different functionality such as resetting an encoder Not all protocols require a command value The 2 bit component SerialEncParity defines the parity type to be expected for the received data packet for those protocols that support parity checking A value of 0 specifies no parity a value of 1 specifies odd parity a value of 2 specifies even parity A value of 3 is reserved for future use The 1 bit component SerialEncTrigMode specifies whether the encoder is to be repeatedly sampled or just one time A value of 0 specifies continuous sampling every phase or servo cycle as set by the multi channel element Acc8 4E i SerialEncCtrl a value of 1 specifies one shot sampling
6. Acknowledgement Command of MRS Code Byte 1 Byte 2 code Bit 20 16 tornate ype DST aie decimal 41 1 Diagnosis Address Data 42 2 Position Value 2 Word 1 LSB MSB data LSB data 43 3 Position Value 2 Word 2 MSB data LSB data 44 4 Position Value 2 Word 3 MSB MSB data LSB data 45 5 Memory parameter Address LSB data 46 6 Memory parameter Address MSB data 47 7 MRS Code MRS Code Any 48 8 Acknowledge of test command Port Address Any 49 9 Test values word 1 LSB MSB data LSB data 4A 10 Test values word 2 MSB data LSB data 4B 11 Test values word 3 MSB MSB data LSB data 4C 12 Temperature sensor 1 MSB data LSB data 4D 13 Temperature sensor 2 MSB data LSB data 4F 15 Stop additional information 1 Any Any For the EnDat2 2 protocol Acc84E i Chan j SerialEncDataD is used for the second additional information word if this is requested of the encoder with an MRS code in Acc8 4E i Chan j SerialEncCmd This register is never used with the EnDat2 1 protocol For an EnDat 2 2 encoder Acc84E i Chan j SerialEncDataD is configured as follows Hex Digit Script Bit 23 22 21 20 19 18 1716 15 1432 u J10 9 8s 7 6 5 4l3 2 1110 r CBit 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 f f BitVaue W R B A A A A A T I IT I IT I 1T31ttd 21tdtdt ttdtd 4d ieee ee eee eres Component
7. Hex Digit Script Bit 23 22 21 20 19 18 17 16 15 14 13 12 11 J109 8 7 l6 5 l4 l3 2 lilo F C Bit 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 mio Bit Value P23 P22 P21 P20 P19 P18 PI7 PI6 PIS Pl4 P13 P12 Pll P10 P9 P8 P7 P6 PS P4 P3 P2 Pi PO ja Component Commanded Position After interpolation at frame rate of the X Y2 100 depending on the ModeSel component of Acc84E i SerialEncCtrl upper 16 bit 18 bit or 20 bits of the commanded position data is transmitted to the scanhead galvanometer servo drive Unlike PMAC convention in which the position is usually calculated Note commands to unsigned values as defined by XY2 100 standard as a signed integer signed floating point in case of Power PMAC XY2 100 protocol defines it as an unsigned integer In order to simplify this conversion Delta Tau s implementation of XY2 100 on ACC 84x products deals with this conversion of signed position ModeSel 00 Appendix B Serial link XY2 100 Protocol Support 136 ACC S4E User Manual 16 bit data format X Y2 100 Standard Serial Link Hex Digit _ Script Bit 2
8. 15 T T T T T ann ae at iA f 10 a a ae AEA H 4 SRS REESI TEE AANA be L b 0g pe Pg ggg RL Ls K S ZS A D A GG D GG I aA aar A i eh tte iter ae R gt e ee neal s o e a BL DRAIN UN NOS ee er ve N 1 4 et ee ee e ee ee Y g tote wo t pp fy ig gg ee Y iii gt 4 4 gg gl a a N eee ee ee ee oe ed oH 4_ _ _ _ _ _4 _ _ _ _4_ 4 4 4 4 4 rr rr oe or oe a ee Oe ee Oh Oe an A cn a ee Set a E Op oe se ne ce ee S S E E A S S t f i j ii t T Pet ttt tattoo A AA A 5 Lee PIS ttt pepet f h HA ATAA e PoE Pt Ad j SE or L Pae a a Ea rS SE SS S 5 b f a E ee ee ee ee ee w EARL HS tot tp tt FARA RN 0b ep ed a tt hk 4h E A ee NO 4 a a a i d 15 i i i i i 15 10 5 0 5 10 15 The following example code is written in MATLAB script but it can be converted to any language with array support Main Procedure Res 32767 HalfLen 10 MeshSize 21 hold off plot RawTable 1 RawTable 2 red hold on plot RawTable 1 RawTable 2 red xmin max RawTable 1 1 1 xmax min RawTable MeshSize MeshSize 1 ymin max RawTable 1 1 2 3 ymax min RawTable MeshSize MeshSize 2 x_temp linspace xmin xmax MeshSize y_temp linspace ymin ymax MeshSize BestFitTable
9. Hex Digit Script Bit 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 10 L CBit 131 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 74 30 Bit Value MM MM MMM MMM MMMM MM a 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 O0 EEMS Component Multi Turn Position Bit Bit Data Component Description 16 0 Mn Multi turn Bits Mn represent the bits of multi turn position Position For a Mitsubishi HG O Acc84E i Chan j SerialEncDataC is configured as follows Hex Digit Script Bit 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 CBit 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 TA 3 0 Bit Value E E S S S SJA A A A A A A A T I I I I I I I 1 o 7 6 5 4 7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 Off Component TE CE Status Code Alarm Code Encoder ID Bit Bit Data Component Description 7 0 In Encoder ID Bits In represent bits of the returned encoder ID code The Encoder ID is transmitted by the encoder for SerialEncCmdWord codes 92 and 7A After issuing one of those two commands the Encoder ID is latched by the ACC 84E and provided in bits 07 00 of this register Once latched it is always readable in this register 15 8 An Alarm Code Bits An represent bits of the alarm code The Alarm Code is not transmitted by the encoder for SerialEncCmdWord codes 92 and 7A Bits 15 08 are clear
10. ACC 84E Base Address 1 2 3 4 78C00 2F8C00 2F8C04 2F8C08 2F8COC 79C00 2F9COO 2F9C04 2F9CO08 2F9COC 7ACO0 2FACOO 2FAC04 2FACO8 2FACOC 7BCO00 2FBC00 2FBC04 2FBC08 2FBCOC 78D00 2F8D00 2F8D04 2F8D08 2F8D0C 79D00 2F9D00 2F9D04 2F9D08 2F9D0C 7AD00 2FAD00 2FAD04 2FAD08 2FADOC 7BD00 2FBD00 2FBD04 2FBD08 2FBDOC 78E00 2F8E00 2F8E04 2F8E08 2F8E0C 79E00 2F9E00 2F9E04 2F9E08 2F9E0C 7AE00 2FAE00 2FAE04 2FAE08 2FAEOC 7BE00 2FBE00 2FBE04 2FBE08 2FBEOC 2 line Real position data location The following values are encoder protocol dependent and should be selected accordingly The following values are shown for most common encoder resolutions Feedback Resolution 2 Line Setting 16 bit Single Rev Starting at bit 0 010000 17 bit Single Rev Starting at bit 0 011000 20 bit Single Rev Starting at bit 0 014000 17 bit Single Rev Starting at bit 4 011004 26 bit Single Rev Starting at bit 0 018002 32 bit Single Rev Starting at bit 0 018008 7AD00 2FADO0 7BD00 2FBD00 78E00 2F8E00 79E00 2F9EOO 7AE00 2FAE00 7BE00 2FBE00 Using the Resulting Position Information 89 ACC S4E User Manual Power On Commutation Phase Position Because most serial encoders provide absolute position information especially over one motor revolution they are commonly used to provide the absolute rotor
11. Note The commutation enable and position address would then be I1101 1 Mtr 1 Commutation enable from X Register I183 3512 Mtr 1 Commutation Position Address User Input Using the Resulting Position Information 84 ACC S4E User Manual Absolute Power On Position Read Technique 3 With Technique 3 the absolute power on read can be performed using PMAC s automatic settings Ixx80 Ixx10 and Ixx95 Example 1 Channel driving a 32 bit 20 bit single turn 12 bit multi turn rotary serial encoder 1180 2 Absolute power on read enabled 1110 78C00 Absolute power on position address chl serial data register A 1195 SA00000 Parallel Read 32 bits Signed from Y Register User Input Bit 22 1 X Register 0 Y Register Bit 23 1 Signed Bits16 21 Number of Bits to read Bits 0 15 reserved 0 Unsigned Resolution 32 bits or 100000 always 0 L eee Se eee ee eee aar VETA ee eT e cE cl ec xx Hex A 0 0 0 0 0 In this mode PMAC reads and reports 32 bits from the consecutive serial data registers Serial Data Register B Serial Data Register A Ch1 Y 78C01 Ch1 Y 78C00 47 23 0 With the setting of Ixx80 2 the actual position is reported automatically on Power up Otherwise a 1 command is necessary to read and report the absolute position Example 2 Channel driving a 20 bit 20 bit Single turn No Multi turn absolute rotary serial encod
12. WN RM BY MRS Acknowledge Additional Information 2 Word Bit Bit Data Component Description 15 0 In Additional Information 2 Word 20 16 An MRS An represent bits of the acknowledgement of the MRS code in Acc84E i Chan j SerialEncCmd Acknowledge The value of the acknowledgement code is 40 64 less than the value of the commanded MRS code For example if the MRS code is 53 83 the acknowledgement code is 13 19 21 BO BY Busy status bit 22 RO RM Reference mark detection status bit 23 WO WN Warning status bit Software Setup 49 ACC S4E User Manual The following table provides details of the information and acknowledgement words for each of the MRS command codes for the 2 additional information word Serial Encoder Data Register D Additional Information 2 Acknowledgement a of MRS Code Information Type o o Bit 20 16 binary 51 17 Commutation 5 x x No ie Not assigned 52 18 Acceleration MSB data LSB data MSB LSB Commutation amp U U W Acceleration 53 19 acceleration Acceleration data data 15 14 13 12 8 54 20 Limit position LI L2 Not assigned Not assigned signals 15 14 13 8 ee ee MSB Limit position LI L2 Acceleration LSB 55 21 signals amp data acceleration Acceleration data 15 14 13 12 8 5F 31 Stop additional Any Any information 2 When us
13. 0 No parity check supported for Tamagawa protocol SerialEncTrigMode 0 Continuous triggering SerialEncTrigEna 1 Enable triggering SerialEncGtoB 0 No Gray code supported for Tamagawa protocol SerialEncEna 1 Enable driver circuitry SerialEncStatus Bits 0 No status bits supported for Tamagawa protocol SerialEncNumBits 0 Fixed number of position bits returned Acc84E i Chan j SerialEncCmd would be set to 1A1400 for continuous position reporting It may report back as 1A1000 if the ready status bit is not set Hex Digit 1 A 1 4 0 0 EEE Script Bit 23 22 21 20 19 18 17 16 5m 13 12 M1098 7 6 5 43 2 r o m C Bit 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 74 30 Bit Value 0o 0 0 1 1 01 Ooi Ht ene Component SerialEncCmd Word Parity TM TE GB Ena Status NumBits If the SerialEncCmdWord component is set to BA and triggered for 10 consecutive cycles with 40 microseconds interval or more all latched errors Overspeed Counter Overflow Muti turn error Counting Error II and Battery Error This should be done in one shot mode making the element equal to BA3400 and triggered for 10 consecutive cycles with 40 microseconds interval or more If the SerialEncCmdWord component is set to C2 and triggered for 10 consecutive cycles with 40 microseconds interval or more t
14. Step 4 Definitions Step 4 Definitions Value Value 1 define Phase30Deg 1 4 define Phase30Deg 4 define Phase90Deg 5 define Phase90Deg 6 define Phasel50Deg 4 define Phasel50Deg 2 define Phase210Deg 6 define Phase210Deg 3 define Phase270Deg 2 define Phase270Deg define Phase330Deg 3 define Phase330Deg 5 2 define Phase30Deg 2 5 define Phase30Deg 5 define Phase90Deg 3 define Phase90Deg 4 define Phasel50Deg 1 define Phasel50Deg 6 define Phase210Deg 5 define define Phase210Deg 2 Phase270Deg 4 define Phase270Deg 3 define Phase330Deg 6 define Phase330Deg 3 define Phase30Deg 3 6 define Phase30Deg 6 define Phase90Deg 1 define Phase90Deg 2 define Phasel50Deg 5 define Phasel50Deg 3 define Phase210Deg 4 define Phase210Deg define Phase270Deg 6 define Phase270Deg 5 define Phase330Deg 2 define Phase330Deg L 60 0 60 120 180 120 60 0 60 define FirstWord defin e Halls FirstWord gt Y 78C00 0 24 Halls defin defin defin defin defin defin defin defin open p Halls tr Endif f EE Endif End f tr Endif Mtr Endif gt e MtrlPhasePos M1000 M1002 M171 Hall HALL nall M T M i f Hall M ni M T f Hall e MtrlPhaseSrchErr e Phase30Deg e Phase90Deg e Phasel50Deg e Phase210Deg e Phase270Deg e Phase330Deg le 29 clear PhasePos PhasePos PhasePos s Phase2 PhasePos P
15. 043501 Sending the RESET command on a single trigger I6612 100 8388607 i10 100 msec timer While 16612 gt 0 Endwhile While ChniCtrlReg amp 1000 1 wait for the trigger to happen Endwhile While ChniFlags amp 100 1 Busy Signal on bit 8 of second data register if Chn1Flags amp 800000 1 If timed out ChnictrlReg 1400 Disable PLC 10 Endif Endwhile p0 2 Chn1CtrlReg 003501 Sending the NOP command on a single trigger I6612 100 8388607 i10 100 msec timer While 16612 gt 0 Endwhile While ChniCtrlReg amp 1000 1 wait for the trigger to happen Endwhile While Chn1iFlags amp 100 1 Busy Signal on bit 8 of second data register if Chn1Flags amp 800000 1 If timed out ChnictrlReg 1400 Disable PLC 10 Endif Endwhile p0 3 ChnictrlReg 1400 Disable PLC 10 Close Encoder Specific Settings Yaskawa Sigma II amp Sigma III protocol includes 5 feedback types with different resolutions and incremental absolute modes All of these feedbacks are supported by ACC 84E 16 Bit Yaskawa Sigma II Absolute Encoder Y Base 1 Y Base 0 0 23 20 19 CC EEEEEEEEEEE EERE EPPEPPEEPPErrt Lo Multi turn Position 16 bits Absolute Single Turn Data 16 bits undetermined Appendix A Setup Examples 108 ACC S4E User Manual Encoder Conversion Table Setup for on going servo position and commutation angle Channel ECT Line Setti
16. 13 12 11 f1of 9 s 7fe 5 4 3 2 1 0 2 C Bit 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 74 30 Bit Value MMMMMM MIS S S S S S S S S S S S S SSS 6 5 4 3 2 1 0 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 Of fo Component Multi Turn Position Single Turn Position Bit Bit Data Component Description 16 0 Sn Single Turn Bits Sn represent the bits of single turn position Position 23 17 Mn Multi Turn Bits Mn represent the bits of multi turn position Position For a Panasonic encoder with 16 bits of multi turn count Acc84E i Chan j SerialEncDataB is configured as follows Hex Digit ScriptBit 232 2120o i76 is aA e noos 7 6 5 4l3l2 ilo EFT CBit 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 74 30 Bit Value MM MM MMM M Ra Mee a i eee oe 14 13 12 11 10 9 8 7 Component Multi Turn Position Bit Bit Data Component Description 7 0 Mn Multi turn Bits Mn represent the bits of multi turn position Position Acc84E i Chan j SerialEncDataC is configured as follows Hex Digit _ Script Bit 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 CBit 31 30 29 28 27
17. 1j while OriginNotPassed 1 endwhile cmd 1k endif while Secondword amp S8FF 0 endwhile MtrlActPos int FirstWord amp disable plc 29 close Suggested M Variable Definition start moving toward the positive direction until the index is detected there is a 2msec delay before inc 8FFC00 400 SecondWord amp 8FF comp 4 Mtr 1 Actual Position is updated FOTN BZ Appendix A Setup Examples 119 ACC S4E User Manual Power on phase referencing using Hall sensors The Hall sensor data comes back on bits 1 2 and 3 of the first word This data can be used in order to establish an estimated phase reference for the motor on power up However hall phasing will have 30 error which can result in loss of up to 14 percent of the torque output but usually this is good enough for moving the motor until a more accurate reference is established homing and phase position data is updated accordingly Here is an example of how to determine the power on phasing based on hall data The following procedure is only required once After determining the phase reference value a power on PLC would be sufficient to establish the phase reference and motor will be ready for commutation Once the motor is moving and a better position reference can be established usually homing sequence the phase position can be fine tuned 1 oe Tune the current loop on the moto
18. 2 sqrt x3 x1 2 y3 yl 2 Xint X1 ratio2 X3 X1 Yint Y1 ratiol Y2 Y1 end function X Y LineIntersection x1 yl x2 y2 x3 y3 x4 y4 X x1l y2 y1 x2 x3 x4 x1 x2 x3 y4 y3 xA4 x1 x2 y3 y4 yl y2 x3 x4 Y x1 y2 y1 x2 y3 y4 yl y2 x3 y4 y3 x4 x1 x2 y3 y4 yl y2 x3 x4 end Appendix B Serial link XY2 100 Protocol Support 153
19. 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 0 C Bit 7 4 3 0 Bit Value E E S S S SJA A A A A A A AJI I I I I I I 1 O S n 6 5 4 7 6 5 4 3 2 1 047 6 5 4 3 2 o i Component TE CE Status Code Alarm Code Encoder ID Bit Bit Data Component Description 7 0 In Encoder ID Bits In represent bits of the returned encoder ID code Fiexd to 11 15 8 An Alarm Code Bits An represent bits of the alarm code 19 16 Sn Status Code Bits Sn represent bits of the status code 22 EO CE CRC error detected by the IC 23 El TE Timeout error detected by the IC The encoder ID and alarm code values are only reported if the SerialEncCmdWord component of Acc84E i Chan j SerialEncCmd is set to 52 in which case multi turn data is not reported Software Setup 56 ACC S4E User Manual Alarm Code Description Bit Bit Data State when error is occurred Description AO Over speed OS When the shaft of the encoder is rotated over the electric spec of Multi Turn signal after Main Power is turned off and during External Battery is on logic 1 is generated and can be transmitted after Main Power is turned on As this error may not be detected it is useful for only ref Use error reset mode s to clear this latched error Al Full Absolute Status FS When Main Power is turned on during the shaft of the encoder is rotated at more than 100 rpm logic 1 comes out The
20. 78E04 78E08 78E0C 79E00 79E00 79E04 79E08 79E0C 7AE00 7AE00 7AE04 7AE08 7AEOC 7BE00 7BE00 7BE04 7BE08 7BEO0C The Ixx70 and Ixx71 determine the commutation cycle length for Turbo PMAC It is important to notice that the Ixx71 has a range of 0 16777215 TAN 2 4 1 In some cases where the encoder resolution is more than ail 24 bits per electrical cycle user should use the shifted data method Note discussed in the next section rather than using the data directly as discussed here If number of counts register LSB per motor revolution is less than 224 1 Ixx70 and Ixx71 can be set as shown below e Ixx01 3 Turbo PMAC commutation commutation feedback from Y register e Ixx70 Number of pole pairs for motor revolution e Ixx71 Register LSB per motor revolution Using the Resulting Position Information 87 ACC S4E User Manual If number of counts register LSB per motor revolution is greater than 22 1 but the number of counts register LSB per electrical cycle is a An Integer b Less than 224 1 Ixx70 and Ixx71 can be set as shown below e Ixx01 3 Turbo PMAC commutation commutation feedback from Y register e Ixx70 e Ixx71 Register LSBs per commutation cycle Data Shifting In order for Turbo PMAC CPU to be able to handle rollover of on going phase position data properly the most significant bit MSB of the position d
21. Acc84E i Chan j SerialEncDataC is used for the first additional information word if this is requested of the encoder with an MRS code in Acc84E i Chan j SerialEncCmd This register is never used with the EnDat2 1 protocol For an EnDat 2 2 encoder Acc84E i Chan j SerialEncDataC is configured as follows Hex Digit 13 12 mmp Tre Ts Tats eoe CBit Bit Data ele F Component WN RM BY MRS Acknowledge A A A A 4 3 2 1 AJI I I I I I I I I I I I I I I 0O 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 Additional Information I Word Bit RO is the RM reference mark status bit Bit WO is the warning status bit Bit Bit Data Component Description 15 0 In Additional Information 1 Word 20 16 An MRS An represent acknowledgement bits for the MRS code in Acknowledge Acc84E i Chan j SerialEncCmd The value of the acknowledgement code is 40 64 less than the value of the commanded MRS code For example if the MRS code is 42 66 the acknowledgement code is 02 2 21 BO BY Busy status bit 22 RO RM Reference mark detection status bit 23 WO WN Warning status bit Software Setup 48 ACC S4E User Manual The following table provides details of the information and acknowledgement words for each of the MRS command codes for the 1 additional information word Serial Encoder Data Register C Additional Information 1
22. CLOCK OUT CLK 4 oxo com oo ENA OUT SENA SDO MR Ke 5V OUT Hardware Setup 12 ACC S4E User Manual Encoder Specific Connection Information Yaskawa Sigma II III V Encoders Yaskawa Sigma II III V absolute encoders require a 3 6V battery to maintain the multi turn data while the controller is powered down This battery should be placed outside of ACC 84E and the Yaskawa Sigma MINV encoder possibly on the cable The battery should be installed between orange 3 6V and orange black wires GND Use of ready made cables by Yaskawa is recommended Yaskawa part number UWR00650 BAT Orange 5VDC Red SDO Blue 135 s Blue Black GND Black BAT Orange Black The previous diagram shows the pin assignment from mating IEEE 1394 Yaskawa Sigma II connector to ACC 84E encoder input The Molex connector required for IEFE 1394 can be acquired as receptacle kit from Molex 2 00mm 079 Pitch Serial I O Connector Receptacle Kit Wire to Wire Molex Part Number 0542800609 AN Yaskawa Encoder expects a supply voltage of 5V with less than 5 ail tolerance Make sure voltage drop is not caused by excessive wire Note length Encoder wire shield must be connected to chassis ground on both encoder and connector ends Yaskawa Sigma II III V require a 120Q termination resistor between rr SDI and SDO twiste
23. Component Single Turn Position Hall amp Index Bit Bit Data Component Description 0 Z Index Z represents the encoder s zero index pulse marker signal state 3 1 UVW Hall U V and W represent the commutation Hall sensor signal states 22 6 Sn Single turn Bits Sn represent the bits of single turn position Position Acc84E i Chan j SerialEncDataB is configured as follows Hex Digit ef le Script Bit 23 22 21 20 19 18 17 16 15 14 13 12 11J ioj9 s 7 6 5 413 2 11 0 ER C Bit 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 Fo Bit Data E E E cCc cC CCcCCCCCCCC 2 1 0 Soe ee fois ase ie S s Component TE CE EB Compensation Position Software Setup 51 ACC S4E User Manual Bit B 7 Component Description 10 0 Cn Compensation Bits Cn represent the bits of compensation position captured on Position the first index pulse 21 EO EB Coding error reported by the encoder 22 El CE CRC error detected by the IC 23 E2 TE Timeout error detected by the IC Yaskawa Sigma III or V absolute encoder with 20 bits per revolution For an Absolute Yaskawa Sigma III or V encoder with 20 bits per revolution and 16 bits of turns count in position reporting P1 mode Acc84E i Chan j SerialEncDataA is configured as follows Hex Digit j Script Bi
24. Define Data Registers define SerialEncDataA M6002 Ch 1 Position 1 Data A define SerialEncDataB M6003 Ch 1 Position 1 Data B define SerialEncDataC M6004 Ch 1 Position 2 Data C define SerialEncDataD M6005 Ch 1 Position 2 Data D define SerialEncDataC_AddInfo M6006 Ch l Position 2 Data C Additional Info define RM bit M6007 Ch 1 Position 2 Data C RM bit define MRS_code M6008 Ch 1 Position 2 Data C Ack of MRS_code define MtrlAmpEna M114 Motor l Amp Enable bit define MtrilActPos M162 Motor 1 Actual Position define Mtr1DesVel M165 Motor l Desired Velocity define MtrlActVel M166 Motor 1 Actual Velocity define MtriDesVel_unit M160 Motor l Desired Velocity unit define MtrilDesVel_ fraction M1060 Motor l Desired Velocity fraction define Posl_ Value P2000 Position 1 Value define Pos2_Low P2001 Position 2 Value Word 1 define Pos2_Mid P2002 Position 2 Value Word 2 define Pos2_High P2003 Position 2 Value Word 3 define Pos2_Value P2004 Position 2 Value define Index _Offset P2005 Reference Mark Offset define SerialEncDataA_Capt P2006 Position 1 Data A Capture Value define SerialEncDataB Capt P2007 Position 1 Data B Capture Value define InitialEnaStatus P2008 Initial Motor Status Enable Disable Appendix A Setup Examples 104 ACC S4E User Manual define FaultFlag P2009 Data Receiving Timeout Flag define Timer 16612 Use Coord 32 Timer 2 defi
25. Motor activated I101 1 Commutation Enable I103 3502 position feedback address I104 3502 velocity feedback address I172 1365 Commutation Phase Angle amplifier dependent I1184 FFF000 Current Loop Feedback Mask Word amplifier dependent I166 7636 PWM Scale Factor normally 15 above PWM clock I102 78202 Command Output Register First channel of first ACC 24E2 I182 78206 Current Loop Feedback Address First channel of first ACC 24E2 I1183 3502 Commutation Position Address from resolver ECT result Same as position address of motor if the same encode is used I124 20001 Flag control Over travel limits are disabled Check motor manufacturer specifications and refer to the Turbo SRM I170 1 7 I171 8192 32 shifted 5 bits Commutation Cycles per revolution Number of pole pairs Counts per revolution Measured or provided by manufacturer 32 because commutation address from ECT These are Safety parameters I2T protection Check motor manufacturer specifications and refer to the Turbo SRM I157 8025 Motor 1 Continuous Current Limit I158 2167 Motor 1l Integrated Current Limit I169 24077 Motor 1 Output Command Limit Please note that since the ECT table data is being used for commutation it is better to have the Servo clock set to the same frequency as the Phase clock so the data is available for commutation routines If you have your Ixx03 and Ixx04 set up prop
26. Y 7BC00 Y B800 ACC84E 12 ON ON OFF OFF ON ON Y 78D00 Y 8840 ACC84E 1 ON ON ON ON ON OFF EE Y 79D00 Y 9840 ACC84E 5 ON ON ON OFF ON OFF Y 7AD00 Y A840 ACC84E 9 ON ON OFF ON ON OFF Y 7BD00 Y B840 ACC84E 13 ON ON OFF OFF ON OFF Y 78E00 Y 8880 ACC84E 2 ON ON ON ON OFF ON oe Y 79E00 Y 9880 ACC84E 6 ON ON ON OFF OFF ON Y 7AE00 Y A880 ACC84E 10 ON ON OFF ON OFF ON Y 7BE00 Y B880 ACC84E 14 ON ON OFF OFF OFF ON ON designates Closed OFF designates Open Factory default is all EA on Note Hardware Setup 11 ACC S4E User Manual Signal Format The signal format for the encoder is dependent on the particular protocol but in all protocols there is a strobe and or clock output from the controller and a data channel into the processor from the encoder The encoder is queried synchronously with the Power Turbo PMAC s phase or servo clock and the incoming serial data is latched into a memory mapped register for the processor to read Connections Encoders are connected to the ACC 84E through four 9 pin D sub connectors Two connectors on the top side of the rack for encoders and 2 and two connectors in the bottom side for encoders 3 and 4 D Sub DE9 Female OOOO0O Mating D Sub DE9 Male OOO p CLOCK OUT CLK SSI i Mitutoyo BiSS SDI MRR 3 ENA OUT SENA BLK GND 5 GND COM GND 6
27. and the clock frequency All three of these aspects must be common to all four channels of the IC so it is not possible for instance to interface to encoders with different protocols from the same IC The different components of this 24 bit full word element cannot be accessed as independent elements so it is necessary to assemble the full word value from the values of the individual components It is easiest to treat the value as a hexadecimal value so the individual components can be seen independently Power PMAC Turbo PMAC Switch Position SW1 Global Control Register Global Control Register 1 2 3 4 ACC84E 0 SerialEncCtrl X 78COF Close Close Close Close ACC84E 4 SerialEncCtrl X 79COF Close Close Open Close ACC84E 8 SerialEncCtrl X 7ACOF Close Close Close Open ACC84E 12 SerialEncCtrl X 7BCOF Close Close Open Open ACC84E 1 SerialEncCtrl X 78DOF Open Close Close Close ACC84E 5 SerialEncCtrl X 79D0OF Open Close Open Close ACC84E 9 SerialEncCtrl X 7 ADOF Open Close Close Open ACC84E 13 SerialEncCtrl X 7BDOF Open Close Open Open ACC84E 2 SerialEncCtrl X 78E0F Close Open Close Close ACC84E 6 SerialEncCtrl X 79E0F Close Open Open Close ACC84E 10 SerialEncCtrl X 7 AEOF Close Open Close Open ACC84E 14 SerialEncCtrl X 7BEOF Close Open Open Open Acc84E i SerialEncCtrl is the full word element that comprises the multi channel setup for serial encoder interfaces f
28. 01001808 Motor 2 PowerOnMode 4 Motor 2 FatalFeLimit 0 Motor 2 WarnFeLimit 0 The following settings are dependent on the selected data length mode ModeSel 00 16 bit data format X Y2 100 Standard Serial Link Motor 1 PosSf 1 exp2 16 Motor 1 Pos2Sf Motor 1 PosSf Motor 1 AbsPosSf 1 exp2 8 Motor 1 MaxPos exp2 15 1 Motor 1 MinPos exp2 15 Motor 1 MaxDac exp2 15 Motor 2 PosSf 1 exp2 16 Motor 2 Pos2Sf Motor 2 PosSf Motor 2 AbsPosSf 1 exp2 8 Motor 2 MaxPos exp2 15 1 Motor 2 MinPos exp2 15 Motor 2 MaxDac exp2 15 Appendix B Serial link XY2 100 Protocol Support 144 ACC S4E User Manual ModeSel 01 18 bit data format Serial Link 2 Motor 1 PosSf 1 exp2 14 Motor 1 Pos2Sf Motor 1 PosSf Motor 1 AbsPosSf 1 exp2 6 Motor 1 MaxPos exp2 17 1 Motor 1 MinPos exp2 17 Motor 1 MaxDac exp2 17 Motor 2 PosSf 1 exp2 14 Motor 2 Pos2Sf Motor 1 PosSf Motor 2 AbsPosSf 1 exp2 6 Motor 2 MaxPos exp2 17 1 Motor 2 MinPos exp2 17 Motor 2 MaxDac exp2 17 ModeSel 10 20 bit data format Motor 1 PosSf 1 exp2 12 Motor 1 Pos2Sf Motor 1 PosSf Motor 1 AbsPosSf 1 exp2 4 Motor 1 MaxPos exp2 19 1 Motor 1 MinPos exp2 19 Motor 1 MaxDac exp2 19 Motor 2 PosSf 1 exp2 12 Motor 2 Pos2Sf Motor 1 PosSf Motor 2 AbsPosSf
29. 1 exp2 4 Motor 2 MaxPos exp2 19 1 Motor 2 MinPos exp2 19 Motor 2 MaxDac exp2 19 Motor Speed Acceleration Limitations Power PMAC s default acceleration and speed setting are set at conservative values In comparison galvanometers and scanheads can complete a full stroke step move in a couple of microseconds The following settings are suggested for preventing PMAC from limiting the speeds and accelerations achievable by the galvos However it is suggested that the proper calculated values based upon the specifications provided by manufactures of the galvos are implemented instead ModeSel 00 16 bit data format XY2 100 Standard Serial Link Motor 1 MaxSpeed exp2 15 Motor 1 InvAMax 1 exp2 15 Motor 1 InvDMax 1 exp2 15 Motor 1 InvJMax 1 exp2 15 Motor 2 MaxSpeed exp2 15 Motor 2 InvAMax 1 exp2 15 Motor 2 InvDMax 1 exp2 15 Motor 2 InvJMax 1 exp2 15 Appendix B Serial link XY2 100 Protocol Support 145 ACC S4E User Manual Initializing Motor Position Although simulated feedback provides interpolated position data for PMAC there is a caveat in general with using simulated position feedbacks and that is a potential positive feedback when the motor is in killed state This positive feedback or virtual runaway at constant speed is cause by two independent processes where the result of one is fed back to the second one and vice versa The fir
30. 1 of ACC 84E with a base address set to 78C00 I8000 278C00 18001 021004 Reading Absolute Position In order to read the absolute position from the encoder and set the motor position accordingly the data available in the EncoderDataRegisterA and EncoderDataRegisterB should be combined The following example demonstrates required calculations This PLC needs to be executed once after system power up reset define FirstWord M1000 define SecondWord M1001 define STDO 16 M1002 define MTDO_15 M1003 FirstWord gt Y 78C00 0 24 SecondWord gt Y 78C01 0 4 STDO_16 gt MTDO_15 gt define MtrilActPos M162 open plc 28 clear MTDO_ 15 SecondWord amp 1FFF 8 int Firstword 2097152 STDO_16 int FirstWord amp SIFFFFO 16 If MTDO_15 gt 7FFF MTDO_15 MTDO_15 SFFFF 1 1 If STDO_16 0 STDO_16 STDO_16 S1FFFF 1 1 Endif Endif MtrlActPos MTDO_15 20000 STDO_16 1108 32 disable plc 28 close Reading Absolute Phase Position For commutation purpose since the data does not start on bit 0 of the register we have to use the output of the encoder conversion table for on going phase position instead of the position register itself This means that the Servo Clock and the Phase Clock should be the same Servo Cycle Extension Period Appendix A Setup Examples 111 ACC S4E User Manual Ixx60 can be used to lower the CPU load and not to face quantization errors on t
31. 100 8388608 110 while I5111 gt 0 endw CMD 1K 15111 100 8388608 110 while I5111 gt 0 endw CMD 1 15111 100 8388608 110 while I5111 gt 0 endw M162 M162 32 I5111 100 8388608 110 while I5111 gt 0 endw Dis PLC 1 Close 1 Actual position Suggested M Variable 100 msec delay Make sure motor s killed 100 msec delay Read un scaled absolute position 100 msec delay Scale absolute position shift right 5 bits 100 msec delay Run once on power up or reset Some serial encoders use an external not from the Brick source for aS power Make sure that this power is applied prior to performing an absolute read on power up Note Using the Resulting Position Information 80 ACC S4E User Manual Technique 3 Example Channel 1 is driving a 32 bit 20 bit Single turn 12 bit Multi turn rotary serial encoder or a linear scale with similar protocol resolution 20 bits 0 1 micron Encoder Conversion Table for position Technique 3 e Conversion Type Parallel position from Y word with no filtering e Width in Bits Single turn absolute resolution in bits e g 20 bits e Offset Location of LSB leave at zero e Normal Shift 5 bits to the left e Source Address serial data register A see table below e Remember to click on Download Entry for the changes to take effect Turbo PAMC Base Address Channel 1 2 3 4 78C00 Y 78C00 Y 78C04 Y 78C08 Y 7
