Delta tau ACC-24E2 4-axis Programmable Multi-Axis Controller

DPRAM Data Gathering Buffer Turbo ACC-24E2’s data gathering function can create a rotary buffer in DPRAM, so that the host computer can pick up the data as it is being gathered. This way, the size of the data gathering buffer is not limited by Turbo ACC-24E2’s own memory capacity. The data gathering buffer in DPRAM is selected if I5000 is set to 2 or 3; if I5000 is set to 3, it is used in a rotary fashion, which is how the buffer is typically used. The DPRAM data gathering buffer always starts at address 0x1140 . Its size is determined by the DEFINE GATHER {size} command, where {size} sets the number of ACC-24E2 addresses from the start. This size value is stored at 0x113C .

Variables I5001 through I5048 determine the potential registers to be gathered. I5050 and I5051 are 24-bit mask variables that determine which of the 48 possible sources will be gathered. I5049 determines the gathering period, in servo cycles. The actual gathering is started by the on-line GATHER command, and stopped by the on-line ENDGATHER command. As Turbo ACC-24E2 gathers data into the DPRAM, it advances the pointer that shows the address offset where the next item to be gathered will be placed. This pointer is stored at 0x113E . The host computer must watch for changes to this pointer to indicate that more data has been copied into DPRAM.