Delta Tau GEO BRICK LV Reference Manual
Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Global I-Variables
152
Ixx91 Values for UVW Hall States (120
o
e Spacing)
0 to 60 deg 60 to 120deg 120 to 180 deg 180 to -120 deg -120 to -60 deg -60 to 0 deg
Ixx91
011
010
110
100
101
001
$800000
001
011
010
110
100
101
$8B0000
101
001
011
010
110
100
$950000
100
101
001
011
010
110
$A00000
110
100
101
001
011
010
$AB0000
010
110
100
101
001
011
$B50000
001
101
100
110
010
011
$C00000
011
001
101
100
110
010
$CB0000
010
011
001
101
100
110
$D50000
110
010
011
001
101
100
$E00000
100
110
010
011
001
101
$EB0000
101
100
110
010
011
001
$F50000
Ixx92 Motor xx Jog Move Calculation Time
Range:
1 - 8,388,607
Units:
msec
Default:
10
Ixx92 controls how much time is allotted to calculate an on-line jog move, a homing search move, or a
motion-program RAPID-mode move for Motor xx. It also determines the delay in the trajectory’s
reaction to an altered destination or the trigger condition in any type of move-until-trigger: a homing
search move, an on-line jog-until-trigger, or a motion-program RAPID-mode move-until-trigger. If the
motor is sitting still at the beginning of this time, it will continue to sit for this time. If it is executing a
trajectory, it will continue on the present trajectory for this time before changing to the trajectory of the
new command or post-trigger move.
motion-program RAPID-mode move for Motor xx. It also determines the delay in the trajectory’s
reaction to an altered destination or the trigger condition in any type of move-until-trigger: a homing
search move, an on-line jog-until-trigger, or a motion-program RAPID-mode move-until-trigger. If the
motor is sitting still at the beginning of this time, it will continue to sit for this time. If it is executing a
trajectory, it will continue on the present trajectory for this time before changing to the trajectory of the
new command or post-trigger move.
This parameter should rarely need to be changed from the default of 10 msec. It should not be set to 0 for
any reason, or PMAC will not be able to perform any of these types of moves. The minimum practical
value for this parameter is 2 or 3.
any reason, or PMAC will not be able to perform any of these types of moves. The minimum practical
value for this parameter is 2 or 3.
In non-Turbo PMACs, this function is controlled by global I-variable I12.
Ixx95 Motor xx Power-On Servo Position Format
Range:
$000000 - $FFFFFF
Units:
none
Default:
$000000
Ixx95 specifies how the absolute power-on servo-position data, if any, for Motor xx is interpreted. Ixx10
specifies the address of the register containing this position data; Ixx95 controls how that data is read.
This permits the use of a wide variety of absolute position sensors with the Turbo PMAC.
specifies the address of the register containing this position data; Ixx95 controls how that data is read.
This permits the use of a wide variety of absolute position sensors with the Turbo PMAC.
Ixx95 is used only on power-on/reset or on the $* or $$* command. To get a new value of Ixx95 to take
effect, either the $* or $$* command must be issued, or the value must be stored to non-volatile flash
memory with the SAVE command, and the board must be reset.
effect, either the $* or $$* command must be issued, or the value must be stored to non-volatile flash
memory with the SAVE command, and the board must be reset.
Ixx95 is a 24-bit value; currently bits 16-23, which comprise the first two of six hex digits, are used.
Ixx95 is only used if Ixx10 is set to a non-zero value.
Ixx95 is only used if Ixx10 is set to a non-zero value.