32. 12 8sec Use error reset mode s to clear this latched error Battery Error BE When the voltage of capacitor integrated in the encoder is 2 5 0 2 V or less during Main Power is off logic 1 is generated and can be transmitted after Main Power is turned on Multi Turn error nay be occurred at same time with it Error Reset and Multi turn Data Reset Needed to check or replace Battery Battery Alarm BA When the voltage of External Battery is 3 1 0 1 V or less during Main Power is on logic 1 comes out Returning the voltage of External battery to normal the error status is automatically released Status Code Description State when Description Bit Bit Data error is occurred 16 S4 0 0 17 5 0 0 18 s6 1 eal Logic OR of Multi turn error Battery error or Battery alarm check alarm word for identification of exact alarm 19 S7 1 ea0 System Down Software Setup 57 ACC S4E User Manual Mitutoyo Protocol For a Mitutoyo encoder Acc84E i Chan j SerialEncDataA is configured as follows Hex Digit Script Bit 23 22 21 20 19 18 17
33. 20 19 18 17 16 15 14 13 12 11 10 9 8 Maio Bit Value MM MM MM MM M MM MMM MM CJ 15 14 13 12 11 10 9 8 7 GS KA BZ 1 OO Component Multi Turn Position Bit Bit Data Component Description 16 0 Mn Multi turn Bits Mn represent the bits of multi turn position Position For a Tamagawa encoder Acc84E i Chan j SerialEncDataC is configured as follows Hex Digit 13 12 11 10 9 8 7 6 5 4 3 2 1 0 MENE 21 20 19 18 17 16 15 14 13 12 11 10 9 8 o Bit Value E E S S S SJA A A A A A A AJI I I I I I I I 1 o7 6 5 4 7 6 5 4 3 2 1 047 6 5 4 3 2 1 Of F Component TE CE Status Code Alarm Code Encoder ID Bit Bit Data Component Description 7 0 In Encoder ID Bits In represent bits of the returned encoder ID code Fixed to 11 15 8 An Alarm Code Bits An represent bits of the alarm code 19 16 Sn Status Code Bits Sn represent bits of the status code 22 EO CE CRC error detected by the IC 23 El TE Timeout error detected by the IC Software Setup 54 ACC S4E User Manual Alarm Code Description Bit Bit Data State when error is occurred Description AO Over speed OS When the shaft of the encoder is rotated over the electric spec of Multi Turn signal after Main Power is turned off and during External Battery is on logic 1 is generated and can be transmitted after Main Power is turned on As this error may not be detected it is useful for only ref
34. 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 74 30 Bit Value E E A A A A A A A A S S S SJ I I I I 1 0 7 6 5 4 3 2 1 0 3 2 1 O38 2 1 of Component TE CE Alarm Code Status Code Encoder ID Bit Bit Data Component Description 7 0 In Encoder ID Bits In represent bits of the returned encoder ID code Fiexd to 11 15 8 An Alarm Code Bits An represent bits of the alarm code 19 16 Sn Status Code Bits Sn represent bits of the status code 22 EO CE CRC error detected by the IC 23 El TE Timeout error detected by the IC The encoder ID and alarm code values are only reported if the SerialEncCmdWord component of Acc84E i Chan j SerialEncCmd is set to 52 in which case multi turn data is not reported Software Setup 61 ACC S4E User Manual Alarm Code Description Bit Bit Data State when error is occurred Description AO 1 Over speed OS Function When revolving speed exceeds 66001 min 1 is output Detecting timing During normal operation Output Latch Reset Reset I or Re turn ON the main power supply Al Preset Status PS Function Function In case a logical error is included in scan data of M sensors or in case scan data detected three times do not coincide each other 1 is output During that period or time every data is unfixed After the scanning has completed properly and the data has been established it i3 reset to 0 D
35. ACC84E 4 Chan j SerialEncCmd 79C00 Y 79C00 Y 79C04 Y 79C08 Y 79COC ACC84E 8 Chan j SerialEncCmd 7AC00 Y 7AC00 Y 7AC04 Y 7AC08 Y 7ACOC ACC84E 12 Chan j SerialEncCmd 7BC00 Y 7BC00 Y 7BC04 Y 7BC08 Y 7BCOC ACC84E 1 Chan j SerialEncCmd 78D00 Y 78D00 Y 78D04 Y 78D08 Y 78DOC ACC84E 5 Chan j SerialEncCmd 79D00 Y 79D00 Y 79D04 Y 79D08 Y 79D0C ACC84E 9 Chan j SerialEncCmd 7AD00 Y 7ADO00 Y 7AD04 Y 7AD08 Y 7AD0C ACC84E 13 Chan j SerialEncCmd 7BD00 Y 7BD00 Y 7BD04 Y 7BD08 Y 7BDOC ACC84E 2 Chan j SerialEncCmd 78E00 Y 78E00 Y 78E04 Y 78E08 Y 78EOC ACC84E 6 Chan j SerialEncCmd 79E00 Y 79E00 Y 79E04 Y 79E08 Y 79EOC ACC84E 10 Chan j SerialEncCmd 7AE00 Y 7AE00 Y 7AE04 Y 7AE08 Y 7AEOC ACC84E 14 Chan j SerialEncCmd 7BE00 Y 7BE00 Y 7BE04 Y 7BE08 Y 7BEOC Position Command Registers The FPGA always reads full 24 bit registers Acc84E i Chan j SerialEncCmd for j equal to 0 1 and 2 as signed 24 bit position command for axis X Y and Z on the rising edge of selected interpolation clock set by ClockSel in Acc84E i SerialEncCtrl After reading the update commanded position firmware applies a linear interpolation between commanded positions at the frame rate of the X Y2 100 update rate set by components ClockMDiv and ClockNDiv of Acc84E i SerialEncCtrl
36. Chan j SerialEncCmd 7AE00 Y 7AE00 Y 7AE04 Y 7AE08 Y 7AEOC ACC84E 14 Chan j SerialEncCmd 7BE00 Y 7BE00 Y 7BE04 Y 7BE08 Y 7BEOC Acc84E i Chan j SerialEncCmd is comprised of the following components These components cannot be accessed as independent data structure elements so the value of the element must be built up from the value of the individual components Script Hex C Component Bits Digit Bits Functionality SerialEncCmdWord 23 16 1 2 31 24 Serial encoder output command SerialEncParity 15 14 3 23 22 Serial encoder parity type SerialEncTrigMode 13 3 21 Serial trigger mode continuous or one shot SerialEncTrigEna 12 3 20 Serial trigger enable SerialEncGtoB 11 4 19 Serial SSI data Gray to binary convert control SerialEncEna 10 4 18 Serial encoder circuitry enable write SerialEncDataReady Serial encoder received data ready read SerialEncStatusBits 09 06 4 5 17 14 Serial encoder SPI number of status bits SerialEncNumBits 05 00 5 6 13 08 Serial encoder bit length control Software Setup 29 ACC S4E User Manual The full element can be viewed in the following format In the Script environment Both in Turbo and Power PMAC it is accessed as a 24 bit element In the C environment Only in Power PMAC it is accessed as a 32 bit element with the real data in the high 24 bits Hex Digit
37. Channel 1 Line 200000 Base Address 8 2 Line 024004 4th Channel 1 Line 200000 Base Address C 2 Line 024004 Example 20 bit absolute encoder on channel 1 of ACC 84E with a base address set to 78C00 I8000 278C00 18001 024004 Reading Absolute Position In order to read the absolute position from the encoder and set the motor position accordingly the data available in the EncoderDataRegisterA and EncoderDataRegisterB should be combined The following example demonstrates required calculations This PLC needs to be executed once after system power up reset define FirstWord M1000 define SecondWord M1001 define STDO_ 19 M1002 define MTDO_15 M1003 FirstWord gt Y 78C00 0 24 SecondWord gt Y 78C01 0 4 STDO_19 gt MTDO_15 gt define MtrilActPos M162 open plc 28 clear MTDO_15 SecondWord amp SFFFF STDO_19 int FirstWord amp SFFFFFO 16 If MTDO_15 gt 7FFF MTDO_15 MTDO_15 S FFFF 1 1 If STDO_19 0 STDO_19 STDO_19 SFFFFF 1 1 Endif Endif MtrlActPos MTDO_15 100000 STDO 19 disable plc 28 close T108 32 Appendix A Setup Examples 113 ACC S4E User Manual Reading Absolute Phase Position For commutation purpose since the data does not start on bit 0 of the register we have to use the output of the encoder conversion table for on going phase position instead of the position register itself This means t
38. Ixx01 3 ee Linear Sa ae 32 ECL SF if Ixx01 1 ECL RES 20 32 ECL RES Where ST is the rotary encoder Single turn resolution in bits RES is the linear scale resolution in user units e g mm ECL is the electrical cycle length of the linear motor same units as RES e g mm Offset is the ECT commutation Offset it is ST 18 for rotary or RES 18 for linear SF is the encoder resolution scale factor calculated previously Position and Velocity Scale Factors Position Error Limit With technique 2 and technique 3 with encoder resolutions greater than 20 bits it is recommended to set the position and velocity scale factors to equal 1 and widen the position error limit Otherwise default values should be ok for all other cases This alleviates register saturation s allows for higher commanded speed settings and easier PID position loop tuning Parameter s Technique 1 Technique 2 Technique 3 96 for ST lt 20 Ixx08 Ixx09 96 1 for ST gt 20 Default for ST lt 20 Ixx67 Default 8388607 8388607 for ST gt 20 Absolute Power On Position and Phasing Process Technique 1 Technique 2 Technique 3 Absolute Position Read From serial register A From serial register A From serial register A automatic settings scaling required automatic settings Absolute Phasing Automatic settings From ECT for Comm From ECT for Comm depending on ST MT automatic settings automa
39. Manual for the interface In addition the motor setup routines in the IDE software will walk you through this setup To use serial encoder position from an ACC 84E FPGA based interface for absolute power on phase position the following saved setup elements must be specified e Motor x pAbsPos Acc84E i Chan j SerialEncDataA a e Motor x AbsPosFormat aabbccdd Protocol specific settings e Motor x AbsPosSf Motor units per sensor LSB e Motor x AbsPosOffset Difference between sensor zero and motor zero For the format variable the LSB of the encoder data is typically found in bit 8 of the 32 bit SerialEncDataA register If the encoder provides more than 24 bits of absolute position data the format element permits data from SerialEncDataB to be used as well Note however that the data in SerialEncDataA must go all the way to bit 31 for this to work In protocols such as Tamagawa and Panasonic which provide only 17 bits of data in SerialEncDataA and more in SerialEncDataB the full absolute position must be assembled in a user algorithm Using the Resulting Position Information 92 ACC S4E User Manual Using the ACC 84E with MACRO The ACC 84E can be used with MACRO8 and MACRO16 CPU in a MACRO UMAC rack to take advantage of serial encoders over a MACRO ring The principal behind using the ACC 84E will be similar to what is available on Turbo PMAC2 UMAC CPU However there are some differences which will be discusse
40. Value 000 0 0 0 0 ofo 0 0 Of f fofolo o 0 ofo 1 1 0 Component SerialClockMDiv SerialClockNDiv TC TE SerialTrigDelay SerialProtocol The following table lists the only Serial clock frequency setting used with Yaskawa Sigma II III V protocol SerialClockMDiv SerialClockNDiv Serial Clock Frequency 0 00 0 0 100 0 MHz minimum transfer time of 62 5 psec It is important to choose trigger clock and trigger edge to ensure complete transmission of data each Note cycle before its use by the controller Yaskawa Sigma II III V transmission of position data requires a AX Software Setup 22 ACC S4E User Manual Tamagawa Protocol The following list shows typical settings of Acc84E Z SerialEncCtrl for a Tamagawa FA Coder serial encoder The serial clock frequency is set 20 times higher than the external clock frequency which is the bit transmission frequency foin to permit oversampling of the input signal SerialClockMDiv 5 frit 1 Serial clock freq 20x bit transmission freq SerialClockNDiv 0 No further division SerialTrigClockSel 0 Use phase clock if possible SerialTrigEdgeSel 0 Use rising clock edge if possible SerialTrigDelay 0 Can increase from 0 if possible to reduce latency SerialProtocol 07 Shows Tamagawa protocol is programmed into IC For example for a 2 5 MHz bit transmission rate SerialClockMDiv 5 2 5 1 1 01 and Acc84E i SerialEncCtrl is set to 01000
41. a Mitsubishi HG O encoder with 17 bits per revolution Acc84E i Chan j SerialEncDataA is configured as follows Hex Digit Script Bit 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 EFT CBit 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 74 3 0 Bit Value S S S SSS SSS S S S S S S S S S S S S S SS 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 OFF p Component Single Turn Position Bit Bit Data Component Description 23 0 Sn Single Turn Bits Sn represent the bits of single turn position Position Depending on the SerialEncCmdWord in single channel setup register the single turn data is reported in 3 different modes Single Turn Data in Lower 18 Bits of 24 Bit Word 02 single turn data BA for clearing alarms and reporting single turn data 2A for reporting single turn and multi turn data Hex Digit 13 12 1 io 9 8 7 6 514 3 21 1 0 F 19 18 17 16 15 14 13 12 11 10 9 8 rfo Bit Value S Ss S S S S S S S S SS S S S S S S S S 17s 16 15 14 13 12 11 10 9 8 7 654321 OO Component Single Turn Position Single Turn Data in Lower 20 Bits of 24 Bit Word A2 for reporting single turn and multi turn data
42. accuracy of One Revolution data is 5 bits during logic 1 comes out As One Revolution data returns to 17 bits resolution this error status is automatically released For clearing the alarm bit slow rotational speed down less than 100 rpm and wait to release the error status 10 A2 Counting Error CE When One Revolution data is wrong because of any mal function or defect during Main Power is on logic 1 comes out depending upon the following I or I I Error is detected at each mechanical angle of 45 during the shaft rotational speed is more than 100 rpm The error status is automatically released by returning the deviation of mechanical angle within 22 5 typ I Error is always detected during the shaft rotational speed is less than 100 rpm If the deviation of mechanical angle is more than 0 7 typ logic 1 comes out In this case use error reset mode s to clear this latched error 11 A3 Counter Over flow OF When Multi Turn counter is overflown logic 1 comes out Detecting it during Main Power is off it can be transmitted after Main Power is turned on Detecting it once it is kept till Error Reset While the counter counts 0 65 535 cyclically 12 A4 13 14 15 AS A6 A7 Multi turn Error ME When any bit of Multi Turn signal is jumped during Main Power is on logic 1 comes out During Main Power is off it is not executed The check for bit jumping is performed in each
43. define Phase90Deg 3 define Phase90Deg 4 define Phase150Deg I define Phase150Deg 6 define Phase210Deg 5 define Phase210Deg 2 define Phase270Deg 4 define Phase270Deg 3 define Phase330Deg 6 define Phase330Deg 3 define Phase30Deg 3 6 define Phase30Deg 6 define Phase90Deg 1 define Phase90Deg 2 define Phasel50Deg 5 define Phasel50Deg B define Phase210Deg 4 define Phase210Deg define Phase270Deg 6 define Phase270Deg 5 define Phase330Deg 2 define Phase330Deg 4 Appendix A Setup Examples 120 ACC S4E User Manual w N 60 0 60 120 180 120 60 0 60 defin defin Halls defin defin defin defin defin defin defin defin open p Halls Mtr Endif Mtr Endif Mtr Endif Mtr Endif Mtr Endif Mtr Endif Mtr1Ph disabl close f Hall f Hall f Hall Hall Hall E Hall e FirstWord e Halls gt e MtrlPhasePo e MtrlPhaseSrchErr e Phase30Deg e Phase90Deg e Phasel50Deg e Phase210Deg e Phase270Deg e Phase330Deg lc 29 clear PhasePos PhasePos PhasePos s Phase2 PhasePos PhasePos PhasePos aseSrchErr e plc 28 S T s Phase90Deg 7 7 a 7 7 0 FirstWord gt Y 78C00 0 24 s Phasel50Deg 0Deg s Phase270Deg s Phase330Deg M1000 M1002 M171 M148 WNHADF OF int Firs
44. for PMAC motors as the position loop is closed in scanhead galvanometer drive and only access to status bits about the following error is available under XY2 100 protocol The interpolated position is always written as a 24 bit signed integer Depending on the ModeSel setting user should scale the position values reported in this register to represent 16 bit 18 bit or 20 bit whole count position data Although the XY2 100 only receives the upper 16 bit 18 bit or 20 bits of position from the 24 bit interpolated values the sub counts are essential for proper interpolation and avoiding round off errors Acc84E i Chan 0 SerialEncDataA returns interpolated X Data Hex Digit Script Bit 23 22 21 20 19 18 17 16 15 14 13 12 11 J10of 9 s 7fe6 5 4 3 2 1 0 2 CBit 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 74 30 Bit Value P23 P22 P21 P20 P19 PIS PI7 PI6 PIS Pl4 P13 PI2 Pll PIO P9 P8 P7 P6 PS P4 P3 P2 Pl PO le Component Interpolated Commanded X Position Acc84E i Chan 1 SerialEncDataA returns interpolated Y Data Hex Digit Script Bit 23 22 2120 19l18 1716 1542 09 s 7 6l5 4 3 2 1 o M CBit _ 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 141312 11 10 9 8 m50 Bit Value P23 P22 P21 P20 PID PIS PI7 PI6 PIS Pl4 PI3 PI2 Pll PIO P9 PS P7 PO PS
45. i i Single turn absolute data is prohibited from resetting If the SerialEncCmdWord component is set to B2 and triggered for 10 consecutive cycles with 7 microseconds interval or more single revolution data will be reset to 0 and shaft position will be written to EEPROM This should be done in one shot mode making the element equal to B23400 and triggered for 10 consecutive cycles with 7 microseconds interval or more Notice that this reset command all 10 should only be sent when the encoder is at rest with no movement Once reset the single turn zero location is maintained regardless of connection of external battery after main power source is turned off The register should report as B22000 after completion of a single trigger If the SerialEncCmdWord component is set to BA and triggered for 10 consecutive cycles with 7 microseconds interval or more single revolution data will be reset to its initial data and EEPROM data will be reset This should be done in one shot mode making the element equal to BA3400 and triggered for 10 consecutive cycles with 7 microseconds interval or more Notice that this reset command all 10 should only be sent when the encoder is at rest with no movement Once reset the single turn zero location is maintained regardless of connection of external battery after main power source is turned off The register should report as BA2000 after completion of a single trigger If the SerialEncCmdWord co
46. in the encoder conversion table This is done with a Type 1 single register read conversion from SerialEncDataA In order to be able to handle rollover of this data properly the most significant bit MSB of this data must end up in bit 31 of the 32 bit result shifted if necessary With most protocols no shifting is necessary but some will require a net left shift to achieve this result To use serial encoder position from an ACC 84E FPGA based interface for ongoing servo position the following saved setup elements must be specified e EncTable Type 1 e EncTable n pEnc Acc84E i Chan j SerialEncDataA a e EncTable n index1 32 of bits Shift left of bits e EncTable n index2 8 Shift right of bits EncTable n ScaleFactor 1 2 _ For result in encoder LSBs e Motor x pEnc EncTable m a_ Use table result for position loop feedback e Motor x pEnc2 EncTable 7 a Use table result for velocity loop feedback Using the Resulting Position Information 67 ACC S4E User Manual Power On Servo Position Many serial encoders can provide absolute position over the entire range of travel of the motor If so Power PMAC can execute an absolute power on read of the encoder to establish the reference position eliminating the need for a homing search move This section gives an overview of those settings details can be found in the element descriptions in the Software Reference Ma
47. materials and or environments that could cause harm to the controller by damaging components or causing electrical shorts When our products are used in an industrial environment install them into an industrial electrical cabinet or industrial PC to protect them from excessive or corrosive moisture abnormal ambient temperatures and conductive materials If Delta Tau Data Systems Inc products are directly exposed to hazardous or conductive materials and or environments we cannot guarantee their operation ACC S4E User Manual Safety Instructions Qualified personnel must transport assemble install and maintain this equipment Properly qualified personnel are persons who are familiar with the transport assembly installation and operation of equipment The qualified personnel must know and observe the following standards and regulations TEC364resp CENELEC HD 384 or DIN VDE 0100 IEC report 664 or DIN VDE 0110 National regulations for safety and accident prevention or VBG 4 Incorrect handling of products can result in injury and damage to persons and machinery Strictly adhere to the installation instructions Electrical safety is provided through a low resistance earth connection It is vital to ensure that all system components are connected to earth ground This product contains components that are sensitive to static electricity and can be damaged by incorrect handling Avoid contact with high insulating materials artificial fabric
48. the PWM output signal available on 4 channel of the ACC 84x and it is independent of the PWM frequency set by PwmPeriod component The equation for this PWM duty cycle is Positive Duty Cycle x 100 4096 where D is short for DutyCycle This 12 bit component can take a value from 0 to 4095 and generates duty cycles ranging from 0 to 99 97 The following list shows typical settings of Acc84E i Chan 3 SerialEncCmd for a 5kHz PWM output at 25 duty cycle DutyCycle 400 400 1024 setting for 25 duty cycle command 1024 4096 PwmPeiod 4E2 4E2 1250 setting for PwmPeriod generates a 5kHz PWM freq Hex Digit 4 0 0 4 E 2 Script Bit 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 14 07 C Bit 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 74 3 0 Bit Value 0 1 0 0 0 0 0 0 0 0 0 0 0 1 O O 1 1 1 O 0 0 1 OF l Component Duty Cycle PwmPeriod Appendix B Serial link XY2 100 Protocol Support 138 ACC S4E User Manual Status Data Structures Status elements of ACC 84E are read only elements where the received data and status flags are written by FPGA at every frame cycle Single Channel Status Elements Some aspects of the XY2 100 protocol such as interpolated position data and scanhead servo drive provided status bits can be read individually
49. the multi turn position value in the encoder is reset to 0 single revolution data will not be reset and also all latched errors are cleared Overspeed Counter Overflow Mutiple Revolution Error Count Error II Battery Alarm and System Down This should be done in one shot mode making the element equal to DA3400 and triggered for 10 consecutive cycles with 40 microseconds interval or more The register should report as DA2000 after completion of a single trigger If the SerialEncCmdWord component is set to 7A and triggered for 10 consecutive cycles with 40 microseconds interval or more single revolution data will be reset to 0 0 35 MAX This should be done in one shot mode making the element equal to 7A3400 and triggered for 10 consecutive cycles with 40 microseconds interval or more Notice that this reset command all 10 should only be sent when the encoder is at rest with no movement Once reset the single turn zero location is maintained regardless of connection of external battery after main power source is turned off The register should report as 7A2000 after completion of a single trigger Software Setup 38 ACC S4E User Manual Mitutoyo Protocol The following list shows typical settings of Acc84E i Chan j SerialEncCmd for a Mitutoyo serial encoder SerialEncCmdWord 01 Command word for position reporting in Mitutoyo SerialEncParity No parity check supported for Mitutoyo protocol SerialEncT
50. this final frequency foe 1S f Mk fu MHz 100 g M 1 2 where N is short for SerialClockNDiv This 4 bit component can take a value from 0 to 15 so the resulting 2 divisor can take a value from 1 to 32 768 For serial encoder protocols with an explicit clock signal the resulting frequency is the frequency of the clock signal that is output from the ACC 84E s IC to the encoder For self clocking protocols without an explicit clock signal this frequency is the input sampling frequency and will be 20 to 25 times higher than the input bit rate fpi Refer to the instructions for the particular protocol for details The component SerialTrigClockSel controls which Power PMAC clock signal causes the encoder to be triggered This single bit component is set to 0 the encoder will be triggered on the phase clock if it is set to 1 the encoder will be triggered on the servo clock If the encoder feedback is required for commutation rotor angle feedback it should be triggered on the phase clock otherwise it can be triggered on the servo clock The component SerialTrigEdgeSel controls which edge of the clock signal phase or servo selected by SerialTrigClockSel initiates the triggering process If this single bit component is set to 0 the triggering process starts on the rising edge if it is set to 1 the triggering process starts on the falling edge Power PMAC software expects to have the resulting encoder data available to it immedia
51. velocity scale factors and position error limit can be left at default values But with resolutions of 20 bits or greater it is recommended to set the scale factors to 1 and the position error limit to its maximum value I1100 1 Mtr 1 Active Remember to activate the channel to see feedback I1103 3502 Mtr 1 position loop feedback address 1104 3502 Mtr 1 velocity loop feedback address T109 1 Mtr 1 velocity loop scale factor I1108 1 Mtr 1 position loop scale factor 1167 8388607 Mtr 1 Position Error Limit At this point you should be able to move the motor encoder shaft by hand and see motor counts in the position window Note Counts Per User Units Technique 3 With technique 3 the user should expect to see 2 counts per revolution for rotary encoders and 1 Resolution counts per user unit for linear scales in the motor position window Examples 32 bit rotary encoder 20 bit Singleturn 2 1 048 576 cts rev 0 1 micron linear scale 1 0 0001 10 000 cts mm Using the Resulting Position Information 82 ACC S4E User Manual Encoder Conversion Table for commutation Technique 3 Commutation with Turbo PMAC does not require high resolution data With Technique 3 it is recommended to fix it at 18 bits This will also eliminate quantization noise AX It is recommended to insert the commutation ECT entries after all of us the position ECT entries have been configured Note Assumi
52. zeros MeshSize MeshSize 2 for i 1 MeshSize BestFitTable i 1 x_temp BestFitTable i 2 y_temp end plot BestFitTable 1 BestFitTable 2 blue plot BestFitTable 1 BestFitTable 2 blue meshdist zeros MeshSize 1 MeshSize 1 meshid zeros MeshSize MeshSize 2 for i 1 MeshSize for j 1 MeshSize for m 1 MeshSize 1 for n 1 MeshSize 1 meshdist m n sqrt BestFitTable i j 1 RawTable m n 1 2 BestFitTable i j 2 RawTable m n 2 2 Appendix B Serial link XY2 100 Protocol Support 151 ACC S4E User Manual sqrt BestFitTable i j 1 RawTable mt t1 n 1 2 BestFitTable i j 2 RawTable m 1 n 2 2 sqrt BestFitTable i j 1 RawTable mt 1 n 1 1 2 BestFitTable i j 2 RawTable m 1 n 1 2 2 sqrt BestFitTable i j 1 RawTable m nt 1 1 2 BestFitTable i j 2 RawTable m nt 1 2 2 end end if BestFitTable i j 1 RawTable m n 1 amp amp BestFitTable i j 2 RawTable m n 2 meshid i j 1 m meshid i j 2 n else MinLen MinInd min meshdist meshid i j 1 meshid i j 2 ind2sub size meshdist MinInd end end end Corrected zeros MeshSize MeshSize 2 for i 1 MeshSize for j 1 MeshSize Corrected i j 1 Corrected i j 2 PlanarInterpolation CmdTable meshid i j 1 meshid i j 1 1 meshid i j 2 meshid i j 2 1 RawTable meshid i j 1 meshid i j 1 1 meshid i j 2 meshid i j 2 1 BestFitTable i j 1 BestFitTab
53. 0 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 Mmo Bit Value AAA A AAA AIT TT TTTTT I 4 3 2 1 0 7 6 5 4 3 2 1 0 DN Component Alarm Code Temperature Bits Tn represent bits of the returned temperature value in degrees C bits An represent bits of the alarm code For an absolute encoder the alarm code bits have the following meanings Bit_ Error Name Type Alarm Type Clear Action Notes 8 Backup Battery Alarm Alarm EEPROM RESET command Backup battery was down internal data was lost 9 Encoder Error Alarm EEPROM RESET command Error in encoder 10 Battery Level Warning Warning Flag Battery voltage drop 11 Absolute Error Alarm Session Flag Power cycle Possible error in position if doesn t get cleared in one revolution 12 Over Speed Alarm Session Flag Power cycle 13 Overheat Alarm Flag 14 Reset Complete Warning Session Flag Power cycle Indicates a reset due to RESET command 15 Fixed at 0 Set at zero For an incremental encoder the alarm code b its have the following meanings Bit Error Name Type Alarm Type Clear Action Notes 8 Fixed at 1 9 Encoder Error Alarm Session Flag Power cycle Error in encoder 10 Fixed at 0 11 Position Error Alarm Session Flag Power cycle Possible error in position or Hall sensor 12 Fixed at 0 13 Fixed at 0 14 Origin not pas
54. 0 X 88C4 X 88C8 X 88CC 98C0 X 98CF X 98C0 X 98C4 X 98C8 X 98CC A8CO X A8CF X A8CO X A8C4 X A8C8 X A8CC B8C0 X B8CF X B8CO X B8C4 X B8C8 X B8CC Each of the global and channel specific setup elements are set up exactly based upon the explanation in Turbo UMAC CPU section depending on the serial protocol in question Using the Resulting Position Information 93 ACC S4E User Manual Setting up the Global and Channel Registers on Power Up As mentioned in the Turbo UMAC CPU section for each of the protocol certain setup words needs to be written to global and channel specific registers of ACC 84E Since the ACC 84E is in the MACRO Rack and is not directly accessible to Turbo PMAC or Ultralite the settings need to be sent through the MACRO node and MACRO communication For this matter use of MI198 and MI199 are recommended since this eliminates a need for defining MM variables on MACRO station Here is an example of setting up an ACC 84E for BiSS C protocol on a MACRO16 CPU This PLC resides on Ultralite and on power up or execution of the PLC sets up the global and channel specific registers for ACC 84E define timer i5111 define msec 8388607 il0while i5111 gt 0 endwhile close del gat open plc 1 clear emd clrf timer 100 msec cmd msclrf15 timer 100 msec cmd ms0 mi1l98 SE8880F pointing MI199 to Global Register at X S880F timer 100 msec SE8 X Unsigned 24 bit 7
55. 00FF 8000 Chan3RegA 200 Node7Reg0 Chan4RegB amp 0000FF 8000 Chan4RegA 200 CLOSE These MACRO PLCs will copy the upper 23 bits of position data from ACC 84E position registers into Register 0 of MACRO nodes 2 3 6 and 7 On the Ultralite side the commutation parameters need to be set up accordingly I101 1 motor is commutated commutation data is on X memory location 1183 78420 Node 2 Register 0 X memory location 1170 2 2 pole pair motor motor dependent 1171 8388608 23 bits of resolution per revolution of the motor Using the Resulting Position Information 96 ACC S4E User Manual APPENDIX A SETUP EXAMPLES This section is divided into several sections explaining different serial protocols and their settings All the examples given is based upon the first addressed channel on ACC 84E which is the factory default address User should change these addresses in each example to match their address settings Appendix A Setup Examples 97 ACC S4E User Manual SSI Feedback Setup Example The following example demonstrates how to setup a 32 bit binary SSI encoder for position control of a brushless motor on the first channel of a ACC 84E Assume that the documentation for the encoder suggests 1MHz clock for the length of the cable that we have in the system Multi Channel Setup Element X 78COF Pe es ee ee eee eae eee ee Trigger Trigger Clock Edge ee es eee ees ee
56. 1 0 SE CBit 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 1312 11 10 9 8 74 30 BitVaue 0 1 1 1 0 0 Of loii le J1 0 01 0i1fF e Component SerialEncCmd Word Parity TM TE GB Ena Status NumBits This same encoder can be reset with a command word value of 45 2D sent in one shot mode with Acc84E i Chan j SerialEncCmd set to 2D3425 Hex Digit 2 D 3 4 2 5 Script Bit 22 21 20 19 18 17 16 15 14 13 12 M 10 o Psy rel s 4 3 2 1 0 F C Bit 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 Mo Bit Value 010411 0i1i 1 1 31 G o o a o a kaa Component SerialEncCmd Word Parity TM TE GB Ena Status NumBits For an EnDat2 1 encoder with 24 position bits Acc84E z Chan j SerialEncCmd would be set to 073418 for one shot position reporting at power up It will report back as 073018 until the data is received Hex Digit 0 7 3 4 1 8 e Script Bit 23 22 21 20 19 18 17 16 15 14 13 12 MM 10 ols 76 5 74 3 271 0 M CBit 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 oo x amp W BitVaue 0 0 0 1 1 1 iliii le Jo 1 1 00 0fF fF C
57. 1 unc Data x Gem Address Gem View All Entries of Table Viewing Conversion Type Parallel pos from Y word with no filtering v Source Address 78C00 X Width in Bits 113 Offset Location of LSB at Source Address 0 Based Index m Conversion Shifting of Parallel Data Normal shift 5 bits to the left C No Shifting Using the Resulting Position Information 72 ACC S4E User Manual This is a 2 line ECT entry its equivalent script code I18000 278C00 Unfiltered parallel pos of location Y 78C00 18001 S00D000 Width and Offset Processed result at 3502 Typically the position and velocity pointers are set to the processed data address e g 3502 T100 1 Mtr 1 Active Remember to activate the channel to see feedback 1103 3502 Mtr 1 position loop feedback address 1104 3502 Mtr 1 velocity loop feedback address IN At this point you should be able to move the motor encoder shaft by oy hand and see motor counts in the position window Note Counts per User Units Technique 1 With technique 1 the user should expect to see 2 counts per revolution for rotary encoders and 1 Resolution counts per user unit for linear scales in the motor position window Examples 25 bit rotary encoder 13 bit Single turn 2 8 192 cts rev 1 micron linear scale 1 0 001 1 000 cts mm Using the Resulting Position Information 73 ACC S4E User Manual Absolute Power On Posit
