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The ACC-5E uses a “Gate2” MACRO IC so the setup is just like a PMAC2-style servo IC using software “1/T” timer-based extension of the count. This is a “Type 3” conversion, but with the elements of Gate2.Chan[j].{element name} (note that Acc5E is a valid alias of Gate2). The following saved setup elements must be specified:

EncTable[n].Type = 3 // Software 1/T extension of count value

EncTable[n].pEnc = Acc5E.Chan[j].ServoCapt.a

EncTable[n].pEnc2 = Acc5E.Chan[j].TimeBetweenCts.a

EncTable[n].ScaleFactor = 1/512 // Scale output in whole counts

Motor[x].pEnc = EncTable[n].a // Use table result for position-loop feedback

Motor[x].pEnc2 = EncTable[n].a // Use table result for velocity-loop feedback

 

You can now look at the motor position for the motor number (x in the above) you used.

Posted

You read them in the same way you would read a quadrature encoder on an ACC-24E2x board. The two servo channels in the "Gate2" IC of the Acc-5E each have a structure that is identical to each of the four servo channels in the "Gate1" IC of an ACC-24E2x board.

 

So you can use Gate2.Chan[j].ServoCapt of an Acc-5E (the encoder count value latched on the servo clock) just as you use Gate1.Chan[j].ServoCapt on an Acc-24E2x board. The 1st handwheel (HW1) on an Acc-5E goes into Chan[0]; the 2nd handwheel (HW2) goes into Chan[1].

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