Delta Tau ACC-84E附件手册：接线与硬件指南

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"附件84E/ACC-84E是Delta Tau Data Systems公司提供的一款通用串行编码器接口设备的用户手册。该手册详细介绍了SingleSource Machine Control的功能特性，强调了其在功率、灵活性和易用性方面的优势。它位于21314 Lassen Street, Chatsworth, CA 91311，联系电话为(818)998-2095，传真号码为(818)998-7807，同时提供了网址www.deltatau.com供用户查询更多信息。用户手册的第一页标注了版权信息，指出所有权利归Delta Tau Data Systems, Inc.所有，未经书面许可，不得擅自使用。手册中的内容可能会根据产品改进进行更新，可能与早期版本存在差异，因此如果发现错误或不一致，用户应通过电话（818）717-5656，传真（818）998-7807或电子邮件support@deltatau.com联系技术支持团队，也可以访问网站http://www.deltatau.com获取最新的支持和指导。 ACC-84E用户手册的重点部分涵盖了该产品的功能特性，即Universal Serial Encoder Interface，意味着它能够与多种类型的串行编码器设备无缝连接，实现数据的高效传输和控制。产品型号为3Ax-603927-xUxx，表明这是特定的硬件版本。发布日期为2018年10月17日，手册内容包含了安装、配置、操作和维护等方面的信息，确保用户能够充分利用这款辅助设备提升其运动控制系统的性能。此外，手册还提醒用户，所有Delta Tau Data Systems的运动控制器、配件和放大器都包含静电敏感元件，所以在处理和安装时必须遵循适当的防静电措施，以防止对设备造成损害。这份用户手册为用户提供了关于ACC-84E全面而专业的技术指南，旨在帮助用户充分利用这款设备，并确保系统稳定和高效运行。"

ACC-84E User Manual

Hardware Setup 16

Mitsubishi HG- Servo Motor Encoders

Mitsubishi HG- 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- 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)

19 3

+5VDC

BAT+

GND

BAT-

MRR

12345

6789

The diagram above shows the pin assignment from mating 3M SCR Receptacle (36110) to ACC-84E

encoder input.

ACC-84E User Manual

Software Setup 17

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 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. The following diagram shows the

time lines for the possible configurations:

ACC-84E User Manual

Software Setup 19

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, 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

Global Control Register

Turbo PMAC

Global Control

Switch Position (SW1)

ACC84E[0].SerialEncCtrl

X:$78C0F

ACC84E[4].SerialEncCtrl

X:$79C0F

Open

ACC84E[8].SerialEncCtrl

X:$7AC0F

Open

ACC84E[12].SerialEncCtrl

X:$7BC0F

Open

ACC84E[1].SerialEncCtrl

X:$78D0F

Open

ACC84E[5].SerialEncCtrl

X:$79D0F

Open

ACC84E[9].SerialEncCtrl

X:$7AD0F

Open

ACC84E[13].SerialEncCtrl

X:$7BD0F

Open

ACC84E[2].SerialEncCtrl

X:$78E0F

Open

ACC84E[6].SerialEncCtrl

X:$79E0F

Open

ACC84E[10].SerialEncCtrl

X:$7AE0F

Open

ACC84E[14].SerialEncCtrl

X:$7BE0F

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):

Component

Turbo PMAC/

Power PMAC

Script Bits

Hex

Digit #

Bits

Functionality

SerialClockMDiv

23 – 16

1 – 2

31 – 24

Serial clock linear division factor

SerialClockNDiv

15 – 12

23 – 20

Serial clock exponent division factor

(Reserved)

11 – 10

19 – 18

(Reserved for future use)

SerialTrigClockSel

Serial trigger source select

SerialTrigEdgeSel

Serial trigger source edge select

SerialTrigDelay

07 – 04

15 – 12

Serial trigger delay from source edge

SerialProtocol

03 – 00

11 – 08

Serial encoder protocol select (read-only)

ACC-84E User Manual

Software Setup 20

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 f

int

is:

 

100

int





MHzf

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 this final frequency f

ser

is:

 

ser

MHzf

2*1

100

int





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 f

bit

. 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 immediately 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 µsec. If the serial encoder data can be received

within 55 µsec, 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 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 µsec

phase clock cycle, and the delay from the rising edge to the next falling edge is 385 µsec.

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

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