58. 10 9 8 74 30 Bit Value 0 0 1 O 1 O Oo Ht eee Component SerialEncCmd Word Parity TM TE GB Ena Status NumBits If the SerialEncCmdWord component is set to 52 for single turn position reporting with alarm code Acc84E i Chan j SerialEncCmd would be set to 521400 It may report back as 521000 if the data ready status bit is not set If the SerialEncCmdWord component is set to 52 the encoder ID value is also reported If the SerialEncCmdWord component is set to 4A and triggered for 10 consecutive cycles with 40 microseconds interval or more Counter Overflow and Battery Alarm flags are cleared This should be done in one shot mode making the element equal to 4A3400 and triggered for 10 consecutive cycles with 40 microseconds interval or more The register should report as 4A2000 after completion of a single trigger If the SerialEncCmdWord component is set to F2 and triggered for 10 consecutive cycles with 40 microseconds interval or more all latched errors are cleared Overspeed Counter Overflow Mutiple Revolution Error Count Error II Battery Alarm and System Down This should be done in one shot mode making the element equal to F23400 and triggered for 10 consecutive cycles with 40 microseconds interval or more The register should report as F22000 after completion of a single trigger If the SerialEncCmdWord component is set to DA and triggered for 10 consecutive cycles with 40 microseconds interval or more
59. 131 1132 1133 1134 1135 Renishaw Resolute Rotary Encoder 32 Bit wx 78COF 63000B wx 78C00 211420 Appendix A Setup Examples 126 ACC S4E User Manual I18000 2F8C00 18001 018000 18002 2F8C00 18003 017009 18004 0 1103 3502 1104 3502 1183 3504 i108 1 i109 1 1171 8388608 I170 2 motor specific I180 0 1181 3504 1191 570000 CLOSE DEL GAT define ChnlRegA M2000 define ChnlRegB M2001 Chni1RegA gt Y 78C00 0 24 Chni1RegB gt Y 78C01 0 16 define MtrlActPos M162 OPEN PLC 10 CLEAR Ist 24 bits of position data overflow of the bits Suggested M variable definition MtrilActPos ChniRegB 1000000 ChnilRegA 1108 DISABLE PLC 10 CLOSE Other I variables which needs to be set before motor can be used in order of setup 1100 1101 1102 1124 1125 Tune current loop 1161 1162 1175 Tune servo loop 1130 1131 1132 Appendix A Setup Examples I166 1182 184 1172 I7mn6 1133 1134 1135 127 ACC S4E User Manual APPENDIX B SERIAL LINK XY2 100 PROTOCOL SUPPORT The XY2 100 Serial Link also known as Serial Link 1 and X YZ 100 is a synchronous TIA EIA 422 B differential digital interface for communication of three 16 bit position words and a single 16 bit status word for two and three axis servo applications Delta Tau introduced support for this protocol in 1 quarter of 2015 on its ACC 84x FPGA
60. 15 Note Pins signals indicated in light gray are available on the same X1 X8 connectors on the Brick but they are not used in conjunction with XY2 100 protocol Regardless of the state of XY2 100 enable or disabled these encoder input pins have their original functionality and can be setup used as explained in the hardware reference manual for Brick product in question Appendix B Serial link XY2 100 Protocol Support 131 ACC S4E User Manual Signal Termination All form factors of ACC 84x incorporates differential line transceivers suitable for high speed bidirectional data communication It is designed for balanced data transmission and complies with both RS 485 and RS 422 EIA Standards The transmission line of choice for RS 485 communications is a twisted pair Twisted pair cable tends to cancel common mode noise and also causes cancellation of the magnetic fields generated by the current flowing through each wire thereby reducing the effective inductance of the pair As with any transmission line it is important that reflections are minimized This can be achieved by terminating the extreme ends of the line using resistors equal to the characteristic impedance of the line In general termination schematic between ACC 84x and Scan head galvanometer servo drive as shown in the diagram below should be implemented This document recommends use of double shielded twisted pair cable for XY2 100 link X7
61. 16 15 14 13 12 11J10f 9 s 7fe6 5 4 3 2 1 0 C Bit 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 74 30 Bit Value Di Ase eae ee a 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0E Component Single Multi Turn Position Bit Bit Data Component Description 23 0 Pn Position Data Bits Pn represent the bits of single turn and multi turn position For a Mitutoyo encoder Acc84E i Chan j SerialEncDataB is configured as follows Hex Digit _ Script Bit 23 22 21 20 19 is 17 16 5 mB iz piopoysi7i 6ls5 4 3 2 1 0 EFT C Bit 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 4 3 0 Bit Value P P PP PP P P ea N a a a a ee 31 30 29 28 27 26 25 24 JO Component Single Multi Turn Position Bit Bit Data Component Description 7 0 Pn Position Data Bits Pn represent the bits of single turn and multi turn position Acc84E i Chan j SerialEncDataC is configured as follows Hex Digit _ Script Bit 23 22 Bi 20 19 18 17 16 15 14 13 12 11 10 9 8 6 5 4 3 2 1 0 C Bit 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 Maso Bit Value E E S S S SJA A A A A A A A T I I I I I I I 1 0o M n 6 5 4 7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0 Pi Component TE CE Status Code Alarm Code Encoder ID Bit Bit Data Component Description 7 0 In Encoder ID Bits In represent bits of the retur
62. 162 P1002 1000000 P1001 1 I108 1 sec delay Low 13 bits Mask register B Positive encoder data Actual position Negative encoder data XOR 24 bits XOR 13 bits Actual position M148 0 Clear phasing search error Endif M171 M162 Phase Offset 1171 1170 Phase position Disable plc 2 Close EnDat 2 2 with Incremental Encoders In principal incremental encoders transmit relative position values After the encoder is powered up the position value is 0 and a subdivided position value resulting from the interpolation of the current signal is transmitted Whereas relative position values can be transmitted immediately after switch on in order to receive absolute position values you must traverse a reference mark RM or two reference marks in sequence for encoders with distance coded reference marks This traversing is recorder in RM status bit The information containing e Reference run finished i e absolute position value available and e Position value 2 Appendix A Setup Examples 102 ACC S4E User Manual Can be requested with the Encoder to send position values with additional information command code Then RM status bit in the transmission protocol indicates whether reference run has finished If this is the case position value 2 is available Until this time a relative position value is transmitted when position value 2 is requested Power On Position Value From DataA amp DataB Positi
63. 18 Bit wx 78COF 63000B wx 78C00 211492 18000 278C00 18001 012000 18002 2F8C00 18003 012000 18004 0 1103 3502 1104 3502 1183 3504 i108 1 Appendix A Setup Examples 125 ACC S4E User Manual i109 1 1171 262144 I170 2 motor specific I180 0 1181 3504 1191 520000 1110 78C00 1195 120000 Other I variables which needs to be set before motor can be used in order of setup 1100 1101 1102 1124 1125 1166 1182 184 I172 I7mn6 Tune current loop 1161 1162 1176 1175 Tune servo loop 1130 1131 1132 1133 1134 1135 Renishaw Resolute Rotary Encoder 26 Bit wx 78COF 63000B wx 78C00 21149A 18000 2F8C00 18001 018000 18002 2F8C00 18003 017003 18004 0 1103 3502 1104 3502 1183 3504 i108 1 i109 1 1171 8388608 I170 2 motor specific I180 0 1181 3504 1191 570000 CLOSE DEL GAT define ChnlRegA M2000 define ChnlRegB M2001 Chni1RegA gt Y 78C00 0 24 Ist 24 bits of position data Chni1RegB gt Y 78C01 0 16 overflow of the bits define MtrlActPos M162 Suggested M variable definition OPEN PLC 10 CLEAR MtrilActPos ChniRegB 1000000 ChniRegA 1108 DISABLE PLC 10 CLOSE Other I variables which needs to be set before motor can be used in order of setup 1100 1101 1102 1124 1125 1166 1182 184 1172 I7mn6 Tune current loop 1161 1162 1176 1175 Tune servo loop 1130 1
64. 2 100 Protocol Support 128 ACC S4E User Manual ACC 84x implementation of XY2 100 provides capability for changing the clock frequency which allows different update rates to scanheads galvanometers Sync The frame Sync is a single logical 0 pulse once per frame transmitted by the position data generator one clock cycle prior to the first bit of the frame X Y amp Z Data In standard XY2 100 protocol the X Y amp Z Data are three 20 bit serial data streams consisting of a 3 bit control code one 16 bit position word unsigned MSB first and a parity bit even parity ACC 84x implementation of XY2 100 provides capability of transmitting standard 16 bit position data as described by XY2 100 protocol In addition it can transmit 18 bit compatible with 18 bit Serial Link 2 and 20 bit compatible with Canon GM 1000 position data packets In addition the variant of the parity bit odd or even can be selected Status The Status data is a 20 bit serial data stream consisting of a 3 bit control code one 16 bit status word and a parity bit even parity which is generated by the scanhead galvanometer servo drive and read by ACC 84x Appendix B Serial link XY2 100 Protocol Support 129 ACC S4E User Manual Connections There are two groups of connections for ACC 84x depending on the form factor DE 9 pin connectors used on ACC 84E and ACC 84S and DA 15 connectors used in Brick family of products Unlike se
65. 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 Bit Value E EJS S S S SIP P P P P P PP PP PP P PRP PRP P 1 O 5 4 3 2 1 0 39 38 37 36 35 34 33 32 31 30 29 28 27 26 25 24 Component TE CE Single Multi Turn Position Bit Bit Data Component Description 15 0 Pn Position Data Bits Pn represent the bits of single turn and multi turn position 21 16 Sn Status Bits Bits Sn represent encoder specific status bits 22 EO CE CRC error detected by the IC 23 El TE Timeout error detected by the IC Acc84E 7 Chan j SerialEncDataC and Acc84E i Chan j SerialEncDataD status registers are not used in BiSS B C Protocol Status Code Description for Renishaw BiSS encoders Bit Bit Data State when Description error is occurred 16 SO 0 Warning The Warning bit indicates that the encoder scale should be cleaned Active Low 17 S1 0 Error The Error bit indicates that the absolute position data may not be valid or the Active Low temperature is above the maximum operating temperature of the encoder Software Setup 60 ACC S4E User Manual Matsushita Protocol For a Matsushita encoder with 17 bits per revolution Acc84E Chan j SerialEncDataA is configured as follows if single turn data has more resolution higher bits include data Hex Digit _ Script Bit 23 22 21 20 19 18 17 16 15 14
66. 3 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8s 7 e6 5 4 3 2 1 0 FT C Bit 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 74 30 Bit Value PIS Pl4 P13 PI2 Pil PIO P9 P8 P7 P6 P5 P4 P3 P2 Pl PO SO SI S2 S3 S4 SS s6 S7 le z Component 16 bit Commanded Position 8 bit sub count ModeSel 01 18 bit data format Serial Link 2 Hex Digit 0 0 5 C 1 9 sule Script Bit 23 22 21 20 19 18 17 16 15 14 13 12 11Jio 9 s8s 7 l6 5 4l3 2 ilo FTI C Bit 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16115 14 13 12 11 10 9 8 74 30 Bit Value PI7 Pl6 PIS Pl4 P13 PI2 Pil PIO P9 P8 P7 P6 P5 P4 P3 P2 PI PO SO SI S2 3 S4 s5 e a Component 18 bit Commanded Position 6 bit sub count ModeSel 10 20 bit data format Hex Digit 0 0 5 c 1 9 ScriptBit 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 38 7 6 5 4 3 2 1 0 EFT C Bit 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 74 30 Bit Value P19 Pis PI7 PI6 PIS Pi4 PI3 P12 Pil PIO P9 P8 P7 P6 PS P4 P3 P2 Pl PO so Sl 52 s e Component 20 bit Commanded Position 4 bit sub count ModeSel 11 Reserved for future PMAC writes desired position based upon commanded trajectory FPGA reads desired position at rising edge of the ClockSel a vo PMAC Commanded Position XY2 100 Interpolated Position ClockSel Phase S
67. 3 Read the Single turn data for the first channel the data would be at Y 78B20 0 24 but you have to divide the number by 16 to shift the data 4 bits to right 4 Set the Ixx79 back to its original value and issue a kill 5 The following PLC will set up the phase reference define FirstWord M1000 define STDO_19 M1002 FirstWord gt Y 78C00 0 24 STDO_19 gt define MtrlPhasePos M171 Suggested M Variable definition define MtrlPhaseSrchErr M148 Suggested M Variable definition define MeasPhaseRef 30000 Measured Single Turn Value based on the test above open ple 29 clear STDO_19 int FirstWord amp SFFFFFO 16 if STDO_19 lt MeasPhaseRef MtrilPhasePos STDO_19 MeasPhaseRef 32 Else MtriPhasePos 1048576 MeasPhaseRef STDO_19 32 EndIf MtrlPhaseSrchErr 0 disable plc 28 close Appendix A Setup Examples 114 ACC S4E User Manual 17 Bit Yaskawa Sigma II Incremental Encoder Y 78B21 Y 78B20 2 1 10 0 22 6 3 CEE EEE EEE EE EEEE eE EEEE LE Undetermined Incremental Compensation 11 bits Incremental Position in Single Turn 17 bits Encoder Conversion Table Setup for on going servo position and commutation Channel ECT Line Settings 1st Channel 1 Line 200000 Base Address 0 2 Line 011006 2nd Channel 1 Line 200000 Base Address 4 2 Line 011006 3rd Channel 1 Line 200000 Base Address 8 2 L
68. 30 Bit Data M M M S S S S S S S S S S S S S S S S 8 B 2 1 0 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 o gt Component Multi Turn Pos Single Turn Position Bit Bit Data Component Description 20 4 Sn Single Turn Bits Sn represent the bits of single turn position Position 23 21 Mn Multi Turn Bits Mn represent bits of the multi turn position Position Acc84E i Chan j SerialEncDataB is configured as follows Hex Digit _ Script Bit 23 22 21 Poos fi7 fie is mA 12 11 Jiofo9 s 7 o 5 4 3 2 1 0 Mio CBit 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 Bit Data E E E MMMMMMMMMMMMM 2 1 0 A ee 15 14 13 12 11 10 9 8 7 6 5430 47 Component TE CE EB Multi Turn Position Bit Bit Data Component Description 12 0 Mn Multi Turn Bits Mn represent the bits of multi turn position Position 21 EO EB Coding error reported by the encoder 22 El CE CRC error detected by the IC 23 E2 TE Timeout error detected by the IC Yaskawa Sigma II incremental encoder with 17 bits per revolution For an in position reporting P1 mode Acc84E i Chan j SerialEncDataA is configured as follows Hex Digit ome Script Bit 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 s 7 6 apa 3 2 1 0 FT C Bit 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 74 30 Bit Data S s S SS S S S 8S S S S S S S S Mici5 14131211109 8 765 43 2 1 oWO VY E
69. 6 ACC S4E User Manual Ongoing Commutation Phase Position For the commutation algorithm s ongoing phase position Turbo PMAC reads the entire 24 bit register specified by Ixx83 every phase cycle In order to be able to handle rollover of this data properly the most significant bit MSB of this data must end up in bit 31 of the 32 bit result shifted in ECT if necessary With most protocols no shifting is necessary but some will require a net left shift to achieve this result No Data Shifting To use serial encoder position from an ACC 84E FPGA based interface for ongoing phase position where the data is properly left shifted or it is contiguous over 24 bit register MINV BiSS B C and Mitsubishi protocols usually fit into this method unless the resolution per electrical cycle is greater than Note 16777215 22 1 as discussed below in which case data shifting method should be used Position data from serial encoder protocols SSI EnDat2 1 2 2 Sigma e Ixx83 is set based upon the following table Turbo PAMC Base Channel Address 1 2 3 4 78C00 78C00 78C04 78C08 78C0C 79C00 79C00 79C04 79C08 79COC 7AC00 7AC00 7AC04 7AC08 7ACOC 7BC00 7BC00 7BC04 7BC08 7BCOC 78D00 78D00 78D04 78D08 78D0C 79D00 79D00 79D04 79D08 79D0C 7AD00 7AD00 7AD04 7AD08 7ADOC 7BD00 7BD00 7BD04 7BD08 7BDOC 78E00 78E00
70. 7 for triggering on the rising edge of phase clock without delay Hex Digit 0 1 0 0 0 7 Script Bit 23 22 21 20 19 18 17 16 15 14 13 12 anpo 9 s 7 6 5 4 3 2 1 0 Mm CBit 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 4 3 0 Bit Value 000 0 0 0 0 1f0 0 0 Ofefefololo o 0 ofo 1 1 1 Component SerialClockMDiv SerialClockNDiv TC TE SerialTrigDelay SerialProtocol The following table lists the only Serial clock frequency setting used with Tamagawa protocol SerialClockMDiv SerialClockNDiv Serial Clock Frequency 1 01 0 0 50 0 MHz Software Setup 23 ACC S4E User Manual Panasonic Protocol The following list shows typical settings of Acc84E Z SerialEncCtrl for a Panasonic encoder The serial clock frequency is set 20 times higher than the external clock frequency which is the bit transmission frequency foin to permit oversampling of the input signal SerialClockMDiv 5 frit 1 Serial clock freq 20x bit transmission freq SerialClockNDiv 0 No further division SerialTrigClockSel 0 Use phase clock if possible SerialTrigEdgeSel 0 Use rising clock edge if possible SerialTrigDelay 0 Can increase from 0 if possible to reduce latency SerialProtocol 09 Shows Panasonic protocol is programmed into IC For example for a 2 5 MHz bit transmis
71. 79COF Chan j SerialEncDataA Y 7AC00 Y 7AC04 Y 7AC08 Y 7ACOC Chan j SerialEncDataB Y 7ACO1 Y 7AC05 Y 7AC09 Y 7ACOD ACC84E 8 74C00 Ghanfil SerialEncDataC Y 7AC02 Y 7AC06 Y 7ACOA Y 7ACOE Chan j SerialEncDataD Y 7AC03 Y 7ACO7 Y 7ACOB Y 7ACOF Chan j SerialEncDataA Y 7BCO0 Y 7BC04 Y 7BC08 Y 7BCOC Chan j SerialEncDataB Y 7BCO1 Y 7BC05 Y 7BCO9 Y 7BCOD ALERJEN PIRC Chan j SerialEncDataC Y 7BC02 Y 7BC06 Y 7BCOA Y 7BCOE Chan j SerialEncDataD Y 7BC03 Y 7BCO7 Y 7BCOB Y 7BCOF Chan j SerialEncDataA Y 78D00 Y 78D04 Y 78D08 Y 78D0C Chan j SerialEncDataB Y 78D01 Y 78D05 Y 78D09 Y 78DOD ee TEU Chan j SerialEncDataC Y 78D02 Y 78D06 Y 78DOA Y 78D0E Chan j SerialEncDataD Y 78D03 Y 78D07 Y 78D0B Y 78DOF Chan j SerialEncDataA Y 79D00 Y 79D04 Y 79D08 Y 79D0C Chan j SerialEncDataB Y 79D01 Y 79D05 Y 79D09 Y 79DOD ey 279800 Chan j SerialEncDataC Y 79D02 Y 79D06 Y 79D0A Y 79D0E Chan j SerialEncDataD Y 79D03 Y 79D07 Y 79D0B Y 79D0F Chan j SerialEncDataA Y 7AD00 Y 7AD04 Y 7AD08 Y 7AD0C Chan j SerialEncDataB Y 7AD01 Y 7AD05 Y 7AD09 Y 7ADOD ACC84E 9 7AD00 Chan j SerialEncDataC Y 7AD02 Y 7AD06 Y 7AD0A Y 7ADOE Chan j SerialEncDataD Y 7AD03 Y 7AD07 Y 7ADOB Y 7ADOF Chan j SerialEncDataA Y 7BD00 Y 7B
72. 8 JOV Z jauueyd T jauueyp JauueyD CLOCK STATUS STATUS Scanhead Galvanometer servo drive manufacturers often incorporate termination resistors on their input Please consult with the manufacturer data to identify if implementation of external Note termination resistor at the drop off point is necessary All termination resistors at the ACC 84x is necessary for transmission EF of XY2 100 protocol and compliance with RS 485 termination requirements Note Appendix B Serial link XY2 100 Protocol Support BALIG OAJIS JayaWOUeAeD peayuess 132 ACC S4E User Manual Setup Elements registers In case of other form factors users should use ACC84C i This document uses ACC 84E i in all mentions are Power PMAC fN ACC84B i and ACC84S i instead Note Multi Channel Setup Element The multi channel setup element Acc84E i SerialEncCtrl saved element in Power PMAC only and non saved in Turbo PMAC must be setup in power initialization PLC specifies several aspects of the XY2 100 configuration trigger enable the interpolation clock selection and the clock frequency The different components of this 24 bit full word element cannot be accessed as independent elements so it is necessary to assemble the full word value from the values of the individual components It is easiest to treat the value as a hexadecimal value so the individual components can be seen independently
73. 8 Y Unsiged 24 bit cmd ms0 mi199 63000B Writing the value to Global Register timer 100 msec cmd ms0 mi198 SE88800 Pointing MI199 to Channel Specific register X 8800 timer 100 msec cmd ms0 mi199 2114A0 Writing the value to Channel Specific register timer 100 msec disable plc 1 close Encoder Conversion Table Setup In order to get the serial data passed through the MACRO interface two different encoder conversion tables need to be set MACRO ECT and Ultralite ECT The Encoder Conversion Table entry for MACRO CPU uses type 2 to read parallel data from Y word where in most protocols position data or at least lower bits of the data is available The second setting is to use the result of the ECT and send it over the MACRO to Ultralite msO mi120 288800 Method 2 parallel y word read Result at 10 bit 19 set to 1 for no shifting of data 8800 channel base address msO mi121 S FFFFFF Bits Used Mask All bits are used Result at 11 ms0O mi101 11 node 0 sends result of 1st ECT entry as position Once this data is available on the MACRO node normal 24 bit Y word parallel read will be used for reading of corresponding MACRO node register 0 for on going position of the axis It is the user s choice whether or not to shift the data I18000 2F8420 Y word parallel read from 78420 Node 0 Register 0 No shift 18001 018000 24 bit wide read starting at bit 0 Once the p
74. 8C0C 79C00 Y 79C00 Y 79C04 Y 79C08 Y 79COC 7ACO00 Y 7ACO00 Y 7AC04 Y 7AC08 Y 7ACOC 7BC00 Y 7BC00 Y 7BC04 Y 7BC08 Y 7BCOC 78D00 Y 78D00 Y 78D04 Y 78D08 Y 78D0C 79D00 Y 79D00 Y 79D04 Y 79D08 Y 79D0C 7AD00 Y 7AD00 Y 7AD04 Y 7AD08 Y 7ADOC 7BD00 Y 7BD00 Y 7BD04 Y 7BD08 Y 7BDOC 78E00 Y 78E00 Y 78E04 Y 78E08 Y 78E0C 79E00 Y 79E00 Y 79E04 Y 79E08 Y 79E0C 7AE00 Y 7AE00 Y 7AE04 Y 7AE08 Y 7AE0C 7BE00 Y 7BE00 Y 7BE04 Y 7BE08 Y 7BEOC wi Turbo Encoder Conversion Table Device 0 Geo Brick Drive DEAR Select a table entry to view edit nd of Table Enty 1 ___Endot table i i First Entry of Table Done ried Y 3501 Processed Data x D ess View All Entries of Table Viewing Conversion Type Parallel pos from Y word with no filtering v Source Address 78C00 z Width in Bits 20 Offset Location of LSB at Source Address 0 5 fo Based Index Conversion Shifting of Parallel Data Normal shift 5 bits to the left C No Shifting Using the Resulting Position Information 81 ACC S4E User Manual This is a 2 line ECT entry its equivalent script code I18000 278C00 Unfiltered parallel pos of location Y 78C00 18001 014000 Width and Offset Processed result at 3502 Typically the position and velocity pointers are set to the processed data address e g 3502 With Single turn or linear resolutions less than 20 bits the position
75. A6 A7 Multi turn Error ME When any bit of Multi Turn signal is jumped during Main Power is on logic 1 comes out During Main Power is off it is not executed The check for bit jumping is performed in each 12 8sec Use error reset mode s to clear this latched error Battery Error BE When the voltage of capacitor integrated in the encoder is 2 5 0 2 V or less during Main Power is off logic 1 is generated and can be transmitted after Main Power is turned on Multi Turn error nay be occurred at same time with it Error Reset and Multi turn Data Reset Needed to check or replace Battery Battery Alarm BA When the voltage of External Battery is 3 1 0 1 V or less during Main Power is on logic 1 comes out Returning the voltage of External battery to normal the error status is automatically released Status Code Description Bit Bit State when Description Data error is occurred 16 S4 1 cal Demiliter error in Request Frame 17 S5 1 ca0 Parity error in Request Frame 18 S6 1 eal Logic OR of Multi turn error Battery error or Battery alarm check alarm word for identification of exact alarm 19 S7 1 ea0 Counting error Software Setup 55 ACC S4E User Manual Panasonic Protocol For a Panasonic encoder with 17 bits per revolution Acc84E i Chan j SerialEncDataA is configured as follows if single turn data has more resolution higher bits include data
76. BLACK Front top and 00 No Additional Options 03 EnDat 2 2 Protocol bottom plates Standard xx Factory assigned digits 06 Yaskawa Sigma II amp Ill amp V for Additional Options 07 Tamagawa Protocol F BLACK Front plate only F Asal z 08 Panasonic Protocol Order as Spare Only actory Assigned Options 09 Mitutoyo Protocol 0B BISS B amp C Protocol R SILVER Front top and OC Matsushita Protocol bottom plates OD Mitsubishi Protocol A SILVER Front plate only Order as Spare Only Serial Protocol Options Plate Options If Any Additional Option is required contact factory for digits K and L Factory Assigned digits Specifications 10 ACC S4E User Manual HARDWARE SETUP The ACC 84E uses expansion port memory locations defined by the type of PMAC Power Turbo or MACRO to which it is directly communicating Addressing the ACC 84E The Switch 1 SW1 settings will allow you to select the starting address location for data from the first encoder Data from encoders 2 through 4 will be placed at 4 memory locations from the base address and so on and so forth Base Address SW1 Positions Chip Select TURBO MACRO POWER 6 5 4 3 2 1 Y 78C00 Y 8800 ACC84E 0 ON ON ON ON ON ON aca Y 79C00 Y 9800 ACC84E 4 ON ON ON OFF ON ON Y 7AC00 Y A800 ACC84E 8 ON ON OFF ON ON ON
77. Based Serial Encoder Interface platform The implementation of X Y2 100 is based upon XY2 100 Serial Link 1 Specification by General Scanning GSI and expanded to support 18 and 20 bit data formats This protocol is available on the following implementations of ACC 84x Series ACC 84E UMAC both Turbo and Power PMAC ACC 84C Compact UMAC or CPCI both Turbo and Power PMAC ACC 84S Turbo PMAC2A PC104 Turbo Clipper and Power Clipper ACC 84B Power Brick Auxiliary Input for Turbo Brick Signal Description provide a better understanding of the implementation The XY2 100 option of ACC 84x automatically generates proper signals and their Note timings defined by XY2 100 protocol The information provided in this section is only for reference and to fN The XY2 100 Serial Link or XYZ 100 uses 5 6 in case of XYZ 100 signals for communication between the trajectory generation engine ACC 84x and PMAC and the scanhead galvanometer servo drive CLOCK SYNC X Y Z DATA STATUS XY2 100 Timing Diagram Clock The Clock is transmitted by the position data generator ACC 84x 20 cycles per frame Its nominal frequency is 2MHz With 2MHz clock and 20 cycles per frame the position data frame is updated every 10ps For most galvanometers the standard internal controller update rate is 20s for smaller galvanometers the update rate is 10us for larger inertias a 401s update rate may be needed Appendix B Serial link XY
78. C unidirectional protocols the SerialEncCmdWord component of Acc84E i Chan j SerialEncCmd specifies the CRC polynomial used for error detection when the position and status data are reported This is an 8 bit mask value M that can define any 4 bit to 8 bit CRC polynomial It must be set up to match the polynomial used for the particular BiSS encoder The mask bits M to Mo represent the coefficients for the terms x to x respectively in the CRC polynomial Mzz Me Msx Max Max Mox Mix Mox 1 The coefficient for x in a CRC polynomial is always 1 and so is not included in the mask A mask with all zeros is used to indicate that no CRC bits are included with the encoder data For example if the encoder uses a CRC polynomial of xf x 1 as with the Renishaw Resolute encoders the CRC mask value M should be set to 00100001 bits M and Mp set to 1 or 21 For the BiSS protocol the SerialEncParity component of Acc84E i Chan j SerialEncCmd is used to distinguish between the BiSS B and BiSS C protocol variants Bit 1 of the component bit 15 of the 24 bit element is set to 0 for BiSS C and to 1 for BiSS B BiSS C provides a zero bit between the start bit and the position data BiSS B does not Hengstler Acuro Drive is an example of encoders supporting BiSS B unidirectional protocol Bit 0 of the component bit 14 of the 24 bit element is only used for BiSS B If it is set to 1 it permits the acc
79. D04 Y 7BD08 Y 7BDOC Chan j SerialEncDataB Y 7BD01 Y 7BD05 Y 7BD09 Y 7BDO0D ACC84E 13 7BD00 Ghan j SerialEncDataC Y 7BD02 Y 7BD06 Y 7BDOA Y 7BDOE Chan j SerialEncDataD Y 7BD03 Y 7BD07 Y 7BDOB Y 7BDOF Chan j SerialEncDataA Y 78E00 Y 78E04 Y 78E08 Y 78EOC Chan j SerialEncDataB Y 78EO1 Y 78E05 Y 78E08 Y 78EOD el EU Chan j SerialEncDataC Y 78E02 Y 78E06 Y 78E09 Y 78E0E Chan j SerialEncDataD Y 78E03 Y 78E07 Y 78E0A Y 78E0F Chan j SerialEncDataA Y 79E00 Y 79E04 Y 79EOB Y 79E0C Chan j SerialEncDataB Y 79EO1 Y 79E05 Y 79EOC Y 79EOD ea 79E00 Chan j SerialEncDataC Y 79E02 Y 79E06 Y 79EOD Y 79EOE Chan j SerialEncDataD Y 79E03 Y 79EO7 Y 79EOE Y 79EOF Chan j SerialEncDataA Y 7AE00 Y 7AE04 Y 7AE08 Y 7AE0C Chan j SerialEncDataB Y 7AE01 Y 7AE05 Y 7AE09 Y 7AEOD ACE Erg ea Chan j SerialEncDataC Y 7AE02 Y 7AE06 Y 7AE0A Y 7AE0E Chan j SerialEncDataD Y 7AE03 Y 7AE07 Y 7AE0B Y 7AE0F Chan j SerialEncDataA Y 7BE00 Y 7BE04 Y 7BE08 Y 7BE0C Chan j SerialEncDataB Y 7BE01 Y 7BE05 Y 7BE09 Y 7BE0D ACC84E 14 7BE00 Ghan j SerialEncDataC Y 7BE02 Y 7BE06 Y 7BE0A Y 7BE0E Chan j SerialEncDataD Y 7BE03 Y 7BE07 Y 7BE0B Y 7BE0F Software Setup 46 ACC S4E User Manual
80. ECT with lower resolution Motor power on phase position format Ixx91 setting depends on your settings for commutation specific ECT entry Encoder Resolution ECT 2 line Ixx91 18 bits 12000 520000 26 bits 17003 570000 32 bits 17009 570000 The following procedure explains that finding Ixx75 is done only once per channel while setting up the machine for the first time assuming the mechanics and electronics are not to be changed and have not failed been replaced or repaired 1 Set Ixx79 500 and Ixx29 500 The sign of value assigned to Ixx79 should match the sign of Ixx70 and sign of value for Ixx29 is always opposite to Ixx79 2 Increase these values by increments of 100 until motor is locked in to a position when OO is issued Acceptable range for Ixx79 and Ixx29 is 0 to Ixx57 continuous current limit Issue a nOO wait for motor to stop moving Set Ixx29 0 wait for motor to stop moving Set Mxx71 to zero see suggested M variables Read position data from ECT X word where Ixx81 and Ixx83 are pointing use RX command For example RX 3504 7 Set Ixx75 to the negative of the value read in step 6 multiplied by Ixx70 modulo Ix71 Ixx75 Position Read While at Zero Phase x Ixx70 Ixx71 8 Set Ixx79 0 9 Issue a nK to kill the motor The following examples are for typical encoder resolutions available on BiSS C protocol An amp Ye Renishaw Resolute Rotary Encoder
81. GA implementation of EnDat 2 1 2 2 Higher serial clock but transmission frequency is only supported for AX in ACC 84E does not have the delay compensation feature Note The following list shows typical settings of Acc84E Z SerialEncCtrl based upon the additional clock switch for an EnDat encoder The the bit transmission frequency foir mz is fixed at 1 4 of the external clock frequency SerialClockMDiv 25 fo 1 Serial clock freq 4x bit transmission freq SerialClockNDiv 0 No further division SerialDivSelect 0 Selects higher clock frequency selection SerialTrigClockSel 0 Use phase clock if possible SerialTrigEdgeSel 0 Use rising clock edge if possible SerialTrigDelay 0 Can increase from 0 if possible to reduce latency SerialProtocol 03 Shows EnDat protocol is programmed into IC For example for a 5 0 MHz bit transmission rate SerialClockMDiv 25 5 1 4 04 and Acc84E i SerialEncCtrl is set i 040803 r triggering mn the rising oe of phase clock Palat delay Hex Digit 0 3 Script Bit 23 22 21 20 19 18 a 16 15 14 E 12 11 m 8 76 3 4 3121 o C Bit 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 74 30 Bit Value 000 0 0 0 0 ijo 0 0 Oftfesfoflolo o o ofo 0 1 1 Component SerialClockMDiv SerialClockNDiv DS TC TE SerialTrigDel
82. Hex Digit l l Script Bit 23 222120 19 18 17 16 15 14 13 12 11J10 9 8 7 e6 5 4 3 2 Mo CBit 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 74 30 Bit Value S Ss S S S S S S S S S S S S S S S S 17 16 15 14 13 12 11 10 9 8 7 6 5432 OO Component Single Turn Position Software Setup 63 ACC S4E User Manual Single Turn Data in Upper 20 Bits of 24 Bit Word 32 for reporting single turn and multi turn data Hex Digit l Script Bit 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 o 5 4 3 2 i1 o C Bit 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 74 30 Bit Value S Ss S S S S S S S S S S S S S S eee bene 8S sss oe Component Single Turn Position This method of reporting provides the best contiguous data between single turn and multi turn data which can be very useful in both Turbo and Power PMAC Power on Servo Position retrieval process using built in functionality For a Mitsubishi HG O encoder with 16 bits of multi turn count Acc84E i Chan j SerialEncDataB is configured as follows
83. N INFORMATION ccccssssssssccssssssssssssccccssssssees 66 Using the ACC 84E with Power PMAC ciicicicsacecniorsincaincadenitenisbedienidentiasiesdiediesimeniianiies 66 Ongoing Commutation Phase Position s ssccsscsrocsracsaaceracsnassracscaceancsnacsaateanstinsssadsrossnacsaadoandonas 66 Power On Commutation Phase PF OSIHIOM ss sictsssansncasstatalassaasvabasdasudigaaaiacabetadelaasiasatbaadgielaueaatids 67 Ongoing SOPVOL GST OM vrs cscsnacsdataadtrnaianaisoaiandinnaiancindadapacsnatanardaiandinnaiancindaiaaassneiasamabianainnnins 67 Power On Servo Position sissaasdssedeashaslinssdaiedaasaanieaabdaaedassbaniaaptdasedaahaaniiagedesedaasbanidapedaaedaasbanbds 68 Using the ACC 84E with Turbo PMAC asasasisnseseinessarnvanaiesnseaniuutiaastianddeceseasdemunstacnasnaneas 69 Setup SUMMAI sssaaa a aaea a a Eada a tiie eea tiea a Eedi tiaia a Eana 70 Technique 1 Example ricsei EE EEE EERE 72 Technique 2 ONG insietananunununinamintaenaannanaRa anna 76 Technique 3 Example ris enceututl ns c2cusaqnmea ed osedruinarae lod e REES a ea 8l Using the ACC 84E with MACAO sssnscssssanscisesarccapitannesnenatapaaeieasnapaaaaaaiausd 93 Addressing and Register Addresses a ssesasassutasvasninsasdaantaeasiendansdsuatdadasndensdsnadentacnbiapsassataavaanies 93 Setting up the Global and Channel Registers on Power Up nesssssesenesesssesesesssssssssss 94 Encoder Conversion Table Setup haaicawsiayaeatva bbe uaa abla Rae aladdin calendar bals caasbacsa 94 Absolute Power
84. On Phasing and Servo Power on POSItiONn 1ccccseseeeeeeeeeeeeeeeeetenesnseaaaaaaaes 95 APPENDIX SETUP EXAMPLES upa unnn emai 97 SSI Feedback Setup EXA MPlE ti criiceticericeheainicedictaoeaeaneati eiii 98 Table of Contents vi ACC S4E User Manual Multi Channel Setup Element iscsi taviiaescaiatasiianiirs amidase arias eeariaaiumanananabinianeia 98 Single Channel Setup PCC sa csnsssaneuasduarernvaveneaniansneaniasemanidasneananaanuanaeamnasanandanaannameneaan 98 Brushless Motor with SSI Feedback Setup Notes cccccccccccccccccecccccccececccecceeecceceseeeeeseseseeeees 98 EnDat 2 2 Feedback Setup EXAMS siccnminemocncncnweesnecietiencheiceernast 101 Absolute phase and power up reset position s10ssssseeeeseeeseeeesssssssssaaaaaaaaaaaaaaaaasaaasaaaaaaaaea 102 EnDat 2 2 with Incremental Encoders so sscunsivrsansadosaseiaderasanadetasniabenasunadotasebaderasanadepaanbabonatee 102 EnDat 2 2 Reference Mark Setup Example is wscasawssacadiaranniaiiarsuncsllacacstaiaraepbliaraanialiarsamiliacsadian 104 Yaskawa Sigma II III V Feedback Setup Example cc seecceeeeeeeeeeeeeeeeeeeeeeeeees 107 Channel Control Register Setup for Position R A cccccccccccccccececeeeceeeceeececeeseeceeseeeeeeess 107 Encoder Specific Seting S oi siisschivsscsarestiessinsadeaareetiessietaiea me easieasia EEE EEE EER 108 BiSS G Feedback Setup Exa mMpleissirrisiinsiseiieinisisaisnseinsi eiridinn 122 Commutation with High Resolution Encoders mo
85. Protocol 09 Shows Mitutoyo protocol is programmed into IC For example for a 2 5 MHz bit transmission rate SerialClockMDiv 5 2 5 1 1 01 and Acc84E i SerialEncCtrl is set to 010009 for triggering on the rising edge of phase clock without delay Hex Digit 0 1 0 0 0 9 Script Bit 23 22 21 20 19 18 17 16 15 14 13 12 anpo 9 s 7 6 5 4 3 2 1 0 Mm CBit 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 4 3 0 Bit Value 000 0 0 0 0 1f0 0 0 Ofefefololo o 0 ofi 0 0 1 Component SerialClockMDiv SerialClockNDiv TC TE SerialTrigDelay SerialProtocol The following table lists the only Serial clock frequency setting used with Mitutoyo protocol SerialClockMDiv SerialClockNDiv Serial Clock Frequency 1 01 0 0 50 0 MHz Software Setup 25 ACC S4E User Manual BiSS B C Unidirectional Protocol The following list shows typical settings of Acc84E i SerialEncCtrl for a BiSS B or BiSS C unidirectional encoder SerialClockMDiv 100 fri 1 Serial clock frequency bit transmission frequency SerialClockNDiv 0 No further division unless f lt 400 kHz SerialTrigClockSel 0 Use phase clock if possible SerialTrigEdgeSel 0 Use rising clock edge if possible SerialTrigDelay 0 Can increase from 0 if possible to reduce latency SerialProtoc
86. SS B C Unidirectional Matsushita Mitsubishi Mitsubishi Serial Encoder Protocol for HG X Servo Motors Each ACC 84E can only support one of the protocols mentioned above for all four channels If the customer has two different serial protocols in the system two separate ACC 84E cards should be used Since ACC 84E is strictly a feedback input card if the feedback is intended to be used as the feedback for closed loop servo control the servo command should be sent out to the amplifier using a UMAC axis interface card depending on the signal and control type required by amplifier Here is a list of possible axis interface cards available for UMAC systems ACC 24E2 Digital amplifier breakout w TTL encoder inputs or MLDT ACC 24E2A Analog amplifier breakout w TTL encoder inputs or MLDT ACC 24E2S Stepper amplifier breakout w TTL encoder inputs or MLDT ACC 24E3 Analog Digital Output Power PMAC Compatible Only Up to 12 ACC 84E boards can be connected to one UMAC providing up to 48 channels of serial encoder feedback Because each MACRO Station CPU can service only eight channels of servo data only two fully populated ACC 84E boards can be connected to the MACRO Station The ACC 84E board will take the data from the serial encoder and process it as up to four 24 bit binary parallel words depending on protocol specifications This data can then processed in the UMAC or MACRO Station encoder conversion table for position and velocity feedback Wit
87. Sel 0 Use phase clock if possible SerialTrigEdgeSel 0 Use rising clock edge if possible SerialTrigDelay 0 Can increase from 0 if possible to reduce latency SerialProtocol 0C Shows Matsushita protocol is programmed into IC For example for a 2 5 MHz bit transmission rate SerialClockMDiv 5 2 5 1 1 01 and Acc84E i SerialEncCtrl is set to 01000C for triggering on the rising edge of phase clock without delay Hex Digit 0 1 0 0 0 c Script Bit 23 22 21 20 19 18 17 16 15 14 13 12 MMMo o s 7 6 5 4l3l2 ilo F C Bit 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 io Bit Value 000 0 00 0 ilo 0 0 ofi lololo o 0 of1 1 0 Off Je Component SerialClockMDiv SerialClockNDiv TC TE SerialTrigDelay SerialProtocol The following table lists the only Serial clock frequency setting used with Matsushita protocol SerialClockMDiv SerialClockNDiv Serial Clock Frequency 1 01 0 0 50 0 MHz Software Setup 27 ACC S4E User Manual Mitsubishi Protocol The following list shows typical settings of Acc84E Z SerialEncCtrl for a Mitsubishi serial encoder The serial clock frequency is set 20 times higher than the external clock frequency which is the bit transmission frequency fpin to permit oversampling of the input signal SerialClockMDiv 5 frit 1 Ser
88. Set Status as 1 then jog stop this is redundant Desired Vel Wait for motor to settle MtriDesVel MtrlDesVel_unit 3 I108 32 MtrlDesVel_fraction 1677216 Check Velocity while waiting EndWhile Position 2 Data Value read 16612 10 8388607 110 While 16612 gt 0 Or MRS code 2 EndWhile If MRS_code 2 Pos2_Low SerialEncDataC_AddInfo SerialEncDataA_Capt SerialEncDataA SerialEncDataB Capt SerialEncDataB amp O0FFFF Else FaultFlag 1 EndIf Ch1EnDatCtr1 431418 16612 10 8388607 110 While 16612 gt 0 Or MRS code 3 EndWhile If MRS_code 3 And FaultFlag 0 Pos2_Mid SerialEncDataC_AddInfo Else FaultFlag 1 EndIf Ch1EnDatCtr1 441418 16612 10 8388607 110 While 16612 gt 0 Or MRS code 4 Endwhile 10 msec delay for Data C Timeout Or when MRS code is 2 When MRS code is 2 Read Word 1 for Position 2 Read DataA for Position 1 Read DataB for Position 1 Timeout fault Request Info in DataC Pos 2 Word 2 10 msec delay for Data C Timeout Or when MRS code is 3 When MRS code is 3 Read Word 2 for Position 2 es Timeout fault Request Info in DataC Pos 2 Word 3 10 msec delay for Data C Timeout Or when MRS code is 4 Appendix A Setup Examples 105 ACC S4E User Manual If MRS code 4 And FaultFlag 0 When MRS code is 4 Pos2_High SerialEncDataC_AddInfo Read Word 3 for Position 2 Else FaultF
89. The 1 bit component SerialEncTrigEna specifies whether the encoder is to be sampled or not A value of 0 specifies no sampling a value of 1 enables sampling of the encoder If sampling is enabled with SerialEncTrigMode at 0 the encoder will be repeatedly sampled every phase or servo cycle as set by the multi channel element Acc84E i SerialEncCtrl as long as SerialEncTrigEna is left at a value of 1 However if sampling is enabled with SerialEncTrigMode at 1 the encoder will be sampled just once and the ACC 84E s IC will automatically set SerialEncTrigEna back to 0 after the sampling The 1 bit component SerialEncGtoB specifies whether the data returned in SSI protocol undergoes a conversion from Gray format to numerical binary format or not A value of 0 specifies that no conversion is done a value of 1 specifies that the incoming data undergoes a Gray to binary conversion The 1 bit component SerialEncEna SerialEncDataReady has separate functions for writing to and reading from the register When writing to the register this bit represents SerialEncEna which enables the driver circuitry for the serial encoder This bit must be set to 1 to use any protocol of serial encoder on the channel If there is an alternate use for the same signal pins this bit must be set to 0 so the encoder drivers do not conflict with the alternate use Note that you cannot read back the value you have written to this bit When reading from the register you get th
90. The following diagram shows the time lines for the possible configurations Software Setup 15 ACC S4E User Manual Phase Clock Used Pe AETR Used2 Used t 4 TD Xmit TD2 Xmite Used Servo Clock t 2 k TD cl Xmit i Used t 3 k TD us Xmity Used t Trigger select code clock and edge TD Trigger delay from edge for cycle n Xmit Data transmission for cycle n Used Data used by software for cycle n Serial Encoder Interface Timing The SEIGATE FPGA on the ACC 84E UMAC board has a multi channel setup element that affects all channels on the IC and a single channel setup element for each channel This section describes the setup elements for the serial encoder interface in general terms Detailed information for each serial encoder protocol can be found in the following reference chapters of the manual This section describes the setup of the FPGA based elements using the eS Acc84E i data structure If you are using the FPGA base serial encoder interface in the Power Brick substitute Acc84B i for Note Acc84E i Software Setup 16 ACC S4E User Manual Multi Channel Setup Element The multi channel setup element Acc84E i SerialEncCtrl saved element in Power PMAC only and non saved in Turbo PMAC must be setup in power initialization PLC specifies several aspects of the serial encoder configuration for all four channels of the IC the protocol the trigger
91. Type Parallel position from Y word with no filtering e Width in Bits Single turn absolute resolution in bits e g 25 bits e Offset Location of LSB leave at zero e No shifting e Source Address serial data register A see table below e Remember to click on Download Entry for the changes to take effect Turbo PAMC Base Address Channel 1 2 3 4 78C00 Y 78C00 Y 78C04 Y 78C08 Y 78COC 79C00 Y 79C00 Y 79C04 Y 79C08 Y 79COC 7AC00 Y 7AC00 Y 7AC04 Y 7AC08 Y 7ACOC 7BC00 Y 7BC00 Y 7BC04 Y 7BCO08 Y 7BCOC 78D00 Y 78D00 Y 78D04 Y 78D08 Y 78D0C 79D00 Y 79D00 Y 79D04 Y 79D08 Y 79D0C 7AD00 Y 7AD00 Y 7AD04 Y 7AD08 Y 7AD0C 7BD00 Y 7BD00 Y 7BD04 Y 7BD08 Y 7BDOC 78E00 Y 78E00 Y 78E04 Y 78E08 Y 78E0C 79E00 Y 79E00 Y 79E04 Y 79E08 Y 79E0C 7AE00 Y 7AE00 Y 7AE04 Y 7AE08 Y 7AEOC 7BE00 Y 7BE00 Y 7BE04 Y 7BE08 Y 7BEOC i Turbo Encoder Conversion Table Device CoR Select a table entry to view edit End of Table Download Entry Entry 1 ____EnstEnty of Table ____EnstEnty of Table of Table Eevi Y 3501 Procersod Data x ine xed View All Entries of Table Viewing Conversion Type Parallel pos from Y word with no filtering Source Address 7800 z Width in Bits 25 Offset Location of LSB at Source Address 0 fg fo Based Index Conversion Shifting of Parallel Data Cc Normal shit 5 bits to the left Using the Resulting Position Info
92. USER MANUAL Accessory 84E DELTA TAU Data Systems Inc NEW IDEAS IN MOTION Single Source Machine Control Sen wencecnenconcenccucsccensuscascucrssccssesececccuscsssusersesccesescarseses Power Hf Flexibility A Ease of Use 21314 Lassen St Chatsworth CA 91311 Tel 818 998 2095 Fax 818 998 7807 www deltatau com ACC S4E User Manual Copyright Information 2015 Delta Tau Data Systems Inc All rights reserved This document is furnished for the customers of Delta Tau Data Systems Inc Other uses are unauthorized without written permission of Delta Tau Data Systems Inc Information contained in this manual may be updated from time to time due to product improvements etc and may not conform in every respect to former issues To report errors or inconsistencies call or email Delta Tau Data Systems Inc Technical Support Phone 818 717 5656 Fax 818 998 7807 Email support deltatau com Website http www deltatau com Operating Conditions All Delta Tau Data Systems Inc motion controller products accessories and amplifiers contain static sensitive components that can be damaged by incorrect handling When installing or handling Delta Tau Data Systems Inc products avoid contact with highly insulated materials Only qualified personnel should be allowed to handle this equipment In the case of industrial applications we expect our products to be protected from hazardous or conductive
93. Use error reset mode s to clear this latched error Al Full Absolute Status FS When Main Power is turned on during the shaft of the encoder is rotated at more than 100 rpm logic 1 comes out The accuracy of One Revolution data is 5 bits during logic 1 comes out As One Revolution data returns to 17 bits resolution this error status is automatically released For clearing the alarm bit slow rotational speed down less than 100 rpm and wait to release the error status 10 A2 Counting Error CE When One Revolution data is wrong because of any mal function or defect during Main Power is on logic 1 comes out depending upon the following I or II I Error is detected at each mechanical angle of 45 during the shaft rotational speed is more than 100 rpm The error status is automatically released by returning the deviation of mechanical angle within 22 5 typ IL Error is always detected during the shaft rotational speed is less than 100 rpm If the deviation of mechanical angle is more than 0 7 typ logic 1 comes out In this case use error reset mode s to clear this latched error 11 A3 Counter Over flow OF When Multi Turn counter is overflown logic 1 comes out Detecting it during Main Power is off it can be transmitted after Main Power is turned on Detecting it once it is kept till Error Reset While the counter counts 0 65 535 cyclically 12 A4 13 14 15 AS
94. Word component is set to 7A and triggered for 10 consecutive cycles with 222 1 Ousec interval the encoder motor ID is sent back from encoder to controller In order to exit from this mode any other mode command 02 8A 92 A2 2A 32 should be triggered for 10 consecutive cycles with 222 1 Ousec interval after which normal cyclic position reporting could be resumed This should be done in one shot mode making the element equal to 7A3400 and triggered for 10 consecutive cycles with 222 microseconds interval Once encoder ID is retrieved any other mode command for example 323400 should be triggered for 10 consecutive cycles with 222 1 Ousec interval to exit the encoder ID reporting mode When the reset operation is done the component should report as BA2000 7A2000 respectively Software Setup 44 ACC S4E User Manual Hardware Status Data Structure Status elements of ACC 84E are read only elements where the received data and status flags are written by FPGA at every trigger event There are no global status registers and only channel specific registers are defined Single Channel Status Elements Some aspects of the serial encoder such as position data alarm encoder ID and some additional information can be read individually for each channel The type of data which can be read from these single channel status elements is dependent on each specific protocol and mode of operation within the same protocol as di
95. Y 78E00 Y 78E04 Y 78E08 Y 78E0C Chan j SerialEncDataB Y 78E01 Y 78E05 Y 78E08 Y 78EOD ACC84E 2 78E00 Ghan j SerialEncDataC Y 78E02 Y 78E06 Y 78E09 Y 78E0E Chan j SerialEncDataD Y 78E03 Y 78E07 Y 78EOA Y 78EOF Chan j SerialEncDataA Y 79E00 Y 79E04 Y 79EOB Y 79EOC Chan j SerialEncDataB Y 79EO1 Y 79E05 Y 79EOC Y 79EOD ACC84E 6 7900 Ghanfj SerialEncDataC Y 79E02 Y 79E06 Y 79E0D Y 79E0E Chan j SerialEncDataD Y 79E03 Y 79E07 Y 79EOE Y 79EOF Chan j SerialEncDataA Y 7AE00 Y 7AE04 Y 7AE08 Y 7AEOC Chan j SerialEncDataB Y 7AE01 Y 7AE05 Y 7AE09 Y 7AEOD eee aU ABU Chan j SerialEncDataC Y 7AE02 Y 7AE06 Y 7AE0A Y 7AE0E Chan j SerialEncDataD Y 7AE03 Y 7AE07 Y 7AE0B Y 7AE0F Chan j SerialEncDataA Y 7BE00 Y 7BE04 Y 7BE08 Y 7BE0C Chan j SerialEncDataB Y 7BE01 Y 7BE05 Y 7BE09 Y 7BEOD ACCEL a Chan j SerialEncDataC Y 7BE02 Y 7BE06 Y 7BEOA Y 7BEOE Chan j SerialEncDataD Y 7BE03 Y 7BE07 Y 7BEOB Y 7BEOF The FPGA always writes full 24 bit registers Acc84E i Chan j SerialEncDataA for j equal to 0 1 and 2 as signed 24 bit interpolated position command for axis X Y and Z on the falling edge of interpolation Appendix B Serial link XY2 100 Protocol Support 140 ACC S4E User Manual clock SYNC This data is purely for use as simulated feedback
96. Y 7ACO7 Y 7ACOB Y 7ACOF Chan j SerialEncDataA Y 7BCO0 Y 7BC04 Y 7BC08 Y 7BCOC Chan j SerialEncDataB Y 7BC01 Y 7BC05 Y 7BCO9 Y 7BCOD ACC84E 12 7BC00 Ghan j SerialEncDataC Y 7BC02 Y 7BC06 Y 7BCOA Y 7BCOE Chan j SerialEncDataD Y 7BC03 Y 7BC07 Y 7BCOB Y 7BCOF Chan j SerialEncDataA Y 78D00 Y 78D04 Y 78D08 Y 78D0C Chan j SerialEncDataB Y 78D01 Y 78D05 Y 78D09 Y 78DOD OEL SAEN SDD Chan j SerialEncDataC Y 78D02 Y 78D06 Y 78DOA Y 78DOE Chan j SerialEncDataD Y 78D03 Y 78D07 Y 78DOB Y 78DOF Chan j SerialEncDataA Y 79D00 Y 79D04 Y 79D08 Y 79D0C Chan j SerialEncDataB Y 79D01 Y 79D05 Y 79D09 Y 79DOD ROUSE WAD Chan j SerialEncDataC Y 79D02 Y 79D06 Y 79DOA Y 79D0E Chan j SerialEncDataD Y 79D03 Y 79D07 Y 79D0B Y 79D0F Chan j SerialEncDataA Y 7AD00 Y 7AD04 Y 7AD08 Y 7AD0C Chan j SerialEncDataB Y 7AD01 Y 7AD05 Y 7AD09 Y 7ADOD A SEIR aLa Chan j SerialEncDataC Y 7AD02 Y 7AD06 Y 7ADOA Y 7ADOE Chan j SerialEncDataD Y 7AD03 Y 7AD07 Y 7ADOB Y 7ADOF Chan j SerialEncDataA Y 7BD00 Y 7BD04 Y 7BD08 Y 7BDOC Chan j SerialEncDataB Y 7BD01 Y 7BD05 Y 7BD09 Y 7BD0D ACC84E 13 7BD00 Ghan j SerialEncDataC Y 7BD02 Y 7BD06 Y 7BDOA Y 7BDOE Chan j SerialEncDataD Y 7BD03 Y 7BD07 Y 7BDOB Y 7BDOF Chan j SerialEncDataA
97. ack as CA1000 if the ready status bit is not set Hex Digit C A 1 4 0 0 Script Bit 23 22 21 20 19 18 17 16 p5 13 12 Mi loots a es as 2 1 o faye CBit 31 30 29 28 27 26 25 24 2322 21 20 19 18 7m6 ms mms mo 9 8 o Bit Value 1 1 0 0 1 O 1 OO OJOJ S Ii pa 0 0 0 0O Component SerialEncCmdWord Parity TM TE GB Ena Reserved EncoderID Matsushita protocol supports two modes of communication independent and continuous In Delta Tau s implementation of this protocol only the independent communication is supported where the ID of the request packet should match the ID of the encoder If the SerialEncCmdWord component is set to 9A for single turn position reporting first 16 bits of single turn data Acc84E i Chan j SerialEncCmd would be set to 9A1400 It may report back as 9A1000 if the data ready status bit is not set If the SerialEncCmdWord component is set to A2 for multi turn position plus MSB of single turn data reporting 15 bits of multiple turn data bit 17 of single turn data Acc84E i Chan j SerialEncCmd would be set to A21400 It may report back as A21000 if the data ready status bit is not set If the SerialEncCmdWord component is set to AA for Alarm code data reporting Acc84E i Chan j SerialEncCmd would be set to A4A1400 It may report back as 4A1000 if the data ready status bit is not set If the SerialE
98. angle position at power up for the commutation algorithms Doing this requires assigning proper values to several saved setup elements This section gives an overview of those settings details can be found in the element descriptions in the Software Reference Manual the Setting Up Commutation chapter of the User s Manual and the Hardware Reference Manual for the interface In addition the motor setup routines in the IDE software will walk you through this setup To use serial encoder position from an ACC 84E FPGA based interface for absolute power on phase position the following saved setup elements must be specified e Motor x pAbsPhasePos Acc84E i Chan j SerialEncDataA a e Motor x AbsPhasePosFormat aabbccdd Protocol specific settings e Motor x AbsPhasePosSf 2048 LSBs per commutation cycle e Motor x AbsPhasePosOffset Difference between sensor zero and commutation zero For the format variable the LSB of the encoder data is typically found in bit 8 of the 32 bit register and only enough bits to cover a single commutation cycle need to be used However it does not hurt to specify more bits than are required It is seldom required to use data from the next register Using the Resulting Position Information 90 ACC S4E User Manual Ongoing Servo Position To use the serial encoder position for ongoing servo position the data must first be processed in the encoder conversion table This is done with a Ty
99. ata the approach is very simple and it uses the internal Ixx10 and Ixx95 settings of the Turbo PMAC in order to read all the position bits and assign them to actual position The required values for Ixx10 depend on the base address of the card and channel number as shown in the table below Base Ixx10 Ixx10 Ixx10 Ixx10 Address For 1 For 2 For 3 For 4 channel channel channel channel 78C00 78C00 78C04 78C08 78COC 79C00 79C00 79C04 79C08 79COC 7AC00 7AC00 7AC04 7AC08 7ACOC 7BC00 7BC00 7BC04 7BC08 7BCOC 78D00 78D00 78D04 78D08 78D0C 79D00 79D00 79D04 79D08 79D0C 7AD00 7AD00 7AD04 7AD08 7ADOC 7BD00 7BD00 7BD04 7BD08 7BDOC 78E00 78E00 78E04 78E08 78E0C 79E00 79E00 79E04 79E08 79E0C 7AE00 7AE00 7AE04 7AE08 7AE0C 7BE00 7BE00 7BE04 7BE08 7BE0C Setting of Ixx10 causes the PMAC to read the data in the address location as servo position upon execution of or command or upon power on reset if bit 2 of Ixx80 is set to 1 However Ixx95 needs to be setup in order to identify how to read the position data from register defined by Ixx10 Since the data is in parallel format and in Y memory bits 16 to 21 of Ixx95 defines the length of the data For example Position Bits Ixx95 Setting 18 120000 26 1A000 32 200000 No Shift Position Data If the position data is not shifted in ECT which
100. ata must end up in bit 23 of the 24 bit result In some cases the data needs to be shifted in order to move the MSB of position data single turn position data in most cases to bit 23 of the 24 resulting register Mitutoyo Matsushita usually fit into this method in addition to cases where the resolution per electrical cycle is greater than 16777215 Note 22 1 and data shifting method should be used Position data from serial encoder protocols Tamagawa Panasonic AX Shifting Up MSB of Real Data In most cases with Tamagawa Panasonic Mitutoyo Matsushita protocols the MSB of the real position data is not at bit 23 of the 24 bit register which is required for Turbo PMAC in order for it to properly handle the roll over In these cases the data should be shifted in the Encoder Conversion Table ECT and the result of ECT can be used at commutation feedback 23 17 16 0 EZ 23 7 6 0 ECT Data Shifting Example In these cases a Y memory Parallel Read method is used in Encoder Conversion Table This entry is a two line entry where the first entry defines the source of the data and shift in resulting data and the second line determines the location of the real position data in the source register The following table shows the typical values for this ECT entry Using the Resulting Position Information 88 ACC S4E User Manual 1 line Source register and result shift no shift
101. ay SerialProtocol Software Setup 21 ACC S4E User Manual The following table lists a few common Serial clock frequency settings used with EnDat2 1 2 2 protocol SerialClockMDiv SerialClockNDiv Serial Clock Freq Bit Transmission Freq 1 01 0 0 50 0 MHz 12 5 MHz 2 02 0 0 33 33 MHz 8 33 MHz 3 03 0 0 25 0 MHz 6 25 MHz 4 04 0 0 20 0 MHz 5 0 MHz 5 05 0 0 16 66 MHz 4 16 MHz Yaskawa Sigma II III V Protocol The following list shows typical settings of Acc84E Z SerialEncCtrl for a Yaskawa II II V encoder SerialClockMDiv 0 100 MHz serial clock freq 25x bit transmission freq SerialClockNDiv 0 No further division SerialTrigClockSel 0 Use phase clock if possible SerialTrigEdgeSel 0 Use rising clock edge if possible SerialTrigDelay 0 Can increase from 0 if possible to reduce latency SerialProtocol 06 Shows Yaskawa II II V protocol is programmed For example for the standard 4 0 MHz bit transmission rate a 100 MHz serial clock frequency is used and Acc84E i SerialEncCtrl is set to 000006 for triggering on the rising edge of phase clock without delay Hex Digit 0 0 0 0 0 6 Script Bit 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 817 6 5 4 3 1 2 1 10 CBit 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 Mao Bit
102. back from EIB 192 to ACC84E is as a 24 bit encoder 1024 16384 2 24 ACC 84E is at base address 78C00 The goal is to establish 0 count position after reaching the first reference mark and users need to either manually rotate the motor shaft or jog the motor after enabling the following PLC Encoder conversion table setting for Motor 1 18000 278C00 Unfiltered parallel position of location Y 78C00 no shifting I18001 18000 24 bit processed result at 3502 I1103 3502 Motor 1 position loop feedback address 1104 3502 Motor 1 velocity loop feedback address PLC Program NOTES ABOUT THIS PLC EXAMPLE This PLC example utilizes M6000 through M6008 M160 M165 M1060 Suggested M Variable M114 M162 P2000 through P2009 Coordinate system 16 Timer 2 Make sure that current and or future configurations do not create conflicts with these parameters ssssssssssssssssssssssssssssssssssssssssa M6000 6010 gt Self referenced M Variables M6000 6010 0 Reset at download GLOBAL CONTROL REGISTERS define EnDatGlobalCtr1l1_4 M6000 Channels 1 4 EnDat global control register EnDatGlobalCtrl1l1_4 gt X 78COF 0 24 U Channels 1 4 EnDat global control register CHANNEL CONTROL REGISTERS define Ch1iEnDatCtrl M6001 Channel 1 EnDat control register Ch1EnDatCtr1 gt x 78C00 0 24 U Channel 1 EnDat control register
103. coder counting direction doesn t match the commutation direction In this case we can either setup the SSI encoder to send the position in the opposite direction or we can set the Ixx70 to the negative value of what we have setup at the moment 7 Repeat Open Loop test steps 1 thru 4 to make sure the commutation is correct Appendix A Setup Examples 99 ACC S4E User Manual 8 PID tuning Use PMACTuningPro2 Automatic or Interactive to find the best position loop gains for your system Absolute phase and power up reset position Absolute Servo Power On Position Address and Format Ixx10 Ixx95 To read an SSI encoder for absolute servo position Ixx10 is set to the address of that channel s position register Ixx95 is set according to the specification of the SSI encoder how many bits signed or unsigned value etc The motor offset variable Ixx26 contains the difference between the absolute position and the resulting motor position if any I110 78C00 Absolute Servo power on position address I195 A00000 Signed 32 bits Absolute Phase Power On Position Address and Format Ixx81 Ixx91 To read an R D converter for absolute phase position Ixx81 is set to the address of that channel s position register Ixx91 is set according to the specification of the SSI encoder Please note that this is only possible if the number of counts in one electrical cycle is less than 2 I181 78C00 Commutation positi
104. coder data e Depending on the first content bit the bit after Busy bit in addition package the package is copied into either SerialEncoderDataC or SerialEncoderDataD register Yaskawa Sigma II III V Protocol The Yaskawa Sigma II III V interface supports position reporting and fault reset modes The command code for position reporting is 00 the command code for fault reset is 04 The following list shows typical settings of Acc84E i Chan j SerialEncCmd for position reporting from a Yaskawa Sigma II II V encoder SerialEncCmdWord 0 No command word for position reporting in Yaskawa SerialEncParity 0 No parity check supported for Yaskawa protocol SerialEncTrigMode 0 Continuous triggering SerialEncTrigEna 1 Enable triggering SerialEncGtoB 0 No Gray code supported for Yaskawa protocol SerialEncEna 1 Enable driver circuitry SerialEncStatus Bits 0 No status bits supported for Yaskawa protocol SerialEncNumBits 0 Fixed number of position bits returned Acc84E i Chan j SerialEncCmd would be set to 001400 for continuous position reporting It may report back as 001000 if the ready status bit is not set Hex Digit 0 0 i Script Bit 2322 21 20 19 18 17 16 15 14 13 12 am 10 9 8 7 6 5 4 3T2 1 CBit 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 74 30 0 Bi
105. coder specific parity check Continuous triggering SSI Protocol SerialEncCmdWord 0 SerialEncParity SerialEncTrigMode 0 SerialEncTrigEna 1 SerialEncGtoB sn SerialEnc Ena 1 SerialEncStatusBits 0 SerialEncNumBits 7 For example for an SSI encoder with 25 position bits in Gray code format with odd parity Enable triggering Encoder specific data format Enable driver circuitry No status bits supported for SSI protocol Encoder specific number of position bits returned Acc84E i Chan j SerialEncCmd would be set to 005C19 It may report back as 005819 if the data ready status bit is not set Hex Digit 0 0 5 C 1 9 ee ScriptBit 232 27 20 79 is 17 16 15 14 13 12 11 10 POPS 7 6 5 4l3 2 1 CBit 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 74 3 0 Bit Value O o a a Jo 1 1 0 0 e Component SerialEncCmd Word Parity TM TE GB Ena Status NumBits Software Setup 32 ACC S4E User Manual EnDat2 1 2 2 Protocol The EnDat interface in the ACC 84E supports four 6 bit command codes that are sent directly to the encoder 000111 07 for reporting position EnDat2 1 101010 2A for resetting the encoder EnDat2 1 111000 38 for reporting position with possible additional information EnDat2 2 101101 2D for resetting the enc
106. command modes FA and DA prevent the reflection of overflow flag in the ea0 status bit Software Setup 43 ACC S4E User Manual Mitsubishi Protocol The Mitsubishi encoder has 8 request codes defined for the Request Field transmitted from the controller to the encoder To transmit a specific ID code to the encoder program the SerialEncCmdWord register with the appropriate Command Code listed below e 02 for reporting single turn data single turn data in lower 18 bits of 24 bit word 18 bit single turn data in bits 0 to 17 and bits 18 23 report 0 e 8A for reporting multi turn data e 92 for reporting Encoder ID e A2 for reporting single turn and multi turn data single turn data in lower 20 bits of 24 bit word 18 bit single turn data in bits 2 to 19 and bits 0 1 and 18 23 report 0 e 2A for reporting single turn and multi turn data single turn data in lower 18 bits of 24 bit word 18 bit single turn data in bits 0 to 17 and bits 18 23 report 0 e 32 for reporting single turn and multi turn data single turn data in upper 20 bits of 24 bit word 18 bit single turn data in bits 6 to 23 and bits 0 5 report 0 e BA for clearing alarms and reporting single turn data single turn data in lower 18 bits of 24 bit word 18 bit single turn data in bits 0 to 17 and bits 18 23 report 0 e 7A for reporting encoder motor ID The following list shows typical settings of Acc84E i Chan j SerialEncCmd for a Mitsubishi HG t
107. cts the protocol interface that was installed in the board at the factory The FPGA used here comes with the interface for only a single serial ES protocol which was pre installed at the factory as specified in the order This component of the element is read only simply notifying Note the user which protocol has been installed The following table shows the protocol selected for each value of this component more protocols may be added Value Protocol Value Protocol Value Protocol Value Protocol 0 Reserved 4 Reserved 8 Panasonic 12 Matsushita 1 Reserved 5 Reserved 9 Mitutoyo 13 Mitsubishi 2 SSI 6 Sigma M M 10 Reserved 14 Reserved 3 EnDat 7 Tamagawa 11 BiSS B C 15 Reserved When used in the Script environment Both Turbo and Power PMAC Acc84E i SerialEncCtrl is a 24 bit element When used in the C environment Power PMAC Only it is a 32 bit element with real data in the high 24 bits so its value in the C environment is 256 times greater than its value in the Script environment Software Setup 19 ACC S4E User Manual SSI Protocol The following list shows typical settings of Acc84E i SerialEncCtrl for an SSI encoder SerialClockMDiv 100 fii 1 Serial clock frequency bit transmission frequency SerialClockNDiv 0 No further division unless f lt 400 kHz SerialTrigClockSel 0 Use phase clock if possible SerialTrigEdgeSel 0 Use rising clock e
108. d Bits16 21 Number of Bits to read Bits 0 15 reserved 0 Unsigned Resolution 18 bits or 010010 always 0 L l o A o E o o oo aan POYA e Oe e a a a E e Eaa xx Hex 1 2 0 0 0 0 In this mode PMAC reads and reports 18 bits from the first serial data register Serial Data Register B Serial Data Register A Ch1 Y 78C01 Ch1 Y 78C00 47 23 0 With this setting of Ixx80 2 the actual position is reported automatically on Power up Otherwise a 1 command is necessary to read and report the absolute position Using the Resulting Position Information 74 ACC S4E User Manual AX With absolute serial encoders no multi turn data the power on Us position format is set up for unsigned operation Note The upper two fields in Ixx95 are the only relevant ones Bits 0 through 15 are reserved and should always be set to 0 gt aw Note Some serial encoders use an external source for power Make sure that IE this power is applied prior to performing an absolute read on power up Note Using the Resulting Position Information 75 ACC S4E User Manual Technique 2 Example Channel 1 is driving a 37 bit 25 bit Single turn 12 bit Multi turn rotary serial encoder or a linear scale with similar protocol resolution 25 bits 10 nanometer Encoder Conversion Table for position Technique 2 e Conversion
109. d in this section Addressing and Register Addresses ACC 84E will be address as an IO card on MACRO8 and MACRO16 CPUs So the following addresses will be used Chip Select 3U MACRO CPU Dip Switch SW1 Position Adderss 1 2 3 4 CS10 Y 8800 Close Close Close Close Y 9800 Close Close Open Close Y A800 Close Close Close Open Y B800 FFEO Close Close Open Open CS12 Y 8840 Open Close Close Close Y 9840 Open Close Open Close Y A840 Open Close Close Open Y B840 FFE8 Open Close Open Open CS14 Y 88C0 Close Open Close Close Y 98C0 Close Open Open Close Y A8CO Close Open Close Open Y B8CO FFFO Close Open Open Open Based upon the base address selection the address for each of the global registers and channel specific registers will change MACRO Global Setup 1st Channel 2nd Channel 3rd Channel 4th Channel UMAC Base Register Setup Setup Setup Setup address Address Register Register Register Register Address Address Address Address 8800 X 880F X 8800 X 8804 X 8808 X 880C 9800 X 980F X 9800 X 9804 X 9808 X 980C A800 X A80F X A800 X A804 X A808 X A80C B800 X B80F X B800 X B804 X B808 X B80C 8840 X 884F X 8840 X 8844 X 8848 X 884C 9840 X 894F X 8940 X 8944 X 8948 X 894C A840 X A84F X A840 X A844 X A848 X A84C B840 X B84F X B840 X B844 X B848 X B84C 88C0 X 88CF X 88C
110. d pair lines on ACC 84E side ote Hardware Setup 13 ACC S4E User Manual Mitsubishi HG O Servo Motor Encoders Mitsubishi HG O servo motor absolute encoders require a 3 6V battery to maintain the multi turn data while the controller is powered down This battery should be placed outside of ACC 84E and the Mitsubishi HG O1 servo motor s encoder possibly on the cable The battery should be installed between pin 9 of the motor encoder connector 6V and pin 2 GND Use of ready made cables by Mitsubishi is recommended Mitsubishi part number UWR00650 BAT MR 5VDC ala a O0 0 Nic O The diagram above shows the pin assignment from mating 3M SCR Receptacle 36110 to ACC 84E encoder input Hardware Setup 14 ACC S4E User Manual SOFTWARE SETUP ACC 84E supports multiple protocols and for this reason the setup for each of them will be different For each protocol depending on the CPU type the setup steps differs slightly but the general idea regardless of the protocol is the same Position encoders that provide numerical position information in a serial data stream usually representing absolute position information are becoming increasingly popular ACC 84E is an FPGA based interface which is programmed to support different serial protocols Multiple serial encoder protocols are supported by ACC 84E Hardware Control Parameter Setup This section
111. d work for all 16 bit absolute encoders Yaskawa aligns their U phase with index d d d d efine Mtr MtrlPhasePos gt X B4 24 S efine Mtr MtrlPhaseErr gt Y S C0 8 efine Mtr MtrlCommSize efine Mtr PhasePos M PhaseErr M CommSize I 65536 CommCycles I MtrlCommCycles 3 define MtrilCommutate I MtrlCommutate 1 register define Mtr1lCommFdbkAdr I MtriCommFdbkAdr 3502 table define MtriSTDO_15 M Mtr1STDO_ 5 gt Y 78C00 4 16 Open plc 29 clear Mtrl Set Phase Position MtrlPhasePos Mtr1STDO_15 MtriCommCycles MtrlPhaseErr 0 disable plc 29 Appendix A Setup Examples 7 48 7 70 0 Pmac is commutating the motor data is in the X 83 Address is the second entry in the encoder conversion 80 X Mtr1lCommSize MtriCommCycles MtriPhaseRef 32 110 ACC S4E User Manual 17 Bit Yaskawa Sigma II Absolute Encoder Y 78B21 Y 78B20 12 0 23 20 19 4 Jf bat dt Encoder Conversion Table Setup for on going servo position and commutation Channel ECT Line Settings 1st Channel 1 Line 200000 Base Address 0 2 Line 021004 2nd Channel 1 Line 200000 Base Address 4 2 Line 021004 3rd Channel 1 Line 200000 Base Address 8 2 Line 021004 4th Channel 1 Line 200000 Base Address C 2 Line 021004 Example 17 bit absolute encoder on channel
112. der based upon the trigger clock servo or phase clock based upon the global register setting Default is set to phase clock 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 2 zo 3 8 2 83 g8 2 38 Command Code 5 5 a 5 ea o g Encoder Address o D a o l zj 2 D oc ped c OW E Eo a 0 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 The setup value can be written to the memory as a part of your start up PLC Yaskawa Feedback Startup Example PLC Open PLC 1 clear Disable PLC2 31 CMD WX 78C00 1400 CMD WX 78C04 1400 CMD WX 78C08 1400 CMD WX 78C0C 1400 Disable plc1 Close Channel Specific Control Register Setup for Reset Mode Yaskawa absolute encoders can generate fault flags which are latched and the only way to reset them is through this procedure For a list of possible faults on Yaskawa absolute encoders and where to read them please check the following section titled Alarm Codes To send a RESET command to the encoder the channel control register needs to be modified a few times 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 2 gt 3 S 2 8 88 2 8 2 u
113. describes the Power Turbo PMAC serial encoder hardware interface in general terms All of the supported serial encoder interfaces use differential signal pairs at 5V RS 422 levels All have clock and or strobing outputs and all have a data signal input In some protocols the data line is bi directional supporting data output commands to the encoder The configuration of the hardware control registers differs slightly between serial protocols in the ACC 84E however the principles of setup are the same Because of the serial data protocol the transfer of data from the encoder to the Power Turbo PMAC interface circuitry takes a significant amount of time The data must be ready for the processor immediately after the falling edge of the phase and or servo clock signals which are the interrupts to the processor telling it to start those respective tasks The process of querying the encoder for data must start well before these signal edges and this timing must be carefully considered If it starts too late the data will not be ready in time If it starts too early unnecessary delay is introduced into the feedback loop possibly compromising its performance In both styles of interface the multi channel saved setup element permits the user to optimize the timing by selecting the edge rising or falling of the clock signal phase or servo that starts the triggering process and the time delay from this edge until the actual triggering occurs
114. dge if possible SerialTrigDelay 0 Can increase from 0 if possible to reduce latency SerialProtocol 02 Shows SSI protocol is programmed into IC For example for a 2 5 MHz bit transmission rate SerialClockMDiv 100 2 5 1 39 23 and Acc84E i SerialEncCtrl is set to 230002 for triggering on the rising edge of phase clock without delay Hex Digit 2 3 0 0 0 2 sii Script Bit 23 22 21 20 19 18 17 16 15 14 13 12 Mmo o s 7 6l5 l4 3l2 1T0 CBit 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 Mals Bit Value 00 10 00 1 ilo 0 0 Of f fofolo 0 0 of0 0 1 o Component SerialClockMDiv SerialClockNDiv TC TE SerialTrigDelay SerialProtocol The following table lists a few common Serial clock frequency settings used with SSI protocol SerialClockMDiv SerialClockNDiv Serial Clock Frequency 49 31 0 0 2 0 MHz 99 63 0 0 1 0 MHz 99 63 1 1 500 0 kHz 99 63 2 2 250 0 kHz Software Setup 20 ACC S4E User Manual EnDat 2 1 2 2 Protocol The following list shows typical settings of Acc84E i SerialEncCtrl for an EnDat encoder The serial clock frequency is set 25 times higher than the external clock frequency which is the bit transmission frequency frir mnz to permit oversampling of the input signal SerialClockMDiv 4 frit 1 Serial c
115. e Mtr1lPhaseRef P184 Mtr1lPhaseRe f 5461 This value should work for all 16 bit absolute encoders Yaskawa aligns their U phase with index define MtrlPhasePos M17 MtrilPhasePos gt X S B4 24 S define MtrlPhaseErr M148 MtrlPhaseErr gt Y C0 8 define Mtr1lCommSize 7 MtrlCommSize 131072 define MtrlCommCycles 70 MtrlCommCycles 3 define MtrlCommutate 0 MtriCommutate 1 Pmac is commutating the motor data is in the X register define MtrlCommFdbkAdr 83 MtriCommFdbkAdr 3502 Address is the second entry in the encoder conversion table define MtrilSTDO 15 M180 Mtr1STDO_15 gt Y 78C00 0 24 Open plc 29 clear Mtrl Set Phase Position MtrlPhasePos MtrlPhaseRef MtrlPhaseErr disable plc 2 e if j 0 9 int Mtr1STDO_15 amp 1FFFFO F MtrlCommSize MtrlCommCycles 32 MtrilCommCycles Appendix A Setup Examples 112 ACC S4E User Manual 20 Bit Yaskawa Sigma III Absolute Encoder Y 78B21 Y 78B20 15 0 23 4 Se ae eee eee eee I 2 2 se eu foo s sls ele Multi turn Position 16 bits Absolute Single Turn Data 17 bits undetermined Encoder Conversion Table Setup for on goin servo position and commutation Channel ECT Line Settings Ist Channel 1 Line 200000 Base Address 0 2 Line 024004 2nd Channel 1 Line 200000 Base Address 4 2 Line 024004 3rd
116. e SerialEncDataReady status bit indicating the state of the serial data reception It reports 0 during the data transmission indicating that valid new data is not yet ready It reports 1 when all of the data has been received and processed This is particularly important for slower interfaces that may take multiple servo cycles to complete a read in these cases the bit should be polled to determine when data is ready Software Setup 30 ACC S4E User Manual The 4 bit component SerialEncStatusBits specifies the number of status bits the interface will expect from the encoder in the SPI protocol The valid range of settings is 0 to 12 The 6 bit component SerialEncNumBits specifies the number of data bits the interface will expect from the encoder in the SSI EnDat or BiSS protocol The valid range of settings for these protocols is 12 63 In other protocols the number of bits is not specified this way and this value does not matter so this component is usually left at 0 When used in the Script environment Acc84E i Chan j SerialEncCmd is a 24 bit element When used in the C environment it is a 32 bit element with real data in the high 24 bits so its value in the C environment is 256 times greater than its value in the Script environment Software Setup 31 ACC S4E User Manual The following list shows typical settings of Acc84E i Chan j SerialEncCmd for an SSI encoder No command word supported for SSI protocol En
117. e applications may require deviating from the suggested setup EF methods e g extremely high resolution and speed requirements K Contact Delta Tau for assistance with these special cases ote Using the Resulting Position Information 69 ACC S4E User Manual Setup Summary Encoder Conversion Table Processing Process Technique 1 Technique 2 Technique 3 ECT entry for From serial register A From serial register A From serial register A Servo Loop Feedback 5 bit shift no shift 5 bit shift ECT entry for From serial register A From serial register A Commutation Feedback N A 18 bits no shift Offset ST 18 18 bits no shift Offset ST 18 Note ST is the Single turn resolution in bits for rotary encoders Similarly this would be the protocol resolution in bits for linear scales The position and velocity pointers are then assigned to the ECT for position result Parameter Technique 1 2 3 Position Ixx03 ECT position result Velocity Ixx04 ECT position result typically with single source feedback Commutation Source and Type for commutated motors e g brushless With technique 1 if the Single turn Multi turn data bits fulfill 24 bits and are contiguous then serial data register A can be used as the commutation source Otherwise the resulting register from the ECT for position is used for commutation requires special settings for the commutat
118. e high resolution data With Technique 2 it is recommended to fix it at 18 bits This will also eliminate quantization noise It is recommended to insert the commutation ECT entries after all of the position ECT entries have been configured Note Assuming that eight encoders have been configured for position the first ECT for commutation for the first motor would be at entry number nine e Conversion Type Parallel pos from Y word with no filtering Width in Bits 18 Offset Location of LSB Singleturn protocol bits 18 e g 25 18 7 No shifting Source Address serial data register A same as position ECT for this motor Remember to click on Download Entry for the changes to take effect Select a table entry to view edit Enty 9 End of Table ry e Eirst Entry of Table Done Enty Y 3511 Processed Data Xx 351 Address Address View All Entries of Table Miewing Conversion Type Parallel pos from Y word with no filtering x Source Address s78c00 x Width in Bits 18 Offset Location of LSB at Source Address 0 Based Index 7 Conversion Shifting of Parallel Data Normal shift 5 bits to the left No Shifting This is a 2 line ECT entry its equivalent script code 18016 S2F8C00 Unfiltered parallel pos of location Y 78C00 User Input 18017 12007 Width and Offset Processed result at X 3512 User Input commutation position address Ixx83 will be pointing to Also this wil
119. e reference On going position in the motor servo loop Power on absolute servo position Power on phase reference In general encoder data is left shifted 5 bits in the ECT to provide fractional data This process can cause saturation of certain registers with higher resolution absolute serial encoders thus for this type of encoders it is recommended to process the data as unshifted Moreover special considerations need to be taken in setting up commutation for commutated motors e g brushless The following flowchart summarizes the recommended method to use regardless of the Multi turn MT data specification It is only dependent on the Single turn ST resolution for rotary encoders or protocol resolution for linear scales Technique1 D Start Here ST Encoder Resolution 2 19 bits ST Encoder Resolution 2 24 bits Os f Technique2 W j Technique 3 _ e gt Technique 1 This technique places the Least Significant Bit LSB of the serial data in bit 5 of the result register providing the 5 bits of non existent fraction Technique 2 This technique places the LSB of the serial data in bit 0 of the result register creating no fractional bits It requires a dedicated Encoder Conversion Table ECT entry for commutation Technique 3 This technique processes the data for position similarly to Technique 1 but it requires a dedicated ECT entry for commutation Som
120. e which covers the full command range for the galvanometer for example a grid which covers 32767 if a 16 bit command is used For this example a 3D array called CmdTable is constructed with indexes i j and k for each of the dimensions The X and Y galvo command position for node row i and column j are stored in elements k 1 and k 2 respectively 2 Program the PMAC to generate the grid points defined above on the work piece by marking or etching 3 Identify the resulting locations on the workpiece an exaggerated version of resulted matrix is shown below in red with resulting nodes corresponding to CmdTable entries shown in black dots The X and Yposition of each node should to be measured in engineering units and stored In this example the measured locations are stored in a 3D array called RawTable This array has the same dimensions as the CmdTable tee 9 49 kit l a k OR teree a TT a aa os 1 J J f gf pf pe yeas of b O E E G ee t eo gt D A 0 S S a a aA G A pano Goar uane E E S cn An G A A a D GA S a ee ee ee oe o ee o Le oe A a ann nn Gs En GS a E A ce cet gt e o 9 ee oe ee fF ee T l Jo n A I E o f th p a eE 9 E a a CE Appendix B Serial link XY2 100 Protocol Support 149 ACC S4E User Manual 4 Identify the maximum usable workspace with a rectangular outline Notice that the compensation table can
121. ed for these two commands 19 16 Sn Status Code Bits Sn represent bits of the status code The 4 bit data from the Status Field SF is returned for all command codes 22 EO CE CRC error detected by the IC 23 El TE Timeout error detected by the IC Software Setup 64 ACC S4E User Manual Alarm Code Description Bit Bit Data State when Description error is occurred Alarm Name Check timing Details Action 8 AO 1 CPU Alarm Checked at power Encoder internal Stop operation on latched data damaged latched alarm 9 Al 0 10 A2 1 Data Alarm Checked at each Data per revolution Stop operation request error Cleared when received when cause of Discard received alarm is data eliminated 11 A3 1 Encoder Thermal Check during Encoder section Stop operation Alarm operation 10 hot 100 5 C second average Cleared when cause of alarm is eliminated 12 A4 1 Encoder Thermal Check during Encoder section Only warning no Warning operation 30 hot 85 5 C need to stop minute continuous Cleared when operation Take average cause of alarm is necessary action to eliminated cool down encoder environment 13 AS 1 Multi Revolution Checked at each Multi revolution Only a warning Alarm request count data error No need to stop operation Note at next power on multi revolution data may be deviated 14 A6 1 ABS Lost Alarm Checked a
122. ed in the Script environment Acc84E i Chan j SerialEncDataD is a 24 bit element When used in the C environment it is a 32 bit element with real data in the high 24 bits so its value in the C environment is 256 times greater than its value in the Script environment In Power PMAC Acc84E i Chan j SerialEncDataD will report as nan not a number if no board with this index is present Software Setup 50 ACC S4E User Manual Yaskawa Sigma II III V Protocol For the Yaskawa Sigma II II V protocol the data format in this element depends on the particular type of the encoder and its reporting mode Yaskawa Sigma II absolute encoder with 17 bits per revolution For an Absolute Yaskawa Sigma II encoder with 17 bits per revolution and 16 bits of turns count in position reporting P1 mode Acc84E i Chan j SerialEncDataA is configured as follows Hex Digit ih Script Bit 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 e6 5 4 bB Iiinn CBit 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 74
123. ed that home search moves be conducted at a slow speed define FirstWord M1000 define SecondWord M1001 define OriginNotPassed M1002 FirstWord gt Y 78C00 0 24 SecondWord gt Y 78C01 0 24 OriginNotPassed gt Y 78C02 14 define MtrlActPos M162 Suggested M Variable Definition Mtr 1 Actual Position open plc 29 clear if OriginNotPassed 1 cmd 13j start moving toward the positive direction while OriginNotPassed 1 until the index is detected endwhile Appendix A Setup Examples 115 ACC S4E User Manual cmd 1k endif while Secondword amp S8FF 0 there is a 2msec delay before inc comp is updated endwhile MtrilActPos int FirstWord amp 8FFFCO 40 SecondWord amp S8FF 40 i108 32 disable plc 29 close Power on phase referencing using Hall sensors The Hall sensor data comes back on bits 1 2 and 3 of the first word This data can be used in order to establish an estimated phase reference for the motor on power up However hall phasing will have 30 error which can result in loss of up to 14 percent of the torque output but usually this is good enough for moving the motor until a more accurate reference is established homing and phase position data is updated accordingly Here is an example of how to determine the power on phasing based on hall data The following procedure is only required once After determining the phase reference value a p
124. ee ees a a ee ee a a d aa M Divisor N Divisor Reserved Trigger Delay Protocol Code WX 78B2F 630102 1MHz Phase Clock Falling Edge no Delay Single Channel Setup Element Channel 1 setup example 32 bit SSI Binary Encoder Channel 1 X 78B20 ee ee ee ele eee ee eee eee ee Pee x Trigger Trigger Gray RxData si Reserved Parity Type Mode Enable Ea Ready Reserved Position Bits RRB os enna ees a ee ee ee ee ee ee ee eee wx 78C00 001420 32 bit SSI encoder Binary I8000 278B20 Unfiltered parallel position of location Y 78C00 normal 5 bit shifting I8001 18000 24 bit processed result at 3502 I103 3502 position loop feedback address I104 3502 velocity loop feedback address As you may have noticed the encoder conversion table only reads the lower 24 bits of data This is acceptable since the data is incremental Please note that since the data is being read by the encoder conversion table as long as ECT has 2 reads in each 24 bit transition it can handle the roll over gracefully and motor position will be updated correctly Brushless Motor with SSI Feedback Setup Notes The following settings are only general guidelines for parameters which user needs to set for a generic brushless motor These setting very well may be deferent on each system depending on the amplifier and motor selection Appendix A Setup Examples 98 ACC S4E User Manual I100 1
125. enter on mirrors at neutral position mm Len2 251 distance from Y mirror to XY stage surface mm GalvoSF 10 27 32767 ratio of XY2 100 command 32767 to Galvonameter deflection open forward 1 close local GalvoXAngD GalvoYAngD Ytemp if KinVelEna 0 KinAxisUsed C0 GalvoXAngD KinPosMotorl GalvoSF GalvoYAngD KinPosMotor2 GalvoSF Ytemp Len2 tan GalvoYAngD DegtoRad KinPosAxisY Ytemp KinPosAxisX Lenl sqrt pow Len2 2 pow Ytemp 2 tan GalvoXAngD DegtoRad open inverse 1 close KinPosMotor2 atan KinPosAxisY Len2 RadtoDeg GalvoSF KinPosMotorl atan KinPosAxisX Lenl sqrt pow Len2 2 tpow KinPosAxisY 2 RadtoDeg GalvoSF Appendix B Serial link XY2 100 Protocol Support 148 ACC S4E User Manual Corrections for Scanner Optics Non linearity The inherent non linearity of the optics and scanners can be compensated for using PMAC s built in 2D compensation tables This method requires physical marking and measurement of patterns mostly uniformly spaced matrix patterns in order to calculate the correction tables required for each of the galvos based upon commanded position of them This method is especially useful if any optics such as Flat field F theta or Telecenteric lenses are involved and their non linearities also need to be compensated The following steps should be followed in generating the compensation table 1 Select a grid siz
126. eptance of a Multi Cycle Data MCD bit from the encoder by providing an extra clock cycle output The MCD bit is not captured or used The following list shows typical settings of Acc84E i Chan j SerialEncCmd for a BiSS C encoder SerialEncCmdWord 21 CRC polynomial of xf x 1 SerialEncParity 0 BiSS C protocol variant SerialEncTrigMode 0 Continuous triggering SerialEncTrigEna 1 Enable triggering SerialEncGtoB 0 No Gray code supported for EnDat protocol SerialEncEna 1 Enable driver circuitry SerialEncStatusBits fenc spec Encoder specific number of position bits returned SerialEncNumBits enc spec Encoder specific number of status bits returned For example for a BiSS C encoder with 36 position bits 2 status bits and a CRC polynomial of x x 1 as with the Renishaw Resolute encoders Acc84E i Chan j SerialEncCmd would be set to 2114A4 for continuous position reporting It may report back as 2110A4 if the data ready status bit is not set Hex Digit 2 1 1 4 A 4 J Script Bit 23 22 21 20 19 18 17 16 15 14 13 12 MM 10 o 8s 7 6 5 4l3 2 1 0 E C Bit 31 30 29 28 27 26 25 24 23 22 21 20 Mo 18 M7 16 15 14 13 12 11 10 9 8 Ao Bit Value 00 1 00 00 ifo ofo tfefifefo 1 of1 0 0 1 0 oM Component SerialEncCmd Word Parity TM TE GB Ena Status NumBits Software S
127. er or a similar protocol resolution 20 bits linear scale 1180 2 Absolute power on read enabled 1110 78C00 Absolute power on position address chl serial data register A 1195 140000 Parallel Read 20 bits Unsigned from Y Register User Input Bit 22 1 X Register 0 Y Register Bit 23 1 Signed Bits16 21 Number of Bits to read Bits 0 15 reserved 0 Unsigned Resolution 20 bits or 010100 always 0 L E a ssc Y A e e EO E OO p E A eee ae xx Hex 1 4 0 0 0 0 In this mode PMAC reads and reports 20 bits from the first serial data register Serial Data Register B Serial Data Register A Ch1 Y 78C01 Ch1 Y 78C00 47 23 0 With the setting of Ixx80 2 the actual position is reported automatically on Power up Otherwise a 1 command is necessary to read and report the absolute position Using the Resulting Position Information 85 ACC S4E User Manual AX With absolute serial encoders no multi turn data the power on es position format is set up for unsigned operation Note The upper two fields in Ixx95 are the only relevant ones Bits 0 through 15 are reserved and should always be set to 0 Lou Note gt Some serial encoders use an external not from the Brick source for IE power Make sure that this power is applied prior to performing an absolute read on power up Note Using the Resulting Position Information 8
128. erform linear interpolation between the received commands If motor trajectory is calculated in servo loop standard for Power PMAC and only choice in Turbo PMAC then the ClockSel should be set to 0 to select Servo Loop In Power PMAC if bit 3 value 8 of Motor x PhaseCtrl is set to 1 this motor will close its position velocity servo loop on the phase interrupt This permits some Power PMAC motors such as those driving fast tool servos or galvanometers to close their loops at a substantially higher frequency than other motors in the system In this case ClockSel should be set to 1 to allow interpolation between position updates at Phase rate The component ModeSel specifies the X Y and Z position packet format and position resolution The ModeSel allows users to select between 16 bit 18 bit and 20 bit resolution The following timing diagrams show the data format of each ModeSel setting Appendix B Serial link XY2 100 Protocol Support 134 ACC S4E User Manual ModeSel 00 16 bit data format X Y2 100 Standard Serial Link SYNC Sp XY Z DATA STATUS ModeSel 01 18 bit data format Serial Link 2 aok POPLAR eA SYNC XY ZDATA l STATUS ModeSel 10 20 bit data format atoe PA LEA SYNC XYZDATA STATUS ModeSel 11 Reserved for future The following list shows typical settings of Acc84E i SerialEncCtrl for a 2MHz transfer clock SerialClockMDiv 18 Serial c
129. erly to point to the correct ECT entry you should be able to observe position feedback in the position window when moving the motor by hand Using the PMACTuningPro2 you should be able to tune for the Current Loop gains I161 0 05 Motor l Current Loop Integral gain I162 0 01 Motor l Current Loop Forward path proportional gain I1176 0 5 Motor l Current Loop Back path proportional gain Motor Phasing We suggest using the stepper method for rough phasing I180 6 Motor 1 Power up mode I173 1200 Motor 1l Phase finding output Value I174 60 Motor 1l Phase finding time Issue a 1 from the online command window to phase motor Completion of phasing routine can be confirmed by checking the motor status window accessible through View menu in PEWIN32PRO2 software Open Loop Test 1 Issue a 1hmz to zero the position counter in the position window 2 Issue a 101 from the online command window This will send a 1 command output and should move the motor slightly 3 Issue a K to kill motor If motor has not moved increase the open loop command output by increments of one until you see counts change in the position window 4 Repeat steps 1 thru 3 now issuing a negative open loop command 10 1 Positive counts movement should correspond to a positive open loop command and negative movement should correspond to negative commands 6 If step 5 is a true statement then skip to PID tuning Otherwise the en
130. ervo rs ee E t SYNC Separation of frequency domains between Phase Servo clock and XY2 100 and linear Interpolation of commanded position PWM Command Register The FPGA always reads full 24 bit registers Acc84E i Chan j SerialEncCmd for the last channel with j 3 and it is used for adjusting the PWM output frequency and duty cycle This PWM output is not a part of XY2 100 protocol but it is an added feature to ACC 84x with XY2 100 option This output is intended for use with Laser sources in order to control laser s power It is comprised of the following components Appendix B Serial link XY2 100 Protocol Support 137 ACC S4E User Manual Turbo PMAC Hex c Component Power PMAC aa Functionality f Digit Bits Script Bits DutyCycle 23 12 1 3 31 20 Positive duty cycle of output PwmPeriod 11 00 3 6 19 08 PWM period of the output The component PwmPeriod controls the period duration of the PWM output and it is inversely proportional to the frequency of the signal The equation for this PWM output frequency fpwm is 10 fpwuk Hz T where P is short for PwmPeriod This 12 bit component can take a value from 1 to 4095 and generates PWM frequencies ranging from 1526 Hz to 6 25 MHz Here are some examples for PwmPeriod settings PwmPeriod 3125 C35 1250 4E2 625 271 312 138 125 07D The component DutyCycle controls the positive duty cycle of
131. essary on power up reset The following procedure to find Ixx75 is done only once per channel while setting up the machine for the first time assuming the mechanics and electronics are not to be changed and have not failed been replaced or repaired Set Ixx79 500 and Ixx29 500 Increase these values by increments of 100 until motor movement is observed when OO is issued range is 100 to Ixx69 Issue a nOO wait for motor to stop moving Set Ixx29 0 wait for motor to stop moving Set Mxx71 to zero see suggested M variables Read position data directly from channel position register For the Ch1 37 bit EnDat2 2 example we need to construct the 37 bit position data from 24 bits at Y 78C00 23 0 and 13 bits at Y 78C0O1 12 0 See plc example below Set Ixx75 to that value Set Ixx79 0 Issue a nK to kill the motor Assuming that 1175 3000 and knowing that we have 16777215 counts per electrical cycle this PLC example shows how to construct the 37 bit position word define EnDat_pos_low M1000 define EnDat_pos_ high M1001 EnDat_pos_low gt Y 78C00 0 24 U First 24 bits data register A EnDat_pos_high gt Y 78C01 0 16 U Rest of data lowerl3 bits register B define Phase Offset 3000 define msec 8388608 110While I5111 gt 0 Endw Open plc 2 clear I15111 1000 msec P1000 EnDat_pos_high amp 1FFF If P1000 lt 1000 M162 P1000 1000000 EnDat_pos_low 1108 Else P1001 EnDat_pos_low FFFFFF P1002 P1000 S1FFF M
132. etection timing During normal operation at preset initial operation only Output Non latch Reset Auto reset Revolving speed is reduced to 300t min or less When ABS signal fails to be read correctly power supply ON due to a problem of the encoder at such a foreign object or a failure of optical sensor etc even when revolting speed lowers 300 r min or less it may not be reset to 0 10 A2 Count Error 1 CE1 Function Specific 1 bit of M sensors and specific 1 bit within ASIC are compared and when the data are different from each other 1 is output Detecting timing During normal operation Output Latch Reset Re turn ON the main power supply 11 12 A3 A4 Count Error 2 CE2 Function Consistency between multi turn count block and single turn count block is monitored To be more concretely 1 Multi turn count obtained by magnetic encoder 2 Multi turn count obtained proximately by processing carry borrow on single turn absolute value By comparing 1 and 2 above in case difference between 1 and 2 gt 2 turns on alarm is emitted Detecting timing During normal operation Output Latch Reset Re turn ON the main power supply 13 A5 Overflow OF Function In case amount of revolution exceeds 16383 16382 1 is output Alter overflow the multi tum counter functions as cyclic counter overflow flag allows to set mask to encoder error bit ea0 on output fie
133. etup 40 ACC S4E User Manual For a BiSS B encoder with 32 position bits 4 status bits an MCD bit and a CRC polynomial of x x 1 Acc84E i Chan j SerialEncCmd would be set to 09D520 for continuous position reporting It may report back as 09D120 if the data ready status bit is not set Hex Digit 0 9 D 5 2 0 ele Script Bit 23 22 21 20 19 18 17 16 15 14 13 12 M 10 9 8 7 6 5 4l3 2 ilo FI CBit 31 30 29 28 27 26 25 24 23 22 21 20 M9 18 17 16 15 1413 12 11 10 9 8 mio BitVaue 0 0 0 0 1 0 0 1 1 foji i F 0 of1 0 0 0 0 oE Component SerialEncCmd Word Parity TM TE GB Ena Status NumBits Matsushita Protocol The following list shows typical settings of Acc84E i Chan j SerialEncCmd for a Matsushita serial encoder SerialEncCmdWord CA Command word for multi turn position in Matsushita SerialEncParity 0 No parity check supported for Matsushita protocol SerialEncTrigMode 0 Continuous triggering SerialEncTrigEna 1 Enable triggering SerialEncGtoB No Gray code supported for Matsushita protocol SerialEncEna Enable driver circuitry SerialEncStatus Bits No status bits supported for Matsushita protocol SerialEncNumBits 0 first 4 bits represent the Encoder ID Acc84E i Chan j SerialEncCmd would be set to CA1400 for continuous position reporting It may report b
134. fferent modes of operation could result in different contents in these status elements Each channel of the FPGA has four 24 bit status elements e Acc84E i Chan j SerialEncDataA Acc84E i Chan j SerialEncDataB Acc84E i Chan j SerialEncDataC Acc84E i Chan j SerialEncDataD Depending on each protocol mode setting in Acc84E i SerialEncCtrl and Acc84E i Chan j SerialEncCmd that specifies exactly how the channel s serial encoder interface will operate different data formats will be presented in the data registers Not all data registers are used in every protocol Software Setup 45 ACC S4E User Manual Power PMAC Channel POWER TURBO ACC 84E s Data Register tU 2 D 3 G 2 4 G 3 Chan j SerialEncDataA Y 78C00 Y 78C04 Y 78C08 Y 78COC Chan j SerialEncDataB Y 78CO1 Y 78C05 Y 78C09 Y 78COD ACC84E 0 78C00 Ghanfi SerialEncDataC 78C02 Y 78C06 Y 78C0A Y 78COE Chan j SerialEncDataD Y 78C03 Y 78CO7 Y 78COB Y 78COF Chan j SerialEncDataA Y 79C00 Y 79C04 Y 79C08 Y 79COC Chan j SerialEncDataB Y 79CO1 Y 79C05 Y 79C09 Y 79COD ACC84E 4 79C00 Ghanfi SerialEncDataC Y 79C02 Y 79C06 Y 79COA Y 79COE Chan j SerialEncDataD Y 79C03 Y 79CO7 Y 79COB Y
135. flags and data for homing to internal index pulse which happens once per revolution If the user simply wants to home to an external home flag or limit flag this can be achieved by using I7mn2 and I7mn3 settings and doing a software capture based upon Ixx97 1 software capture is required since the gate array doesn t see the encoder counts directly a hardware capture is not possible Also a combination of external flag and incremental index pulse is possible In order to use the internal index pulse of the encoder and its flags the following steps should be followed 1 Bit 14 of the alarm indicates whether the index has been detected since the last power up or not 2 The motor should be jogged until the bit 14 of the alarm codes becomes low 3 Once this bit is low the encoder will place the incremental compensation value in the lower 11 bits of the second word 4 By subtracting the incremental compensation from the incremental position the true position from the index can be calculated The following code is an example of how to do the homing based upon the steps above It is strongly recommended that home search moves be conducted at a slow speed define FirstWord M1000 define SecondWord M1001 define OriginNotPassed M1002 FirstWord gt Y 78C00 0 24 SecondWord gt Y 78C01 0 24 OriginNotPassed gt Y 78C02 14 define MtrlActPos M162 open plc 29 clear if OriginNotPassed 1 cmd
136. for each channel Each channel of the FPGA has four 24 bit status elements e Acc84E i Chan j SerialEncDataA Acc84E i Chan j SerialEncDataB Acc84E i Chan j SerialEncDataC Acc84E i Chan j SerialEncDataD In XY2 100 protocol only Acc84E i Chan j SerialEncDataA register is used and all other status registers are set to 0 Appendix B Serial link XY2 100 Protocol Support 139 ACC S4E User Manual Power PMAC Channel POWER TURBO ACC 84E i Data Register P 20 1 3 G 2 4 G 3 Chan j SerialEncDataA Y 78C00 Y 78C04 Y 78C08 Y 78COC Chan j SerialEncDataB Y 78CO1 Y 78C05 Y 78C09 Y 78COD AECE Paa Chan j SerialEncDataC Y 78C02 Y 78C06 Y 78C0A Y 78C0E Chan j SerialEncDataD Y 78C03 Y 78C07 Y 78COB Y 78COF Chan j SerialEncDataA Y 79C00 Y 79C04 Y 79C08 Y 79COC Chan j SerialEncDataB Y 79CO1 Y 79C05 Y 79C09 Y 79COD Seen STACI Chan j SerialEncDataC Y 79C02 Y 79C06 Y 79C0A Y 79COE Chan j SerialEncDataD Y 79C03 Y 79C07 Y 79COB Y 79COF Chan j SerialEncDataA Y 7AC00 Y 7AC04 Y 7AC08 Y 7ACOC Chan j SerialEncDataB Y 7ACO1 Y 7AC05 Y 7AC09 Y 7ACOD eE ECU Chan j SerialEncDataC Y 7AC02 Y 7AC06 Y 7ACOA Y 7ACOE Chan j SerialEncDataD Y 7AC03
137. gh resolution encoders over the MACRO ring However if the position resolution of encoder is more than 24 bits per revolution certain measures should be taken since the automatic transfer of lower 24 bits of position data might not provide sufficient position information required for commutation and introduce considerable velocity limitations on motor control If the encoder on commutated motor has less than 24 bits of resolution per single revolution at most 16 777 215 counts per electrical cycle then the data available in register 0 of the node can be used for commutation purpose and the following setting are sufficient Here is an example of commutation if the motor was on node 0 I101 3 motor is commutated commutation data is on Y memory location 1183 78420 Node 0 Register 0 1170 2 2 pole pair motor 1171 262144 18 bits of resolution per revolution of the motor If the encoder has 24 bits or more resolution per electrical cycle then the upper portion of the data becomes important for commutation purpose Since the commutation algorithm in PMAC uses a 2048 state Sine table only the upper 12 bits of data per electrical cycle will be important for PMAC Since the ECT entry only reads the lower 24 bits of position data in order to transfer the upper 24 bits of data most significant bits a separate node should be used For this purpose it is suggested that a MACRO PLC on the MACRO16 CPU be implemented This PLC will copy the
138. h proper setup the information can also be used to commutate brushless and AC induction motors Introduction 8 ACC S4E User Manual Compatibility The ACC 84E can be used with any type of CPU available for UMAC systems These CPUs include gt Power PMAC UMAC CPU gt Turbo PMAC UMAC CPU gt MACRO16 UMAC CPU Introduction ACC S4E User Manual SPECIFICATIONS Environmental Specifications Description Specification Notes Operating Temperature 0 C to 45 C Storage Temperature 25 C to 70 C Humidity 10 to 95 non condensing Physical Specifications Description Specification Notes Length 16 256 cm 6 4 in Dimensions Height 10 cm 3 94 in Width 2 03 cm 0 8 in Weight DB Connectors DB9 Female UL 94V0 The width is the width of the front plate The length and height are the dimensions of the PCB Electrical Specifications 5V 360mA 10 15V OA ISV 0A 5V current requirement mentioned is the consumption of the ACC 84E without any encoders connected ACC 84E Power Requirements Configuration The ACC 84E can support different serial encoder protocols depending on the selected option The following figure shows its part number scheme UMAC ACC 84E G amp O 3 3 9 2 7 A 0 0 0 0 2 02 SSI Protocol B
139. hasePos 7 s Phase90Deg 7 7 7 7 M148 WHA FOF int FirstWord amp SE 2 s Phase30Deg 30 360 90 360 s Phasel50Deg 150 360 0Deg 210 360 s Phase270Deg 270 360 Suggested M Variable definition Suggested M Variable definition Appendix A Setup Examples 117 ACC S4E User Manual If Halls Phase330Deg MtrilPhasePos I171 330 360 Endif MtrlPhaseSrchErr 0 disable plc 28 close 13 Bit Yaskawa Sigma II Incremental Encoder Y 78B21 Y WIEBE 10 CLL PEPEEEEEEEE PEEP EEEP Ere Corr Incremental Compensation 11 bits Incremental Position in Single Turn 13 bits ermine Hall Signals Encoder Conversion Table Setup for on going servo position and commutation Channel ECT Line Settings Ist Channel 1 Line 200000 Base Address 0 2 Line 00D00A 2nd Channel 1 Line 200000 Base Address 4 2 Line 00D00A 3rd Channel 1 Line 200000 Base Address 8 2 Line 00D00A 4th Channel 1 Line 200000 Base Address C 2 Line 00D00A Example 13 bit incremental encoder on channel 1 of ACC 84E with base address set to 78C00 18000 278C00 I18001 00D00A Appendix A Setup Examples ACC S4E User Manual Homing of incremental encoder based on its index This section explains how to use the encoder internal
140. hat the Servo Clock and the Phase Clock should be the same Servo Cycle Extension Period Ixx60 can be used to lower the CPU load and not to face quantization errors on the PID loops if the high Servo rates cause problems Since the output value of the ECT is already shifted left by 5 bits the value in the Ixx71 would be equal to 2420 x 32 33554432 but the maximum valid value for the Ixx71 is 16777216 which is half the value we require In this case we would use a ratio between Ixx71 and Ixx70 As an example assume a 20 bit encoder is mounted on a Yaskawa motor which has 4 pole pairs in this case we would set Ixx70 1 and Ixx71 33554432 4 8388608 If the user wants to use the absolute feedback for power on phasing with no motion a similar approach would be used however the single turn data would be sufficient for phasing the motor Here is an example of how to determine the power on phasing based on absolute data The following procedure is only required once After determining the phase reference value a power on PLC would be sufficient to establish the phase reference and motor will be ready for commutation 1 Tune the current loop on the motor after setting correct values for Ixx00 Ixx01 Ixx24 Ixx82 Ixx84 Ixx57 Ixx58 Ixx69 and Ixx66 use the tuning software and tune the current loop i e Ixx61 Ixx62 and Ixx76 2 Seta positive value usually 10 of Ixx66 to Ixx79 and set Ixx29 0 and Issue an OO command open loop zero output
141. he PID loops if the high Servo rates cause problems Since the output value of the ECT is already shifted left by 5 bits the value in the Ixx71 would be equal to 131072 x 32 2097152 and Ixx70 would be equal to the number of pole pairs on the motor Also Ixx83 should be pointing to the correct ECT entry to read the ongoing position data If the user wants to use the absolute feedback for power on phasing with no motion a similar approach would be used However the single turn data would be sufficient for phasing the motor Here is an example of how to determine the power on phasing based on absolute data The following procedure is only required once After determining the phase reference value a power on PLC would be sufficient to establish the phase reference and motor will be ready for commutation 1 Tune the current loop on the motor after setting correct values for Ixx00 Ixx01 Ixx24 Ixx82 Ixx84 Ixx57 Ixx58 Ixx69 and Ixx66 use the tuning software and tune the current loop i e Ixx61 Ixx62 and Ixx76 2 Set a positive value usually 10 of Ixx66 to Ixx79 and set Ixx29 0 and Issue an OO command open loop zero output 3 Read the Single turn data for the first channel the data would be at Y 78B20 0 24 but you have to apply the following function on it int FirstWord amp 1FFFFO 16 4 Set the Ixx79 back to its original value and issue a kill 5 The following PLC will set up the phase reference defin
142. he multi turn position value in the encoder is reset to 0 and also all latched errors are cleared This should be done in one shot mode making the element equal to C23400 and triggered for 10 consecutive cycles with 40 microseconds interval or more When the reset operation is done the component should report as BA2000 C22000 respectively Software Setup 37 ACC S4E User Manual Panasonic Protocol The following list shows typical settings of Acc84E i Chan j SerialEncCmd for a Panasonic serial encoder SerialEncCmdWord 2A Command word for multi turn position in Panasonic SerialEncParity 0 No parity check supported for Panasonic protocol SerialEncTrigMode 0 Continuous triggering SerialEncTrigEna 1 Enable triggering SerialEncGtoB 0 No Gray code supported for Panasonic protocol SerialEncEna 1 Enable driver circuitry SerialEncStatus Bits 0 No status bits supported for Panasonic protocol SerialEncNumBits 0 Fixed number of position bits returned Acc84E i Chan j SerialEncCmd would be set to 2A1400 for continuous position reporting It may report back as 2A1000 if the ready status bit is not set 1 Hex Digit 2 A 4 0 0 Ee Script Bit 23 22 21 20 19 18 17 16 9594 13 12 M10 98 76 5 4 3 2 r o m C Bit 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11
143. ial clock freq 20x bit transmission freq SerialClockNDiv 0 No further division SerialTrigClockSel 0 Use phase clock if possible SerialTrigEdgeSel 0 Use rising clock edge if possible SerialTrigDelay 0 Can increase from 0 if possible to reduce latency SerialProtocol 0D Shows Mitsubishi protocol is programmed into IC For example for a 2 5 MHz bit transmission rate SerialClockMDiv 5 2 5 1 1 01 and Acc84E i SerialEncCtrl is set to 01000D for triggering on the rising edge of phase clock without delay Hex Digit 0 1 0 0 0 D Script Bit 23 22 21 20 19 18 17 16 15 14 13 12 aro o s 7 6 5 4l3l2 ilo FI C Bit 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 mio Bit Value 000 0 00 0 ilo 0 0 ofi lololo o 0 of1 101 Component SerialClockMDiv SerialClockNDiv TC TE SerialTrigDelay SerialProtocol The following table lists the only Serial clock frequency setting used with Mitsubishi protocol SerialClockMDiv SerialClockNDiv Serial Clock Frequency 1 01 0 0 50 0 MHz queried at 55 5usec 1 Ousec 18 kHz 111usec 1 0usec 9 kHz and 222usec 1 0usec 4 5 kHz If the request cycle is other than the Note above cycles the data will not be latched properly Mitsubishi Serial Encoder on HG O type servo motors can only be Software Se
144. index6 0 EncTable ScaleFactor 1 EncTable 2 type 1 EncTable 2 pEnc Acc84E 0 Chan 1 SerialEncDataA a EncTable 2 pEncl Sys pushm EncTable 2 indexl 8 EncTable 2 index2 8 EncTable 2 index3 0 Appendix B Serial link XY2 100 Protocol Support 143 ACC S4E User Manual EncTable 2 index4 0 EncTable 2 index5 0 EncTable 2 index6 0 EncTable 2 ScaleFactor 1 Power PMAC Motor Setup Example Motor setting in Power PMAC is much simpler in Power PMAC because of built in position control servo algorithm The motor settings required for commanding XY2 100 axis can be separated into couple of groups First set of parameters are common regardless of the resolution of X Y2 100 drive used Motor Ctrl Sys PosCtrl Motor pDac Acc84E 0 Chan 0 SerialEncCmd a Motor pEnc EncTable 1 a Motor pEnc2 EncTable 1 a Motor pAmpEnable 0 Motor pAmpFault 0 Motor pLimits 0 Motor ServoCtrl 1 Motor pAbsPos Acc84E 0 Chan 0 SerialEncDataA a Motor AbsPosFormat 01001808 Motor PowerOnMode 4 Motor FatalFeLimit 0 Motor WarnFeLimit 0 Motor 2 Ctrl Sys PosCtrl Motor 2 pDac Acc84E 0 Chan 1 SerialEncCmd a Motor 2 pEnc EncTable 2 a Motor 2 pEnc2 EncTable 2 a Motor 2 pAmpEnable 0 Motor 2 pAmpFault 0 Motor 2 pLimits 0 Motor 2 ServoCtrl 1 Motor 2 pAbsPos Acc84E 0 Chan 1 SerialEncDataA a Motor 2 AbsPosFormat
145. ine 011006 4th Channel 1 Line 200000 Base Address C 2 Line 011006 Example 17 bit incremental encoder on channel 1 of ACC 84E with base address set to 78C00 I8000 278C00 18001 011006 Homing of incremental encoder based on its index This section explains how to use the encoder internal flags and data for homing to internal index pulse which happens once per revolution If the user simply wants to home to an external home flag or limit flag this can be achieved by using I7mn2 and I7mn3 settings and doing a software capture based upon Ixx97 1 software capture is required since the gate array doesn t see the encoder counts directly a hardware capture is not possible A combination of external flag and incremental index pulse is also possible In order to use the internal index pulse of the encoder and its flags the following steps should be followed 1 Bit 14 of the alarm indicates whether the index has been detected since the last power up or not 2 The motor should be jogged until the bit 14 of the alarm codes becomes low 3 Once this bit is low the encoder will place the incremental compensation value in the lower 11 bits of the second word 4 By subtracting the incremental compensation from the incremental position the true position from the index can be calculated The following code is an example on how to do the homing based upon the steps above It is strongly recommend
146. ion Read Technique 1 With Technique 1 the absolute power on read can be performed using PMAC s automatic settings Ixx80 Ixx10 and Ixx95 Example 1 Channel driving a 25 bit 13 bit single turn 12 bit multi turn rotary serial encoder 1180 2 Absolute power on read enabled 1110 78C00 Absolute power on position address chl serial data register A 1195 990000 Parallel Read 25 bits Signed from Y Register User Input Bit 22 1 X Register 0 Y Register Bit 23 1 Signed Bits16 21 Number of Bits to read Bits 0 15 reserved 0 a a 25 bits or 011001 always 0 eee an O0 O 1 1 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Ixx95 In this mode PMAC reads and reports 25 bits from the consecutive serial data registers Serial Register B Serial Register A Ch1 Y 78C01 Ch1 Y 78C00 47 23 0 With the setting of Ixx80 2 the actual position is reported automatically on Power up Otherwise a 1 command is necessary to read and report the absolute position Example 2 Channel driving an 18 bit 18 bit Single turn No Multi turn absolute rotary serial encoder or a similar protocol resolution 18 bits linear scale 1180 2 Absolute power on read enabled T110 78C00 Absolute power on position address chl serial data register A T1195 120000 Parallel Read 18 bits Unsigned from Y Register User Input Bit 22 1 X Register 0 Y Register Bit 23 1 Signe
147. ion cycle size With techniques 2 and 3 the feedback source for commutation should come from its dedicated ECT Parameter Technique 1 Technique 2 3 Commutation serial data register A if ST MT gt 24 bits commutation Source Ixx83 ECT position result if ST MT lt 24 bits ECT result Commutation 3 from Y register if ST MT gt 24 bits i eon X vepistier Type Ixx01 1 from X register if ST MT lt 24 bits 8 Special considerations should be made if the Single turn ST and a Multi turn MT data bits are NOT contiguous in consecutive fields Contact Delta Tau for assistance with these special cases Note AX Multi turn MT is equal to zero for encoders which do not possess er Multi turn data bits Note Using the Resulting Position Information 70 ACC S4E User Manual Resolution Scale Factor SF Parameter Encoder Type Technique 1 3 Technique 2 Rotary 9ST 98T5_ 987 39 Resolution counts rev Scale Factor SF a 1 RES 1 32 RES counts user units Where ST is the rotary encoder Single turn resolution in bits RES is the linear scale resolution in user units e g mm Commutation Cycle Size Parameter Motor Encoder Technique 1 Technique 2 3 Rotary Number of pole pairs Ixx70 Linear 1 e SF 2 if Ixx01 3 _ 7 8 otar 32 SF 32 2 if Ixx01 1 262144 Ixx71 ECL SF ECL RES if
148. is usually done in order to prevent any velocity limitations the LSB of position data reported by encoder equals to 1 32 of a count motor position PMAC s built in power on servo position registers Ixx10 and Ixx95 cannot be used in this case since these registers expect the LSB to have a value of 1 count and instead a PLC should read the encoder registers and write the correct position data to actual position of the motor Here is an example on how to read the position data from ACC 84E registers and assign them to motor actual position in a PLC CLOSE DEL GAT define ChnlRegA M2000 define ChnlRegB M2001 Appendix A Setup Examples 124 ACC S4E User Manual ChniRegA gt Y 78C00 0 24 ist 24 bits of position data Chni1RegB gt Y 78C01 0 16 overflow of the bits define MtrlActPos M162 Suggested M variable definition OPEN PLC 10 CLEAR MtrilActPos ChniRegB 1000000 ChniRegA 1108 DISABLE PLC 10 CLOSE Absolute Power On Reset Phase Position By knowing the difference between the absolute encoder position and the commutation cycle zero stored in Ixx75 in PMAC a phase search routine is no longer necessary on power up reset In order to have a power on reset phasing based upon the absolute encoder Ixx81 Ixx91 and Ixx75 needs to be set Motor power on phase position address Ixx81 should point to the same address used for motor commutation position address Ixx83 which is processed data from
149. l Record the processed data address e g 3512 This is where the Ey be used in setting up the power on phasing routine Note The commutation enable and position address would then be I1101 1 Mtr 1 Commutation enable from X Register I1183 3512 Mtr 1 Commutation Position Address User Input Using the Resulting Position Information 78 ACC S4E User Manual Absolute Power On Position Read Technique 2 With technique 2 the absolute power on position can be read directly from the serial data registers But proper scaling 5 bit right shift in a PLC is required to conform to the unshifted on going position Example 1 Channel driving a 37 bit 25 bit single turn 12 bit multi turn rotary serial encoder 1180 0 Absolute power on read disabled 1110 78C00 Absolute power on position address chl serial data register A 1195 SA50000 Parallel Read 37 bits Signed from Y Register User Input Bit 22 1 X Register 0 Y Register Bit 23 1 Signed Bits16 21 Number of Bits to read Bits 0 15 reserved 0 Unsigned Resolution 37 bits or 100101 always 0 L a wos VETOA Ac oad Econ Pc Pc cal alll Rc e cl ec xX Hex S A 5 0 0 0 0 In this mode PMAC reads 37 bits from the consecutive serial data registers Serial Register B Serial Register A Ch1 Y 78C01 Ch1 Y 78C00 47 23 0 With the setting of Ixx80 0 the actual position is not reported automatical
150. lag 1 Timeout fault EndIf If FaultFlag 0 If reading is successful Pos2_ Value Pos2_Low Pos2_Mid 10000 Pos2_High 100000000 Construct actual Position 2 value Timer 10 msec Wait 10 msec Ch1EnDatCtr1 381418 Change mode back to DataA reading If InitialEnaStatus 1 If initially enable cemd 1k gt Kill motor 1 While MtrilActVel gt 10 EndWhile Wait for motor to settle MtrlActPos Pos2_Value 1108 32 Write offset to Motor 1 Act Pos Timer 10 msec 10 msec delay emd 15 Closed loop in position Else If initially motor is killed While MtrilActVel gt 10 EndWhile Wait for motor to settle MtrlActPos Pos2_Value 1108 32 Write offset to Motor l Act Pos EndIf EndIf Disable PIC 3 Close Since the number of counts in EnDat 2 2 encoders usually are much higher than normal incremental encoders the default settings for position and velocity feedback scale factors a value of 96 can cause resolution restrictions on Servo gain settings It is recommended that the scale factors be set to a smaller value I108 1 Motorl position scale factor required not to saturate the Velocity I109 1 Motorl velocity loop scale factor Appendix A Setup Examples 106 ACC S4E User Manual Yaskawa Sigma II IIl V Feedback Setup Example Channel Control Register Setup for Position Read In this mode the Brick will update the data registers based upon the data received from the enco
151. lculation SerialClockMDiv 18 Serial clock frequency bit transmission frequency SerialClockNDiv 1 TxEnable 1 Enable transmission of XY2 100 position data Parity 1 Odd parity selection 0 Even 1 Odd ClockSel 0 Servo clock selection for interpolation ModeSel 0 XY2 100 Serial Link Standard 16 bit position data For a 2 MHz bit transmission rate SerialClockMDiv 24 18 and SerialClockNDiv 1 1 Acc84E i SerialEncCtrl is set to 181C00 for interpolation based upon Servo clock and odd parity calculation Hex Digit 1 8 1 C uv m o m Ea Bit Value 0 0 0 0 0 0 0 0 0 1 o 0 0 0 0 0 1 Component sioan SerialClockNDiv i a ght Acc84E 0 SerialEncCtrl 181C00 Encoder Conversion Table Example Standard XY2 100 protocol does not provide any real feedback from the galvanometers to PMAC since the position loop is closed in the servo drive or scanhead and not in the controller In ACC 84E XY2 100 implementation a simulated feedback is provided which provides a pseudo feedback for use in Power PMAC ECT This feedback represents the interpolated position command which is sent to XY2 100 at 1 20 rate of serial clock frequency set by Acc84E i SerialEncCtrl EncTable type 1 EncTable pEnc Acc84E 0 Chan 0 SerialEncDataA a EncTable pEncl Sys pushm EncTable index1 8 EncTable index2 8 EncTable index3 0 EncTable index4 0 EncTable index5 0 EncTable
152. ld Detecting timing During normal backup operation Output latch Reset Reset IT A6 System Down SD Function When an encoder gets into an emergency operation status and disables to perform its function 1 is output To be more concretely voltage of the backup capacitor within the encoder towers 2 8 V TYP or less Detecting timing During backup operation Output Latch Reset Reset I External battery was be checked or replaced with an new one A7 Battery Alarm BA Function When voltage of the external battery decreases below 3 0V TYP 1 is outputted Detecting timing During backup operation Output Latch Reset Reset I External battery was be checked or replaced with an new one Status Code Description Bit Bit Data State when error is occurred Description So 1 ea0 Logic OR of Over speed OS System Down SD Batter Alarm BA S1 1 eal Logic OR of Count Error 1 CE1 and Count Error 2 CE2 check alarm word for identification of exact alarm S2 0 S3 Preset Status PS Software Setup 62 ACC S4E User Manual Mitsubishi Protocol Mitsubishi Serial Encoder on HG O type servo motors can only be queried at 55 5usec 1 0usec 18 kHz 111usec 1 0usec 9 kHz and 222usect1 Ousec 4 5 kHz If the request cycle is other than the above cycles the data will not be latched properly ie Note For
153. le i j 2 end end The following functions were used in this procedure function Xint Yint PlanarInterpolation CmdPos ActPos Xinput Yinput xl ActPos 1 1 1 yl ActPos 1 1 2 x2 ActPos 1 2 1 y2 ActPos 1 2 2 x3 ActPos 2 1 1 y3 ActPos 2 1 2 x4 ActPos 2 2 1 y4 ActPos 2 2 2 X1 CmdPos 1 1 1 Yl CmdPos 1 1 2 X2 CmdPos 1 2 1 Y2 CmdPos 1 2 2 X3 CmdPos 2 1 1 Y3 CmdPos 2 1 2 m12 y2 yl x2 x1 m13 y3 yl x3 x1 m24 y4 y2 x4 x2 m34 y4 y3 x4 x3 if m12 m34 ml m12 else xel yel LineIntersection x1 yl x2 y2 x3 y3 x4 y4 ml yel Yinput xel Xinput end if m13 m24 m2 m13 else xe2 ye2 LineIntersection x1 yl x3 y3 x2 y2 x4 y4 m2 ye2 Yinput xe2 Xinput end if isinf m1 x13 Xinput y13 m13 x13 x1 yl else if isinf m13 x13 xl yl3 ml x13 Xinput Yinput else x13 m1l Xinput m13 x1 t yl Yinput m1 m13 y13 m13 x13 x1 yl end end Appendix B Serial link XY2 100 Protocol Support 152 ACC S4E User Manual if isinf m2 x12 Xinput yl2 m12 x12 x1 yl else if isinf m12 x12 x1 yl2 m2 x12 Xinput Yinput else x12 m2 Xinput m12 xl yl Yinput m2 m12 yl2 m12 x12 x1 yl end end ratiol sqrt x12 x1 2 y12 yl 2 sqrt x2 x1 2 y2 yl 2 ratio2 sqrt x13 x1 2 yl3 yl
154. lock freq 25x bit transmission freq SerialClockNDiv 0 No further division SerialTrigClockSel 0 Use phase clock if possible SerialTrigEdgeSel 0 Use rising clock edge if possible SerialTrigDelay 0 Can increase from 0 if possible to reduce latency SerialProtocol 03 Shows EnDat protocol is programmed into IC For example for a 2 0 MHz bit transmission rate SerialClockMDiv 4 2 1 1 01 and Acc84E i SerialEncCtrl is set y 010003 r triggering T the rising oe of ee clock without delay Hex Digit 0 Script Bit 23 22 21 20 19 18 i 16 15 14 E 12 Toe 8 7 6 43 2 i 0 ale CBit 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 Maso Bit Value 000 0 0 0 0 1f0 0 0 Ofefefololo o 0 ofo 0 1 1 Component SerialClockMDiv SerialClockNDiv TC TE SerialTrigDelay SerialProtocol The following table lists a few common Serial clock frequency settings used with EnDat2 1 2 2 protocol SerialClockMDiv SerialClockNDiv Serial Clock Freq Bit Transmission Freq 0 00 2 2 25 0 MHz 1 0 MHz 0 00 3 3 12 5 MHz 500 kHz 0 00 4 4 6 25 MHz 250 kHz In newer version of the EnDat 2 1 2 2 firmware for ACC 84E Released Feb 4 2014 bit 11 is used as backward compatible switch which if set allows higher bit transmission frequencies short encoder cables since in FP
155. lock frequency bit transmission frequency SerialClockNDiv 1 TxEnable 1 Enable transmission of XY2 100 position data Parity 1 Odd parity selection ClockSel 0 Servo clock selection for interpolation ModeSel 0 XY2 100 Serial Link Standard 16 bit position data For example for a 2 MHz bit transmission rate SerialClockMDiv 24 18 and SerialClockNDiv 1 1 Acc84E i SerialEncCtrl is set to 181C00 for interpolation based upon Servo clock and odd parity calculation Hex Digit 1 8 1 C 0 0 Script Bit 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 s 4 3 2 1 0 C Bit 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 74 30 Bit Value 000 1 1 0 0 ofo 0 0 1fififolo so 010 0 0 0 1 Of Component SerialClockMDiv SerialClockNDiv TE P CS ModeSel Appendix B Serial link XY2 100 Protocol Support 135 ACC S4E User Manual Channel Specific Command Register Each channel of the FPGA has a 24 bit saved setup element Acc84E i Chan j SerialEncCmd saved element in Power PMAC only and non saved in Turbo PMAC Power PMAC Turbo PAMC Channel Channel Control Register Base Address 1 j 0 2 Gj 1 3 j 2 4 j 3 ACC84E 0 Chan j SerialEncCmd 78C00 Y 78C00 Y 78C04 Y 78C08 Y 78COC
156. ly on power up It will be reported after scaling i e in PLC below Example 2 Channel driving a 25 bit 25 bit Single turn No Multi turn absolute rotary serial encoder or a similar protocol resolution 25 bits linear scale 1180 0 Absolute power on read disabled 1110 78B20 Absolute power on position address chl serial data register A 1195 190000 Parallel Read 25 bits Unsigned from Y Register User Input Bit 22 1 X Register 0 Y Register Bit 23 1 Signed Bits16 21 Number of Bits to read Bits 0 15 reserved 0 Unsigned Resolution 25 bits or 011001 always 0 L E E S aas ATAO TO a O Uc A EB xx Hex 1 9 0 0 0 0 In this mode PMAC reads 25 bits from the first serial data register Serial Data Register B Serial Data Register A Ch1 Y 78C01 Ch1 Y 78C00 47 23 0 With the setting of Ixx80 0 the actual position is not reported automatically on power up It will be reported after scaling i e in PLC below Using the Resulting Position Information 79 ACC S4E User Manual With absolute serial encoders no multi turn data the power on nal position format is set up for unsigned operation Note The upper two fields in Ixx95 are the only relevant ones Bits 0 through 15 are reserved and should always be set to 0 Note Power On Position scaling PLC example for technique 2 M162 gt D 00008B Open PLC 1 clear 15111
157. mmutation amp acceleration 54 Send limit position signals 55 Send limit position signals amp acceleration 56 Currently not assigned e 5F Stop sending additional information 2 The response from the encoder to specific MRS code data requests from the encoder depends on the availability of that data in the encoder The additional information provided from supported MRS codes will be found in status elements Acc84E i Chan j SerialEncDataC and SerialEncDataD Software Setup 33 ACC S4E User Manual The following list shows typical settings of Acc84E i Chan j SerialEncCmd for position reporting from an EnDat encoder SerialEncCmdWord cmd MRS code Command code SerialEncParity 0 No parity check supported for EnDat protocol SerialEncTrigMode 0 Continuous triggering EnDat2 2 SerialEncTrigEna 1 Enable triggering SerialEncGtoB 0 No Gray code supported for EnDat protocol SerialEncEna 1 Enable driver circuitry SerialEncStatusBits 0 No status bits supported for EnDat protocol SerialEncNumBits enc spec Encoder specific number of position bits returned For example for an EnDat2 2 encoder with 37 position bits Acc84E i Chan j SerialEncCmd would be set to 381425 for continuous position reporting It may report back as 381025 if the data ready status bit is not set pg 3 8 1 4 2 5 Script Bit 23 22 21 20 19 18 17 16 15 14 13 12 i1J 10 9 si 7 e6e 5 4 3 2
158. mponent is set to F2 FA and triggered for 10 consecutive cycles with 7 microseconds interval or more The Encoder ID present in lower 4 bits of Acc84E i Chan j SerialEncCmd is written to EEPROM on the encoder This should be done in one shot mode making the element equal to F23400 FA3400 and triggered for 10 consecutive cycles with 7 microseconds interval or more The register should report as F22000 FA2000 after completion of a single trigger If the SerialEncCmdWord component is set to D2 DA and triggered for 10 consecutive cycles with 7 microseconds interval or more The Encoder ID stored in EEPROM of the encoder is fored into S8 shaft 111 This should be done in one shot mode making the element equal to D23400 DA3400 and triggered for 10 consecutive cycles with 7 microseconds interval or more The register should report as D22000 DA2000 after completion of a single trigger Software Setup 42 ACC S4E User Manual Only the encoders that are written with an encoder ID S8 shaft permit to change the setting of the encoder ID fN If an encoder has an ID other than S8 111 it is necessary to assign it Note the ID S8 using D2 DA mode before assigning it its final ID The difference between F2 and FA is similar to the difference between D2 and DA command modes The command modes F2 and D2 despite different functionality cause the overflow flag to be reflected in the ea0 status bit The
159. ncCmd would be set to 043501 to start a fault reset It may report back as 043101 if the ready status bit is not set 3 Hex Digit _ 0 4 5 0 1 ales Script Bit 239722 21 20 19 18 17 16 15 14 13 12 Pfiofo s 7 6 5 4l3 2 lilo EFT CBit 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 74 30 BitVaue 0 0 0 1 0 ofl f1ififefifo 1 o ojlo 0 0 0 0 1 e fe Component SerialEncCmd Word Parity TM TE GB Ena Status NumBits The following steps show the procedure for clearing the latched alarms on absolute encoders which the user plc should perform in certain order 1 Write the value 043501 to Acc84E i Chan j SerialEncCmd Wait 10 milliseconds 2 3 Wait for the trigger enable component Script bit 12 of this element to clear 4 Wait for the busy signal Script bit 8 of Acc84E i Chan j SerialEncDataB to clear If cleared go to step 7 NM Software Setup Clear the command code of this element to 00 by writing 003501 to the element Repeat steps 2 to 4 Resume continuous position requests by writing 001400 to the element 36 ACC S4E User Manual Tamagawa FA Coder Protocol The following list shows typical settings of Acc84E Z Chan j SerialEncCmd for a Tamagawa FA Coder serial encoder SerialEncCmdWord 1A Command word for position reporting in Tamagawa SerialEncParity
160. ncCmdWord component is set to CA for single turn multi turn alarm reporting 17 bits of single turn data 15 bits of multi turn data 8bits of alarm data Acc84E i Chan j SerialEncCmd would be set to CA1400 It may report back as CA1000 if the data ready status bit is not set Software Setup 41 ACC S4E User Manual If the SerialEncCmdWord component is set to E2 Reset I and triggered for 10 consecutive cycles with 7 microseconds interval or more battery alarm system down and over speed flags are cleared This should be done in one shot mode making the element equal to E23400 and triggered for 10 consecutive cycles with 7 microseconds interval or more The register should report as E22000 after completion of a single trigger If the SerialEncCmdWord component is set to EA Reset II and triggered for 10 consecutive cycles with 7 microseconds interval or more multi turn data and counter overflow are reset This reset mode should only be called when the motor speed is less than 300 RPM This should be done in one shot mode making the element equal to EA3400 and triggered for 10 consecutive cycles with 7 microseconds interval or more The register should report as EA2000 after completion of a single trigger For both E2 and EA reset modes e To check whether the reset is made correctly Send a request Iza signal CA to the encoder and check the multi turn data and ALC on the output signal data field t
161. ne msec 8388607 i10 While 16612 gt 0 EndWhile Address Assignment SerialEncDataA gt Y 78C00 0 24 U SerialEncDataB gt Y 78C01 0 24 U SerialEncDataC gt Y 78C02 0 24 U SerialEncDataD gt Y 78C03 0 24 U SerialEncDataC_AddInfo gt Y 78C02 0 16 U RM bit gt Y 78C02 22 MRS _code gt Y 78C02 16 4 Mtr1lAmpEna gt X 078205 14 x MtrlActPos gt D 00008B MtrlActVel gt X 00009D 0 24 S 7 MtrlDesVel_unit gt X 000086 0 24 S j AENA1 output status 1 Actual position 1 Actual velocity 1 Ixx08 32 cts 1 Ixx09 32 cts ms 1 Desired cmd vel register X register units 3 Ixx08 32 cts msec at 100 1 Desired cmd vel register Fractional MtrlDesVel_fraction gt Y 000086 0 24 U PLC Program Start Open PLC 3 Clear FaultFlag 0 EnDatGlobalCtrl1_4 2003 Ch1EnDatCtr1 381418 Timer 1 msec Ch1EnDatCtr1 421418 Timer 1 msec While RM bit 0 EndWhile If MtrilAmpEna 1 cmd 1j InitialEnaStatus 1 Else cmd 1k InitialEnaStatus 0 EndIf MtriDesVel MtrlDesVel_unit 3 I108 32 MtrlDesVel_fraction 1677216 While MtriDesVel gt 10 If reaching RM by hand kill Set Status as 0 Clear FaultFlag 1MHz for Channel 1 4 24 bit read Wait for 1 msec Request Info in DataC Wait for 1 msec cannot set higher DataA 24 DataB 0 Position 1 Pos 2 Word 1 Capture RM bit wait for RM bit to be 1 Check initial motor status If reaching RM by jogging
162. ned encoder ID code Fixed to 11 15 8 An Alarm Code Bits An represent bits of the alarm code 19 16 Sn Status Code Bits Sn represent bits of the status code 22 EO CE CRC error detected by the IC 23 El TE Timeout error detected by the IC Alarm Code Description for AT303A Encoders Bit Bit Data State when Description error is occurred 8 AO 1 Initialized error 9 Al 1 Disagreement data of photoelectric type and capacitance type 10 A2 1 Photoelectric error 11 A3 1 Electrostatic capacitance error 12 A4 1 CPU error 13 AS 1 EEPROM error 14 A6 1 ROM RAM error 15 A7 1 Overspeed Software Setup 58 ACC S4E User Manual Alarm Code Description for AT503A Encoders Bit Bit Data State when Description error is occurred 8 AO 1 Initialized error 9 Al 1 Disagreement data of photoelectric type and capacitance type 10 A2 1 Photoelectric error 11 A3 1 Electrostatic capacitance error 12 A4 1 CPU error ROM RAM error 13 A5 1 EEPROM error 14 A6 1 Communication error 15 A7 1 Overspeed Status Code Description Bit Bit Data State when Description error is occurred 16 S4 1 System error Set 1 if fatal error generates in encoder If this error occurs turning off the servo is necessary because data itself may have problems The scale needs restart Either cycle power or execute the reset process using SerialEncCmdWord set to 89 and follow the instructions in
163. ng that eight encoders have been configured for position the first ECT for commutation for the first motor would be at entry number nine Conversion Type Parallel pos from Y word with no filtering Width in Bits 18 Offset Location of LSB Singleturn protocol bits 18 e g 20 18 2 No shifting Source Address Serial data register A same as position ECT for this motor Remember to click on Download Entry for the changes to take effect wi Turbo Encoder Conversion Table Device 0 Geo Brick Drive DER Select a table entry to view edit FEAE End of Table Download Enty ntry i Eirst Entry of T able pray Y 3511 cored Data Ceres xe View All Entries of Table a Viewing Conversion Type Parallel pos from Y word with no filtering v Source Address 78C00 X Width in Bits 118 Offset Location of LSB at Source Address 0 Based Index Conversion Shifting of Parallel Data Normal shift 5 bits to the left No Shifting Using the Resulting Position Information 83 ACC S4E User Manual This is a 2 line ECT entry its equivalent script code 18016 S2F8C00 Unfiltered parallel pos of location Y 78C00 User Input 18017 12002 Width and Offset Processed result at X 3512 User Input Record the processed data address e g 3512 This is where the IE commutation position address Ixx83 will be pointing to Also this will be used in setting up the power on phasing routine
164. ngs Ist Channel 1 Line 200000 Base Address 0 2 Line 020004 2nd Channel 1 Line 200000 Base Address 4 2 Line 020004 3rd Channel 1 Line 200000 Base Address 8 2 Line 020004 4th Channel 1 Line 200000 Base Address C 2 Line 020004 Example 16 bit absolute encoder on channel 1 of ACC 84E with a base address of 78C00 18000 278C00 18001 020004 Absolute Position Reading In order to read the absolute position from the encoder and set the motor position accordingly the data available in the EncoderDataRegisterA and EncoderDataRegisterB should be combined together The following example demonstrates required calculations This PLC needs to be executed once after system power up reset define STDO 15 M1000 define MTDO 3 M1001 define MTD4 15 M1002 define MTDO_15 M1003 STDO_15 gt Y 78C00 4 16 MTDO_3 gt Y 78C00 20 4 MTD4_15 gt 78C01 0 12 MTDO_15 gt define MtrilActPos M162 open plc 28 clear MTDO_15 MTD4 15 10 MTDO 3 If MTDO_15 gt 7FFF MTDO_15 MTDO_15 SFFFF 1 1 If STDO_15 0 STDO_15 STDO_15 SFFFF 1 1 Endif Endif MtrlActPos MTD0_15 10000 STD0_15 I108 32 disable plc 28 close Reading Absolute Phase Position For commutation purpose since the data doesn t start on bit 0 of the register we have to use the output of the encoder conversion table for on going phase position instead of the positi
165. not make corrections for rotation so the selected rectangle direction should match the direction of distorted XY field There are multiple methods for optimizing the best usable area which are beyond the intended scope of this document A simple approach in selection of this area is shown in this example Oe ee eee eee tee 4 gt ay ay es a an nn a 5 Generate a table with same dimensions as the CmdTable and RawTable called BestFitTable in which the XY coordinates of nodes for the best fit grid are stored In the picture above node are shown in blue dots The next steps are automated in the code but explained for reference 6 Identify mesh element of RawTable where each BestFitTable node is located 7 Calculate the interpolated value of BestFitTable node based upon its RawTable surrounding nodes 8 Transfer the interpolation from RawTable to CmdTable corresponding nodes mesh item and store it in Corrected array 9 The difference between CmdTable and Corrected table are the entries for the two 2D compensation tables Appendix B Serial link XY2 100 Protocol Support 150 ACC S4E User Manual
166. nt ClockSel 09 4 17 Interpolation clock source select 08 4 16 Reserved ModeSel 07 06 5 15 14 Transmitted position data resolution select z 05 04 5 13 12 Reserved 03 00 6 11 08 Reserved The components ClockMDiv and ClockNDiv control how the XY2 100 clock frequency is generated from the IC s fixed 100 MHz clock frequency The equation for this clock frequency fyyz is 100 fxn MHz 7 M 1 2 where M is short for ClockMDiv This 8 bit component can take a value from 0 to 255 N is short for ClockNDiv This 4 bit component can take a value from 0 to 15 so the resulting 2 divisor can take a value from 1 to 32 768 Table below includes the most common settings for M and N dividers SerialClockMDiv SerialClockNDiv Clock Freq Update Period Position Frame MHz RZY Update Freq kHz 24 18 1 1 2 0 MHz 10 100 24 18 2 2 1 0 MHz 24 18 3 3 0 5 MHz The component 7xEnable controls whether the XY2 100 position data is being transferred to the scanhead galvanometer Setting this bit to 1 enables the driver circuitry for the XY2 100 Clock Sync and Data lines This bit must be set to 1 to command any scanheads galvanometers If there is an alternate use for the same signal pins this bit must be set to 0 so the drivers do not conflict with the alternate use The component ClockSel controls which Power PMAC clock signal is used for capturing the position data generated by Power PMAC and p
167. nual the Basic Motor Setup chapter of the User s Manual and the Hardware Reference Manual for the interface In addition the motor setup routines in the IDE software will walk you through this setup To use serial encoder position from an ACC 84E FPGA based interface for absolute power on phase position the following saved setup elements must be specified e Motor x pAbsPos Acc84E i Chan j SerialEncDataA a e Motor x AbsPosFormat aabbccdd Protocol specific settings e Motor x AbsPosSf Motor units per sensor LSB e Motor x AbsPosOffset Difference between sensor zero and motor zero For the format variable the LSB of the encoder data is typically found in bit 8 of the 32 bit SerialEncDataA register If the encoder provides more than 24 bits of absolute position data the format element permits data from SerialEncDataB to be used as well Note however that the data in SerialEncDataA must go all the way to bit 31 for this to work In protocols such as Tamagawa and Panasonic which provide only 17 bits of data in SerialEncDataA and more in SerialEncDataB the full absolute position must be assembled in a user algorithm Using the Resulting Position Information 68 ACC S4E User Manual Using the ACC 84E with Turbo PMAC In Turbo PMAC the absolute serial encoder data is brought in as an unfiltered parallel Y word into the Encoder Conversion Table ECT where it is processed for the PMAC to use for On going phas
168. oder EnDat2 2 These 6 bits fit at the low end of the 8 bit SerialEncCmdWord command field of Acc84E i Chan j SerialEncCmd and process EnDat2 1 command codes as well However not all By the EnDat standard EnDat2 2 encoders should be able to accept fN encoders sold as meeting the EnDat2 2 standard can do this Note For EnDat2 2 encoders the ACC 84E starting 1 quarter 2014 also supports controller requests for additional information from the encoder through the use of Memory Range Select MRS codes To implement these the SerialEncCmdWord command field contains the MRS code In this mode the ACC 84E sends the 111000 command code report position with additional information to the encoder The following MRS codes are supported in the EnDat2 2 standard e 40 Send additional info 1 w o data content NOP 41 Send diagnostic values 42 Send position value 2 word 1 LSB 43 Send position value 2 word 2 44 Send position value 2 word 3 MSB 45 Acknowledge memory content LSB 46 Acknowledge memory content MSB 47 Acknowledge MRS code 48 Acknowledge test command 49 Send test value word 1 LSB 4A Send test value word 2 4B Send test value word 3 MSB 4C Send temperature 1 4D Send temperature 2 4F Stop sending additional information 1 50 Send additional info 2 w o data contents NOP 51 Send commutation 52 Send acceleration 53 Send co
169. of Contents INTRODUCTION einan aa aaeanaens 8 es eee EN DME SESE ene ESTES Ee ert ere eet on ore ner arte Miao a tat 8 CATION 5 ascicsaccsauesanaticatdsatuetanatisstacesusatanatduadasataretaaatucastacsacatasntdaataiatecetasetucataiasasasacas 9 SPECHICATIONS riire A een 10 Environmental SPS CCA ONS vseserccstccnavatp cern 10 Sie OC MICO Sicexctsccawasararidtadciiessieoisatnesivanddaseuiesstiad R Oi 10 Bal SO CIO INS siian AEA EA TEAREN EANA 10 COMMO O T ea ma aaemameniad 10 HARDY ARE SETUP apes cseicieaciecsshsicsesasdentacsoseoouauleotacins onsets eee nies 11 Pe AGG SIE sreajrr iaraa T A TEET E 11 A E E E E A A E A A T 12 IN RNa domaa a ANAE AAN 12 Encoder Specific Connection INfOTmaniOn scsiisarscscssiascasiaracseaiareiasianaiiaseseaaianaisaarcieaeasaeas 13 SOFTWARE SETUP suscssnosan n nu EanNENEN E AaNAANNE R aAA OUNAE nAn nn 15 Hardware Control Parameter Setup vjccicicciinestecdtwess cdiveraieddinoraatedaoeniciedanst biddiocsabiamoumieneniee 15 Multi Channel Setup Element 5 acs cnssanscarsentacanseasavatasabacetscatanetsakiabanseanatetasatadanseanadetieatabanaaanss 17 Single Channel Setup ElemMen casa sseniresusgacastauaniriaueyaaidaabaaivisubdaabdeubdandiaubsaidansaenbiabbdsattaabhentas 29 Hardware Status Data Structure csicctvrsinativnsiendiindinatiantiasdinaninchiaatiectiaxteabiablextiawduubhe 45 Single Channel Status MICOS ccscassiscsnasvatessassidessdnvetesvasnddeasdeveddabasvitensdenedsabassdtanhassmtanaanien 45 USING THE RESULTING POSITIO
170. ol 0B Shows BiSS protocol is programmed into IC For example for a 1 0 MHz bit transmission rate SerialClockMDiv 100 1 0 1 99 63 and Acc84E i SerialEncCtrl is set to 63000B for triggering on the rising edge of phase clock without delay Hex Digit 6 3 0 0 0 B Script Bit 23 22 21 20 19 18 17 16 15 14 13 12 Mo 9 s 7l6 5s 4 3l2 lilo FI C Bit 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 74 30 Bit Value 01 1 00 01 1 0 0 0 Ofefetsofofo o 0 oji 0 1 1 F Component SerialClockMDiv SerialClockNDiv TC TE SerialTrigDelay SerialProtocol The following table lists a few common Serial clock frequency settings used with BiSS B C protocol SerialClockMDiv SerialClockNDiv Serial Clock Frequency 24 18 0 0 4 0 MHz 99 63 0 0 1 0 MHz 99 63 1 1 500 0 kHz 99 63 2 2 250 0 kHz Software Setup 26 ACC S4E User Manual Matsushita Protocol The following list shows typical settings of Acc84E i SerialEncCtrl for a Matsushita serial encoder The serial clock frequency is set 20 times higher than the external clock frequency which is the bit transmission frequency fpin to permit oversampling of the input signal SerialClockMDiv 5 frit 1 Serial clock freq 20x bit transmission freq SerialClockNDiv 0 No further division SerialTrigClock
171. omponent SerialEncCmd Word Parity TM TE GB Ena Status NumBits For an EnDat2 2 incremental encoder with 24 position bits Acc84E i Chan j SerialEncCmd would be set to 421418 for continuous position reporting with additional information of position 2 word 1 It may report back as 421018 if the data ready status bit is not set Hex Digit _ 4 2 1 4 1 8 en fe Script Bit _ 23 22 21 20 19 18 17 16 15 14 13 12 MI 10s e 5s 413 2 170 fale CBit 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 1312 11 10 9 8 mo BitVaue J 0 0 0 01 ofj Jo iveJile Jo 1 1 00 of Component SerialEncCmdWord Parity TM TE GB Ena Status NumBits Software Setup 34 ACC S4E User Manual Reading Additional Information from EnDat2 2 The following sequence of settings needs to be followed in order for user to read additional information from an EnDat2 2 compatible encoder e Change CommandCode in SerialEncoderCommand register to desired MRS code e Once bit 22 of the SerialEncoderCommand is set to 1 all MRS codes share this property then the command code changes to 001001 for next cycle of communication e Encoder transmits the position data and SEIGATES3 receives it and stores it in SerialEncDataA and SerialEncDataB e MRS code will be transmitted after reception of the position data available in bits 16 to 22 of serial en
172. on Value 2 From DataC Position Value Mark Reference i I I RM bit i I I Position Capture The figure is for incremental rotary encoder with one reference mark and position value 2 will be the absolute position relative to the reference mark in one revolution after reaching the first reference mark Position value 2 is captured after reaching the first reference mark and written to the actual motor position register By setting reference offset as current encoder position reference mark position will become 0 count position Position value 2 can be obtained by sending proper command codes The structure of position value 2 is as below Position Value 2 48 bit Position Value 2 High Word 3 Position Value 2 Word 2 Position Value 2 Word 1 SerialEncoderDataC 15 0 SerialEncoderDataC 15 0 SerialEncoderDataC 15 0 Command code 44 Command code 43 Command code 42 To obtain position value 2 three command codes need to be sent in sequence and data needs to be read in sequence For each command the data will be sent back in lower two bytes of Serial Encoder Data Register C as additional information 1 bytel and byte2 Appendix A Setup Examples 103 ACC S4E User Manual EnDat 2 2 Reference Mark Setup Example In this example a Heidenhain ROD 486 encoder with 1024 lines is connected to a EIB 192 with 16384 subdivisions with EnDat 2 2 The feed
173. on address I191 180000 24 bits Motor Phase Offset Ixx75 Ixx75 holds the distance between the zero position of an absolute encoder used for power on phase position specified by Ixx81 and Ixx91 and the zero position of Turbo PMAC s commutation cycle The proper value for this parameter can be found following the procedure explained in Turbo User Manual Appendix A Setup Examples 100 ACC S4E User Manual EnDat 2 2 Feedback Setup Example The following example demonstrates how to setup a 37 bit binary EnDat 2 2 encoder for position control of a brushless motor on the first channel of an Acc 84E Assume that the documentation for the encoder suggests 1MHz clock for the length of the cable that we have in the system Channel is reading a 37 bit EnDat2 2 Encoder Note that the full 37 bit encoder data is used for absolute power on position but the commutation on going position is limited to 24 bits by the Encoder Conversion Table ECT X 78COF ef Se a ee e ee e ee Trigger Trigger Clock Edge eae oe ae ra ee ee eee eee ee Ca Coa N _ a oa M Divisor Trigger Delay Protocol Code WX 78C0F 002003 Global Control register 1 MHz Clock setting Channel 1 X 78C00 ee Pe ea Va ee ee ese eee See i 7 RxData Trigger T sis Reserved Command Code Reserved Se erte Ready Reserved Position Bits SENC eel Ye 6 el ee Pea eee a a A PR AS T S E WX 78C00 071425 Chl Control registe
174. on register itself Since the output value of the ECT is already shifted left by 5 bits the value in the Ixx71 would be equal to 65536 x 32 2097152 and Ixx70 would be equal to the number of pole pairs on the motor Also Ixx83 should be pointing to the correct ECT entry to read the ongoing position data If the user wants to use the absolute feedback for power on phasing with no motion a similar approach would be used however the single turn data would be sufficient for phasing the motor Here is an example of how to determine the power on phasing based on absolute data The following procedure is only required once After determining the phase reference value a power on PLC is sufficient to establish the phase reference and motor will be ready for commutation Appendix A Setup Examples 109 ACC S4E User Manual 1 Tune the current loop on the motor after setting correct values for Ixx00 Ixx01 Ixx24 Ixx82 Ixx84 Ixx57 Ixx58 Ixx69 and Ixx66 use the tuning software and tune the current loop i e Ixx61 Ixx62 and Ixx76 2 Seta positive value usually 10 of Ixx66 to Ixx79 and set Ixx29 0 and Issue an OO command open loop zero output ee Read the single turn data for the first channel the data would be at Y 78B20 4 16 Set the Ixx79 back to its original value and issue a kill The following PLC will set up the phase reference d efine Mtr MtrlPhaseRef 5461 z PhaseRef P 84 This value shoul
175. or the ACC 84E It is comprised of the following components which cannot be accessed as independent elements Turbo PMAC Hex c Component Power PMAC oa Functionality f Digit Bits Script Bits SerialClockMDiv 23 16 1 2 31 24 Serial clock linear division factor SerialClockNDiv 15 12 3 23 20 Serial clock exponent division factor Reserved 11 10 4 19 18 Reserved for future use SerialTrigClockSel 4 17 Serial trigger source select SerialTrigEdgeSel 4 16 Serial trigger source edge select SerialTrigDelay 07 04 5 15 12 Serial trigger delay from source edge SerialProtocol 03 00 6 11 08 Serial encoder protocol select read only Software Setup 17 ACC S4E User Manual The component SerialClockMDiv controls how an intermediate clock frequency is generated from the IC s fixed 100 MHz clock frequency The resulting serial encoder clock frequency is then generated from this intermediate clock frequency by the component SerialClockNDiv described below The equation for this intermediate clock frequency fin 1S 100 Fx MHz 7 where M is short for SerialClockMDiv This 8 bit component can take a value from 0 to 255 so the resulting intermediate clock frequencies can range from 100 MHz down to 392 kHz The component SerialClockNDiv controls how the final serial encoder clock frequency is generated from the intermediate clock frequency set by SerialClockMDiv The equation for
176. osition data is available on the Ultralite side position and velocity feedback pointers can be defined for the motors in question I1103 3502 position feedback 1104 3502 velocity feedback Using the Resulting Position Information 94 ACC S4E User Manual Absolute Power On Phasing and Servo Power on Position In order to read the absolute position over MACRO the Power Up Position Source Address MS anynode MI111 MI118 variable needs to be set This will allow the MACRO16 CPU to transfer the data whenever the MS node MI920 is queried As for most of the protocols supported by ACC 84E the position and status bits are read through the Channel Registers A and B a Double Y Word parallel read should support most of the cases The only question will be number of bits which need to be read and that is dependent on serial encoder specifications ms0O mi111 208800 setup for power on position on node 0 S1A is position data length 1A 26 bits 20 32 bits 12 18 bits 8800 channel base address Once MI111 MI118 are setup reading MS node MI920 will return the position as a 48 bit value which can be assigned properly into motor actual position or can be used for establishing the phase reference of the motor For examples please refer to examples discussed in the Turbo UMAC setup section of this manual Commutating Over MACRO with High Resolution Encoders It is possible to commutate motors with hi
177. ower on PLC would be sufficient to establish the phase reference and motor will be ready for commutation Once the motor is moving and a better position reference can be established usually homing sequence the phase position can be fine tuned 1 Tune the current loop on the motor after setting correct values for Ixx00 Ixx01 Ixx24 Ixx82 Ixx84 Ixx57 Ixx58 Ixx69 and Ixx66 use the tuning software and tune the current loop i e Ixx61 Ixx62 and Ixx76 2 Set the Ixx70 and Ixx71 based upon the type of encoder you have for a 17 bit incremental encoder Ixx71 131072 and Ixx70 number of pole pairs and Ixx83 would be pointing to the correct Encoder Conversion Table Entry 3 Set a positive value usually 10 percent of Ixx66 to Ixx79 and set Ixx29 0 and Issue an OO command open loop zero output 4 Read the hall sensor data This data can be read for the first encoder at Y 78B20 0 4 We are interested only in bits 1 through 3 so the value should be shifted right by one bit or simply divide it by 2 This will be a number between 1 to 6 a value of 0 or 7 is not valid Set Mxx71 0 Set the Ixx79 back to its original value and issue a kill The following PLC will set up the phase reference SN AX The Phase Pos definition will change based on the number that is Cay read during step 4 of the setup procedure explained earlier Note Appendix A Setup Examples 116 ACC S4E User Manual
178. owing velocity registers in PMAC The maximum velocity acceptable by PMAC is 3x Ce 1 or 786431 counts per millisecond Notice that this can be achieved very easily with a high resolution encoder For example a 26 bit encoder if the data is shifted so LSB represents a count for PMAC then only a maximum velocity of 700 RPM can be achieved However if the LSB of position data is used as 1 32 of a count the maximum speed increases to 22 400 RPM 3 2 1 counts per msec 0 011718705 rev per msec 703 12 RPM 2 counts per rev Commutation with High Resolution Encoders more than 23 bits per revolution The commutation in PMAC is based upon settings of Ixx70 and Ixx71 which define the number of pole pairs per revolution and the number of counts per revolution Although the range for Ixx70 is not an issue with actual motors the range of Ixx71 24 bit value can be a limitation when used with high resolution encoders The maximum value which can be assigned to Ix71 is a value of 16777215 or 2 1 meaning if the encoder generates more than 16777215 counts per revolution we would have a problem setting the Ix71 In order to overcome this problem a second entry in encoder conversion table can be utilized In this entry instead of reading the LSB of the position data the upper 23 bits of data will be read For example in a 26 bit encoder the second encoder conversion table entry would be set as follows I8002 2F8B20 Unfil
179. p4 P3 P2 PI PO fe a Component Interpolated Commanded Y Position Acc84E i Chan 2 SerialEncDataA returns interpolated Z Data Hex Digit 13 12 11 10 9 8 7 6 5 4 3 2 1 0 FT 21 20 19 18 17 16 15 14 13 12 11 10 9 8 T0 Bit Value P23 P22 P21 P20 PIO PIS PI7 PI6 PIS Pl4 P13 PI2 PII PIO P9 P8 P7 P6 PS P4 P3 P2 Pl PO Component Interpolated Commanded Z Position The 24 bit registers Acc84E i Chan 3 SerialEncDataA is update every frame cycle and it includes the full status word returned by scanhead galvanometer servo drive The status bit definition varies between equipment vendors and it is strongly recommended for the user to consult with appropriate ey documentation on the target hardware for further information on these Note status bits The status bit definition based upon X Y2 100 Serial Link 1 Specification by General Scanning GSI is defined as below Hex Digit 0 Script Bit 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 C Bit 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 74 30 Bit Value S18 S17 S16 SIS S14 S13 S12 Sll S10 S9 S8 S7 S6 ss S4 S3 s2 S1 so P Component Returned Status Bits Bit 2 Axis Sta
180. pe 1 single register read conversion from SerialEncDataA In order to be able to handle rollover of this data properly the most significant bit MSB of this data must end up in bit 31 of the 32 bit result shifted if necessary With most protocols no shifting is necessary but some will require a net left shift to achieve this result To use serial encoder position from an ACC 84E FPGA based interface for ongoing servo position the following saved setup elements must be specified EncTable z Type 1 EncTable 7 pEnc Acc84E i Chan j SerialEncDataA a EncTable 7 index1 32 of bits Shift left of bits EncTable n index2 8 Shift right of bits EncTable n ScaleFactor 1 2 s For result in encoder LSBs Motor x pEnc EncTable n a Use table result for position loop feedback Motor x pEnc2 EncTable m a Use table result for velocity loop feedback Using the Resulting Position Information 91 ACC S4E User Manual Power On Servo Position Many serial encoders can provide absolute position over the entire range of travel of the motor If so Power PMAC can execute an absolute power on read of the encoder to establish the reference position eliminating the need for a homing search move This section gives an overview of those settings details can be found in the element descriptions in the Software Reference Manual the Basic Motor Setup chapter of the User s Manual and the Hardware Reference
181. pecified by Motor x pPhasePos every phase cycle In order to be able to handle rollover of this data properly the most significant bit MSB of this data must end up in bit 31 of the 32 bit result shifted if necessary With most protocols no shifting is necessary but some will require a net left shift to achieve this result To use serial encoder position from an ACC 84E FPGA based interface for ongoing phase position the following saved setup elements must be specified e Motor x pPhaseEnc Acc84E i Chan j SerialEncDataA a e Motor x PhaseEncRightShift 8 If encoder LSB in Register 8 e Motor x PhaseEncLeftShift 32 of bits e Motor x PhasePosSf 2048 Register LSBs per commutation cycle In the 24 bit ACC 84E the LSB of the encoder data is generally found in bit 8 on the 32 bit data bus with unpredictable values in the lowest 8 bits of the bus While this low phantom data is not known to affect actual commutation performance in real systems some users will want to remove this data with an 8 bit shift right operation When this is done a shift left operation must also be done to leave the MSB of encoder data in bit 31 of the result For purposes of computing the scale factor the LSB of the resulting post shift 32 bit value should be used as the LSB Using the Resulting Position Information 66 ACC S4E User Manual Power On Commutation Phase Position Because most serial encoder
182. plc 1 Clear Disable plc 2 31 cmd wx 78COF 63000B Global Control register 1 MHz Clock setting emd wx 78C00 21149A Channel 1 read 26 bits Disable plc 1 Enable plc 2 31 Close Encoder conversion table setup required for BiSS C encoder connected to the first channel on ACC 84E at base address set to 78C00 will be as follows I18000 2F8B20 Unfiltered parallel position of location Y 78B20 no shifting 18001 18000 24 bit processed result at 3502 I18002 2F8B20 Unfiltered parallel position of location Y 78B20 no shifting I18003 17003 23 bit read starting at bit 2 processed result at 3504 for commutation 1103 3502 position loop feedback address 1104 3502 velocity loop feedback address Appendix A Setup Examples 122 ACC S4E User Manual Usually the number of counts in BiSS C encoders are much higher than normal incremental encoders the default settings for position and velocity feedback scale factors a value of 96 can cause resolution restrictions on Servo gain settings It is recommended that the scale factors be set to a smaller value 1108 1 Motorl position scale factor required not to saturate the Velocity I109 1 Motorl velocity loop scale factor Also notice that the entries in ECT are not shifting the data This means LSB of encoder data is 1 32 of a count as shown in position window This can be crucial for preventing velocity limitations due to overfl
183. r 37 Bit EnDat Encoder Encoder conversion table setup required for EnDat 2 2 encoder connected to the first channel on Acc 84E at base address set to 78C00 will be as follows I18000 278C00 Unfiltered parallel position of location Y 78C00 no shifting I18001 18000 24 bit processed result at 3502 I1103 3502 position loop feedback address 1104 3502 velocity loop feedback address Since the number of counts in EnDat 2 2 encoders usually are much higher than normal incremental encoders the default settings for position and velocity feedback scale factors a value of 96 can cause resolution restrictions on Servo gain settings It is recommended that the scale factors be set to a smaller value 1108 1 Motorl position scale factor required not to saturate the Velocity 1109 1 Motorl velocity loop scale factor Assigning values to the control registers should be performed upon power up reset in the initialization PLC Open plc 1 Clear Disable plc 2 31 cmd wx 78COF 002003 Global Control register 1 MHz Clock setting emd wx 78C00 071425 Channel 1 read 37 bits Disable plc 1 Enable plc 2 31 Appendix A Setup Examples 101 ACC S4E User Manual Close Absolute phase and power up reset position Knowing the difference between the absolute encoder position and the commutation cycle zero stored in Ixx75 in PMAC a phasing routine is no longer nec
184. r after setting correct values for Ixx00 Ixx01 Ixx24 Ixx82 Ixx84 Ixx57 Ixx58 Ixx69 and Ixx66 use the tuning software and tune the current loop i e Ixx61 Ixx62 and Ixx76 Set the Ixx70 and Ixx71 based upon the type of encode you have for a 13 bit incremental encoder Ixx71 8192 and Ixx70 number of pole pairs and Ixx83 would be pointing to the correct Encoder Conversion Table Entry Set a positive value usually 10 percent of Ixx66 to Ixx79 and set Ixx29 0 and Issue an OO command open loop zero output Read the hall sensor data This data can be read for the first encoder at Y 78B20 0 4 We are interested only in bits 1 through 3 so the value should be shifted right by one bit or simply divide it by 2 This will be a number between 1 to 6 a value of 0 or 7 is not valid Set Mxx71 0 Set the Ixx79 back to its original value and issue a kill The following PLC will set up the phase reference TAN The Phase Pos definition will change based on the number that is read during step 4 of the setup procedure explained earlier Note Step 4 Definitions Step 4 Definitions Value Value 1 define Phase30Deg 1 4 define Phase30Deg 4 define Phase90Deg 5 define Phase90Deg 6 define Phasel50Deg 4 define Phasel50Deg 2 define Phase210Deg 6 define Phase210Deg 3 define Phase270Deg 2 define Phase270Deg define Phase330Deg 3 define Phase330Deg 5 2 define Phase30Deg 2 5 define Phase30Deg 5
185. re than 23 bits per revolution 123 Absolute Power On Servo POSITION is ssissnsasnsnaanseniacasdcnindanasanadatacsnabarnsacadachesnasanasensdabacasabanaens 124 Absolute Power On Reset Phase Position ica ccascvasssiensdonsssnviensacastonstonttcnsiesdenstanttensaesdonsaens 125 Table of Contents vii ACC S4E User Manual INTRODUCTION Overview The ACC 84E Universal Serial Encoder Interface Board provides up to four channels of serial encoders to be read by the UMAC and Ultralite MACRO Station controllers The ACC 84E is part of the UMAC or MACRO Pack family of expansion cards and these accessory cards are designed to plug into an industrial 3U rack system The information from these accessories is passed directly to either the UMAC or MACRO Station CPU via the high speed JEXP expansion bus ACC 84E supports different serial encoder protocols depending on the option ordered These protocols are programmed into an on board FPGA upon manufacturing Multiple common protocols are supported at the moment and future developments of additional protocols are feasible Currently ACC 84E supports the following protocols e SSI Synchronous Serial Interface EnDat 2 2 EnDat 2 2 interface from HEIDENHAIN e Yaskawa Yaskawa Sigma II III V feedback support e Tamagawa Tamagawa OAS and SA Absolute Encoders e Panasonic A4 and A5 Encoder Series e Mitutoyo Mitutoyo ENSIS high speed serial protocol AT503 ATS03A ST70X e BiSS B C Bi
186. rial encoder interface implementations on ACC 84x where the connectors all have the same pin outs and supports 4 channels of same encoder protocol the X Y2 100 combines all channels of the ACC 84x for interfacing with a galvanometer or scanhead First 3 channel connects are used for interfacing to XY2 100 device A differential PWM output with programmable period and duty cycle is provided on the last channel This output can be used for control of the laser intensity DE 9 Connector Pin Out The DE 9 connector pin out is used on ACC 84E and ACC 84S D Sub DE9 Female Mating D Sub DE9 Male Pin Chane Channel 1 Channel 2 Channel 3 Channel 4 1 STATUS SYNC CLOCK PWM 2 CHX CHY CHZ N C 3 N C N C N C N C 4 GND GND GND GND 5 GND GND GND GND 6 STATUS SYNC CLOCK PWM 7 CHX CHY CHZ N C 8 N C N C N C N C 9 5VDC 5VDC 5VDC 5VDC Appendix B Serial link XY2 100 Protocol Support 130 ACC S4E User Manual DA 15 Connector Pin Out The DA 15 connector pin out is used on Brick Family of products D Sub DA15 Female Mating D Sub DA15 Male OO OOO Q 0O Channel Channel 1 Channel 2 Channel 3 Channel 4 Pin 1 2 3 4 5VDC 5VDC 5VDC 5VDC 5 CHX CHY CHZ N C 6 STATUS SYNC CLOCK PWM 7 8 9 10 11 12 GND GND GND GND 13 STATUS SYNC CLOCK PWM 14 CHX CHY CHZ N C
187. rigMode Continuous triggering SerialEncTrigEna Enable triggering SerialEncGtoB No Gray code supported for Mitutoyo protocol SerialEncEna Enable driver circuitry SerialEncStatus Bits No status bits supported for Mitutoyo protocol SerialEncNumBits Fixed number of position bits returned Acc84E i Chan j SerialEncCmd would be set to 011400 for continuous position reporting It may report back as 011000 if the ready status bit is not set Hex Digit 0 1 1 4 0 0 e Te Script Bit 23 22 21 20 19 18 17 16 5i 13 12 Mi 10 ols 765S A N No T CBit 31 30 29 28 27 26 25 24 23122 21 20 19 18 17 16 15 An ma moo 8 aA Bit Value 00 0 0 0 0 0 ilolo jp Rh 0 0 0 0 0 oOf Component SerialEncCmdWord Parity TM TE GB Ena Status NumBits If the SerialEncCmdWord component is set to 89 and sent 8 times the encoder is reset equivalent to power cycle on encoder This should be done in one shot mode repeated 8 times making the element equal to 893400 When the reset operation is done the component should report as 892000 If this component is set to 9D the encoder will report its ID value This should be done in one shot mode and the IC will hold this value in status element Acc84E i Chan j SerialEncDataC Software Setup 39 ACC S4E User Manual BiSS B C Unidirectional Protocol For the BiSS B and BiSS
188. rmation 76 ACC S4E User Manual This is a 2 line ECT entry its equivalent script code 18000 S2F8C00 Unfiltered parallel pos of location Y 78C00 18001 19000 Width and Offset Processed result at 3502 Typically the position and velocity pointers are set to the processed data address e g 3502 Also with technique 2 it is recommended to set the position and velocity scale factors to 1 and the position error limit to its maximum value I1100 1 Mtr 1 Active Remember to activate the channel to see feedback I1103 3502 Mtr 1 position loop feedback address 1104 3502 Mtr 1 velocity loop feedback address 1109 1 Mtr 1 velocity loop scale factor I1108 1 Mtr 1 position loop scale factor I1167 8388607 Mtr 1 Position Error Limit At this point you should be able to move the motor encoder shaft by hand and see motor counts in the position window Note Counts Per User Units Technique 2 With technique 2 the user should expect to see 2 7 257 32 counts per revolution for rotary encoders and 1 32 Resolution counts per user unit for linear scales in the motor position window Examples 37 bit rotary encoder 25 bit Single turn 2 32 1 048 576 cts rev 10 nanometer linear scale 1 32 0 000010 3 125 cts mm Using the Resulting Position Information 77 ACC S4E User Manual Encoder Conversion Table for commutation Technique 2 Commutation with Turbo PMAC does not requir
189. s plastic film etc Place the product on a conductive surface Discharge any possible static electricity build up by touching an unpainted metal grounded surface before touching the equipment Keep all covers and cabinet doors shut during operation Be aware that during operation the product has electrically charged components and hot surfaces Control and power cables can carry a high voltage even when the motor is not rotating Never disconnect or connect the product while the power source is energized to avoid electric arcing A Warning identifies hazards that could result in personal injury or death It precedes the discussion of interest Warning A Caution identifies hazards that could result in equipment damage It precedes the discussion of interest Caution AX A Note identifies information critical to the understanding or use of ay the equipment It follows the discussion of interest Note ACC S4E User Manual MANUAL REVISION HISTORY REV DESCRIPTION DATE CHANGE APPROVED 1 Manual Creation 04 27 10 CP SS 2 Fixed addresses in EnDat section 12 01 10 RN RN Added detailed information about EnDat Yaskawa 3 Tamagawa Panasonic Mitutoyo BiSS B C Matsushita 07 17 14 SS SS A D and Mitsubishi protocols 4 Added example for incremental EnDat2 2 10 23 14 SS SS 5 Added XY2 100 Protocol Appendix 05 08 15 SS SS ACC S4E User Manual Table
190. s 0 Motor 2 Pos 0 Motor 3 Pos 0 brief delay required here EncTable 1 ScaleFactor 1 EncTable 2 ScaleFactor 1 EncTable 3 ScaleFactor 1 Appendix B Serial link XY2 100 Protocol Support 146 ACC S4E User Manual Non linearity of Scanheads The pin cushion effect caused by galvanometers can be corrected using kinematic routines A typical configuration of a laser mirror system is shown in isometric view below Basic Laser Mirror Arrangement The forward and inverse kinematic equations for a basic system of this type are shown in the following diagram with orthogonal views of the system Laser Path Length 34 sty kx kY X x 4124 Y 7 Jean 2c Y L tan 2A 1 5 X 1 Y C tan l t A tan EA 2 L y Y 2 L Basic Laser Mirror Kinematics All of the actuators both for the workpiece holder and for the laser control are defined as inverse kinematic axes in the same coordinate system Appendix B Serial link XY2 100 Protocol Support ACC S4E User Manual Here is a simple implementation of forward and inverse kinematic routines for a given galvanometer global global global global global global pi 3 1415926535897932384626433832795 constant pi DegtoRad 0 01745329251994329576923690768489 Degrees to Radians RadtoDeg 57 295779513082320876798154814105 Radians to Degrees Lenl 0 374 25 4 distance between spot c
191. s provide absolute position information especially over one motor revolution they are commonly used to provide the absolute rotor angle position at power up for the commutation algorithms Doing this requires assigning proper values to several saved setup elements This section gives an overview of those settings details can be found in the element descriptions in the Software Reference Manual the Setting Up Commutation chapter of the User s Manual and the Hardware Reference Manual for the interface In addition the motor setup routines in the IDE software will walk you through this setup To use serial encoder position from an ACC 84E FPGA based interface for absolute power on phase position the following saved setup elements must be specified e Motor x pAbsPhasePos Acc84E i Chan j SerialEncDataA a e Motor x AbsPhasePosFormat aabbccdd Protocol specific settings e Motor x AbsPhasePosSf 2048 LSBs per commutation cycle e Motor x AbsPhasePosOffset Difference between sensor zero and commutation zero For the format variable the LSB of the encoder data is typically found in bit 8 of the 32 bit register and only enough bits to cover a single commutation cycle need to be used However it does not hurt to specify more bits than are required It is seldom required to use data from the next register Ongoing Servo Position To use the serial encoder position for ongoing servo position the data must first be processed
192. sed flag Warning The origin has not been passed in this session 15 Fixed at 0 yet Set at zero The temperature comes back in centigrade units but it rolls over to negative numbers at 215 C Here is an example of how to read the information if Temp lt 215 Temperature Temperature Temp Temp 256 Software Setup 53 ACC S4E User Manual Tamagawa Protocol For a Tamagawa FA Coder encoder with 17 bits per revolution Acc84E i Chan j SerialEncDataA is configured as follows Hex Digit _ Script Bit 23 22 27 20 79 is fi7 16 15 14l13 12 11o 9o 8 7 6ls al3l2 ilo fee CBit 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 74 30 Bit Value S Ss SSSSSSSSSSSSS 8 8 CCS 16 15 14 13 12 11 10 9 8 7 65K 8 OO Component Single Turn Position Bit Bit Data Component Description 16 0 Sn Single Turn Bits Sn represent the bits of single turn position Position For a Tamagawa FA Coder encoder with 16 bits of multi turn count Acc84E i Chan j SerialEncDataB is configured as follows Hex Digit l ScriptBit 23 2 2120 1918 17 16 15 14 13 12l1Jio o9 s 7 6 5 4l3l2 ilo EFT CBit 31 30 29 28 27 26 25 24 23 22 21
193. sion rate SerialClockMDiv 5 2 5 1 1 01 and Acc84E i SerialEncCtrl is set to 010008 for triggering on the rising edge of phase clock without delay Hex Digit 0 1 0 0 0 8 Script Bit 23 22 21 20 19 18 17 16 15 14 13 12 anpo 9 s 7 6 5 4 3 2 1 0 Mm CBit 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 4 3 0 Bit Value 00 0 0 0 0 0 ilo 0 0 Ofefesololo o 0 ofi 0 0 0 Component SerialClockMDiv SerialClockNDiv TC TE SerialTrigDelay SerialProtocol The following table lists the only Serial clock frequency setting used with Panasonic protocol SerialClockMDiv SerialClockNDiv Serial Clock Frequency 1 01 0 0 50 0 MHz Software Setup 24 ACC S4E User Manual Mitutoyo Protocol The following list shows typical settings of Acc84E i SerialEncCtrl for a Mitutoyo serial encoder The serial clock frequency is set 20 times higher than the external clock frequency which is the bit transmission frequency fpin to permit oversampling of the input signal SerialClockMDiv 5 frit 1 Serial clock freq 20x bit transmission freq SerialClockNDiv 0 No further division SerialTrigClockSel 0 Use phase clock if possible SerialTrigEdgeSel 0 Use rising clock edge if possible SerialTrigDelay 0 Can increase from 0 if possible to reduce latency Serial
194. st process is that PMAC firmware copies the actual position of the motor into its desired position when the motor is killed This is necessary in order to prevent any position jumps when the motor is put to closed loop mode The actual position of the motor is read from the ECT which is processed at the beginning of the servo cycle The commanded position is written to output ACC84E i Chan j SerialEncCmd in this case at the end of servo calculations but will take effect only on the rising edge of the servo clock which can be as little as 50 delayed until the next ECT execution If the initial motor position value and commanded value are the same there is no problem But if there is a difference however small it will cause a positive feedback or virtual runaway at constant speed In order to prevent this from happening two counter measures should be implemented 1 User should setup the Motor x PowerOnMode register to a value of 4 forcing the read of the simulated feedback upon power on reset 2 Implement the following code during development of the code where the Motor x PowerOnMode is not active until next power up reset cycle This code breaks the positive feedback for a moment which is sufficient for allowing the feedback and commanded values for the motor to be equal 1 3KILL EncTable 1 ScaleFactor 0 EncTable 2 ScaleFactor 0 EncTable 3 ScaleFactor 0 Motor 1 HomePos 0 Motor 2 HomePos 0 Motor 3 HomePos 0 Motor 1 Po
195. t 23 22 21 20 19 18 17 16 15 14l13 12 1u1li o o 8 7 l6lsl4a bB Ihn C Bit 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 1211 10 9 8 74 30 Bit Data S S S S SS SSS S S S S S S S S S SS SASRA ee ois ssh 6 ha Component Single Turn Position Bits Sn represent the bits of single turn position Bit Bit Data Component Description 23 4 Sn Single Turn Bits Sn represent the bits of single turn position Position Acc84E i Chan j SerialEncDataB is configured as follows Hex Digit rife Te re Ts Taso To am 13 12 10 9 7 4 3 0 CBit 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 Bit Data E E E MM MM MM MMMM MM MMMM 2 1 0 MMMM MM MMM ET Component TE CE EB Multi Turn Position Bit Bit Data Component Description 15 0 Mn Multi Turn Bits Mn represent the bits of multi turn position Position 21 EO EB Coding error reported by the encoder 22 El CE CRC error detected by the IC 23 E2 TE Timeout error detected by the IC Software Setup 52 ACC S4E User Manual For a Yaskawa Sigma II III V encoder in position reporting P1 mode Acc84E i Chan j SerialEncDataC is configured as follows Hex Digit l Script Bit 2322 21 20 1918 17 16 15 14 13 12l1Jio o9 s 7 6 5 4l3l2 ilo EFT CBit 31 3
196. t power Multi revolution Stop operation on backup data Clear with request damaged latched BA alarm 15 A7 1 Battery Checked during Battery cable Only a warning Disconnected operation 10 disconnected No need to stop Alarm second average Battery voltage operation low Cleared when Note at next cause of alarm is power on ABS eliminated lost alarm may occur Status Code Description Bit Bit Data State when Description error is occurred 16 S4 1 cal Delimiter error in Request Frame 17 S5 1 caO Parity error in Request Frame 18 S6 1 eal Logic OR of following error alarms CPU Alarm Data Alarm Encoder Thermal Alarm Multi Revolution Alarm ABS Lost Alarm check alarm word for identification of exact alarm 19 S7 1 ea0 Logic OR of following warning alarms Encoder Thermal Warning Battery Disconnected Alarm check alarm word for identification of exact alarm Software Setup 65 ACC S4E User Manual USING THE RESULTING POSITION INFORMATION Serial encoder position information is commonly used for both absolute power on position and ongoing position and both for the servo and commutation algorithms The following sections discuss the general method of using the resulting position information for Power PMAC Turbo PMAC and MACRO CPUs Using the ACC 84E with Power PMAC Ongoing Commutation Phase Position For the commutation algorithm s ongoing phase position Power PMAC reads the entire 32 bit register s
197. tVaue 0 0 0 0 0 of f o 1 J1 0 0 0 ofo 0 0 0 Component SerialEncCmd Word Parity TM TE GB Ena Status NumBits It is important for user to implement a background process such as a PLC to check for TimeoutError CRC_Error and CodingError bits available in Acc84E Z Chan j SerialEncDataB register to ensure validity of connection and position data Most alarm conditions in Yaskawa Sigma II II V encoder are either level fault non latching or are cleared at cycle power but absolute encoders have two latching errors Backup Alarm which is usually caused by loss drainage of battery or Encoder Error Alarm which is caused by internal circuit bearkdown in the encoder which are not cleared on cycle power and require special instructions transmitted from controller for clearing them Software Setup 35 ACC S4E User Manual To reset the encoder the components must be set up as follows 04 SerialEncCmdWord SerialEncParity SerialEncTrigMode SerialEncTrigEna SerialEncGtoB SerialEncEna SerialEncStatus Bits SerialEncNumBits 0 0 4 01 04 Fault reset command code 00 No operation command code No parity check supported for Yaskawa protocol Single shot triggering Enable triggering No Gray code supported for Yaskawa protocol Enable driver circuitry Special reset command for Yaskawa protocol Encoder address for reset This means that Acc84E i Chan j SerialE
198. tWord amp SE 2 s Phase30Deg 30 360 90 360 150 360 210 360 270 360 330 360 r r Suggested M Variable definition Suggested M Variable definition Appendix A Setup Examples 121 ACC S4E User Manual BiSS C Feedback Setup Example The following example demonstrates how to set up a 26 bit Resolute BiSS C encoder for position control of a brushless motor on the first channel of an ACC 84E Assume that the documentation for the encoder suggests 2MHz clock for the length of the cable that we have in the system Channel is reading a 26 bit BiSS C Encoder Note that the full 26 bit encoder data is used for absolute power on position but the commutation on going position is limited to 24 bits by the Encoder Conversion Table ECT X 78COF ee fe ae ee ee e Ve fe ee M Divisor N Divisor Reserved Mia cs Trigger Delay Protocol Code ee a eee el eee ee 1 ee C ee ee ee ee ee ee WX 78COF 63000B Global Control register 2 MHz Clock setting Channel 1 X 78B20 pee eee eye eee ee eee eee ee Trigger Trigger RxData wae A CRC_Mask Reserved jose encore Reseves Ready Reseved StatusBits Position Bits Fofofifofofofotrfofofofsfofsfofofrfofofrfrfofs o fe i a a ee WX 78C00 21149A Chl Control register 37 Bit EnDat Encoder Assigning values to the control registers should be performed upon power up reset in the initialization PLC Open
199. tely after the falling edge of the relevant phase or servo clock signal which interrupts the processor to initiate the activity that reads this data Since minimum delay from trigger to use is desirable it is better to start the triggering on rising clock edge if the data can be fully transferred before the falling edge If this is not possible the falling edge should be used to start the triggering process It is best to choose the edge that minimizes the delay between the triggering of the encoder and its use by the Power Turbo PMAC software The software will use the received encoder value immediately after the falling edge of the phase clock for commutation feedback and immediately after the falling edge of the servo clock for servo feedback If you are using the serial encoder data for commutation feedback you must trigger using the phase clock in order to get new data every phase cycle If there is sufficient time to receive the data in one half of a phase clock cycle you should use the rising edge of the phase clock to trigger For example at the default phase clock frequency of 9 kHz a clock cycle is 110 usec If the serial encoder data can be received within 55 psec the rising edge should be used If not the falling edge must be used If you are only using the serial encoder data for servo and not commutation feedback the servo clock can be used for the trigger However it is still advisable to use the phase clock if possible to minimize
200. tered parallel position of location Y 78B20 no shifting I18003 17003 23 bit read starting at bit 3 Processed result at 3504 for commutation I1183 3504 On going phase position These settings will cause the ECT to read the upper 23 bits of position information starting at bit 3 23 3 26 bits Although the encoder generates 2 counts per revolution the output of ECT for this entry will only pass the upper 23 bits of data for use in commutation of the motor The following table shows a few suggestions depending on the position bits of different encoders Encoder Resolution 2 line 26 bit 17003 32 bit 17009 So the commutation parameters will be set as follows 1171 8388608 23 bit data position per revolution I170 2 2 pole pair motor Appendix A Setup Examples 123 ACC S4E User Manual Absolute Power On Servo Position Since the BiSS C protocol can provide absolute position home search moves become redundant Although the ECT entry will read the on going position it is only looking at lower 24 bits of position data and if the encoder position has more than 24 bits resolution the higher bits are being neglected In this case a power on sequence should read all the bits and assigns them to actual position of the motor There are two approaches for performing this task depending on ECT setup and whether the data is shifted or not Shifted Position Data For shifted d
201. the delay When using the servo clock as with the phase clock use the rising edge if possible for the trigger and the falling edge only if required Remember that the servo clock signal is low only for one half phase clock cycle For example with the default 9 kHz phase clock and 2 25 kHz servo clock the servo clock is low for only a half of 110 psec phase clock cycle and the delay from the rising edge to the next falling edge is 385 psec The component SerialTrigDelay specifies the delay from the specified clock edge to the actual start of the output signal that will trigger the encoder response in units of the serial encoder clock A non zero value Software Setup 18 ACC S4E User Manual can be used to minimize the delay between triggering the encoder and its resulting use by the Power PMAC The triggering does not need to start exactly on the specified clock edge The trigger delay component SerialTrigDelay specifies the number of 20 microsecond intervals after the specified clock edge before the triggering of the encoder actually begins It can take a value of 0 to F 0 to 15 or 0 to 300 microseconds Non zero values can be used to minimize the delay between triggering of the encoder and the use of its data in the next software cycle The component SerialProtocol controls which serial encoder protocol is selected for all channels of the IC This 4 bit component can take a value from 0 to 15 This component is read only as it refle
202. the Single Channel Setup Element section 17 S5 0 Fixed 0 18 S6 1 Communication error Set 1 if mistake the data request command field cmd from controller At this case transmit a request data by setting SerialEncCmdWord set to 01 If there are not mistake in next command field set 0 19 S7 0 Fixed 0 Software Setup ACC S4E User Manual BiSS B C Protocol For a BiSS B C encoder Acc84E i Chan j SerialEncDataA is configured as follows Hex Digit J Script Bit 23 22 21 20 19 18 17 16 15 14 13 12 11Jio o9 s 7 l6 ls5s 4l3 l2 ilo FT C Bit 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 also Bit Value P P PP PP P PPP P PP PP PP POPP PRP PRP PP 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 Of 0 Component Single Multi Turn Position Bit Bit Data Component Description 23 0 Pn Position Data Bits Pn represent the bits of single turn and multi turn position For a BiSS B C encoder Acc84E i Chan j SerialEncDataB is configured as follows Hex Digit Script Bit 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 e6 5 4 3 2 1 0 mhv C Bit 31 30 29 28 27 26 25 24 23
203. tic settings Using the Resulting Position Information 71 ACC S4E User Manual Technique 1 Example Channel 1 is driving a 25 bit 13 bit Single turn 12 bit Multi turn rotary serial encoder or a linear scale with similar protocol resolution 13 bits 1 micron Encoder Conversion Table for position Technique 1 e Conversion Type Parallel position from Y word with no filtering e Width in Bits Single turn absolute resolution in bits e g 13 bits e Offset Location of LSB leave at zero e Normal Shift 5 bits to the left e Source Address serial data register A see table below e Remember to click on Download Entry for the changes to take effect Turbo PAMC Base Address Channel 1 2 3 4 78C00 Y 78C00 Y 78C04 Y 78C08 Y 78C0C 79C00 Y 79C00 Y 79C04 Y 79C08 Y 79COC 7AC00 Y 7AC00 Y 7AC04 Y 7AC08 Y 7ACOC 7BC00 Y 7BC00 Y 7BC04 Y 7BC08 Y 7BCOC 78D00 Y 78D00 Y 78D04 Y 78D08 Y 78DOC 79D00 Y 79D00 Y 79D04 Y 79D08 Y 79DOC 7AD00 Y 7AD00 Y 7AD04 Y 7AD08 Y 7AD0C 7BD00 Y 7BD00 Y 7BD04 Y 7BD08 Y 7BD0C 78E00 Y 78E00 Y 78E04 Y 78E08 Y 78E0C 79E00 Y 79E00 Y 79E04 Y 79E08 Y 79E0OC 7AE00 Y 7AE00 Y 7AE04 Y 7AE08 Y 7AE0C 7BE00 Y 7BE00 Y 7BE04 Y 7BE08 Y 7BE0C i Turbo Encoder Conversion Table Device atl Select a table entry to view edit ree End of Table Download Entry First Entry of Table Enty Y 350
204. tup 28 ACC S4E User Manual Single Channel Setup Element Each channel of the FPGA has a 24 bit saved setup element Acc84E i Chan j SerialEncCmd saved element in Power PMAC only and non saved in Turbo PMAC that specifies exactly how the channel s serial encoder interface will operate given the protocol trigger timing and frequency specified by the multi channel element It has multiple components that specify different aspects of this interface Not all components are used in every protocol Power PMAC Turbo PAMC Channel Channel Control Register Base Address 1 j 0 2G D 3 j 2 4 j 3 ACC84E 0 Chan j SerialEncCmd 78C00 Y 78C00 Y 78C04 Y 78C08 Y 78COC ACC84E 4 Chan j SerialEncCmd 79C00 Y 79C00 Y 79C04 Y 79C08 Y 79COC ACC84E 8 Chan j SerialEncCmd 7AC00 Y 7AC00 Y 7AC04 Y 7AC08 Y 7ACOC ACC84E 12 Chan j SerialEncCmd 7BC00 Y 7BC00 Y 7BC04 Y 7BC08 Y 7BCOC ACC84E 1 Chan j SerialEncCmd 78D00 Y 78D00 Y 78D04 Y 78D08 Y 78DOC ACC84E 5 Chan j SerialEncCmd 79D00 Y 79D00 Y 79D04 Y 79D08 Y 79D0C ACC84E 9 Chan j SerialEncCmd 7AD00 Y 7ADO00 Y 7AD04 Y 7AD08 Y 7AD0C ACC84E 13 Chan j SerialEncCmd 7BD00 Y 7BD00 Y 7BD04 Y 7BD08 Y 7BDOC ACC84E 2 Chan j SerialEncCmd 78E00 Y 78E00 Y 78E04 Y 78E08 Y 78EOC ACC84E 6 Chan j SerialEncCmd 79E00 Y 79E00 Y 79E04 Y 79E08 Y 79EOC ACC84E 10
205. tus 3 Axis Status Appendix B Serial link XY2 100 Protocol Support 141 ACC S4E User Manual S18 0 0 S17 1 0 S16 1 1 S15 Power Status X Error Status X Servo Ready S14 Temperature Status X Temperature Status S13 In field X Tracking Error S12 X Position Acknowledge 0 S11 Y Position Acknowledge Y Error Status Y Servo Ready S10 1 Y Temperature Status S9 0 Y Tracking Error S8 1 0 S7 Power Status Z Error Status Z Servo Ready S6 Temperature Status Z Temperature Status S5 In field Z Tracking Error S4 X Position Acknowledge 0 S3 Y Position Acknowledge Serial Link X Parity Error S2 1 Serial Link Y Parity Error S1 0 Serial Link Z Parity Error So 1 Serial Link Clock Error P x no parity even parity Appendix B Serial link XY2 100 Protocol Support 142 ACC S4E User Manual Power PMAC Setup Example A few separate setup elements should be modified from their default values for using ACC 84E with XY2 100 interface protocol as a communication channel between Power PMAC and scanhead The following sections outline an example setup where a 2 axis scanhead driven by a galvo servo drive is connected to ACC 84E and motors 1 amp 2 of PMAC are setup to control these galvanometers ACC 84E Setup Element Example The servo drive used in this example expects a standard 16 bit position command with a 2MHz serial clock frequency and odd parity ca
206. upper 24 bits of data from each of the channels and copies them to register 0 of corresponding IO nodes of SERVO nodes This MACRO PLC should be downloaded to MACRO16 CPU through PERIN32PRO2 software and while in MACROASCT communication mode Generic Definition CLOSE define ChanlRegA MM100 define ChanlRegB MM101 define Chan2RegA MM102 define Chan2RegB MM103 define Chan3RegA MM104 define Chan3RegB MM105 define Chan4RegA MM106 define Chan4RegB MM107 define Node2Reg0 MM108 define Node3Reg0 MM109 define Node6Reg0 MM110 define Node7Reg0 MM111 Chan1lRegA gt Y 8800 0 24 Using the Resulting Position Information 95 ACC S4E User Manual Chan1RegB gt Y 8801 0 24 Chan2RegA gt Y 8804 0 24 Chan2RegB gt Y 8805 0 24 Chan3RegA gt Y 8808 0 24 Chan3RegB gt Y 8809 0 24 Chan4RegA gt Y 880C 0 24 Chan4RegB gt Y 880D 0 24 Node2Reg0 gt X C0A0 0 24 Node3Reg0 gt X C0A4 0 24 Node6Reg0 gt X C0A8 0 24 Node7Reg0 gt X COAC 0 24 26 bit Encoder OPEN MACPLCC Node2Reg0 ChanlRegB amp 000003 100000 ChanlRegA 8 Node3Reg0 Chan2RegB amp 000003 100000 Chan2RegA S 8 Node6Reg0 Chan3RegB amp 000003 100000 Chan3RegA 8 Node7Reg0 Chan4RegB amp 000003 100000 Chan4RegA 8 CLOSE 32 bit Encoder OPEN MACPLCC Node2Reg0 ChanlRegB amp 0000FF 8000 ChanlRegA 200 Node3Reg0 Chan2RegB amp 0000FF 8000 Chan2RegA 200 Node6Reg0 Chan3RegB amp 00
207. w e ca D Command Code S 5 ra oO ey 5 por Encoder Address D f 2 oz g D a 2 ac ow oc E E EO Reset Mode 0 0 0 0 0 1 0 0 0 0 1 1 1 0 1 o o0 0 0 0 0j 0j 1 0 4 3 0 1 NOP 0 0 0 0 0 0 0 0 0 0 1 1 0 1 0 1 0o o0 0 0 0 0 0j 0 0 0 3 5 0 1 Position Read 0 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 o o 0 0 0 0 0j0 0 0 1 4 0 0 Essentially the following commands are available for any of the channels Yaskawa RESET Commands for channel 1 of ACC 84E with base address of 78C00 CMD WX 78C00 043501 CMD WX 78C00 003501 CMD WX 78C00 001400 Appendix A Setup Examples 107 ACC S4E User Manual This can be done through any of the PLCs However there is some handshaking required in order to make sure the RESET command is completed before the next command is sent down The following PLC shows an example on how to do a reset including the handshaking necessary with the encoder to ensure a proper reset Yaskawa Absolute Encoder RESET Example PLC define ChnilCtrlReg M1011 ChniCtrlReg gt X 78C00 0 24 define ChnlFlags M1021 Chn1lFlags gt Y 78C01 0 24 define ChnilAlarms M1031 ChnilAlarms gt Y 78C02 8 8 Open PLC 10 clear ChnictrlReg 1400 Make sure the channel is in Position Read Mode 16612 100 8388607 i10 100 msec timer While 16612 gt 0 Endwhile If ChnlAlarms amp 3 0 If there is no Alarm don t reset Disable PLC 10 Endif p0 1 Chn1CtrlReg
208. ype servo motor s serial encoder SerialEncCmdWord 32 Command word for position reporting in Mitsubishi SerialEncParity 0 No parity check supported for Mitsubishi protocol SerialEncTrigMode 0 Continuous triggering SerialEncTrigEna 1 Enable triggering SerialEncGtoB 0 No Gray code supported for Mitsubishi protocol SerialEncEna 1 Enable driver circuitry SerialEncStatusBits 0 No status bits supported for Mitsubishi protocol SerialEncNumBits 0 Fixed number of position bits returned Acc84E i Chan j SerialEncCmd would be set to 321400 for continuous position reporting It may report back as 321000 if the ready status bit is not set Hex Digit 3 2 1 4 0 0 l Script Bit 23 22 21 20 19 18 17 16 15 14 13 12 11J 10 9 8s 7 6e 5 4 3 2 1 0 C Bit 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 74 30 Bit Value 00 1 1 00 1 0f0 ol o 0 0 0 0 0 oO Component SerialEncCmd Word Parity TM TE GB Ena Status NumBits If the SerialEncCmdWord component is set to BA and triggered for 10 consecutive cycles with 55 5 microseconds interval or more the ABS lost alarm is cleared This should be done in one shot mode making the element equal to BA3400 and triggered for 10 consecutive cycles with 55 5 microseconds interval or more If the SerialEncCmd

^2 Accessory 84E

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