Delta Tau GEO BRICK LV Reference Manual
Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Global I-Variables
159
Example:
Motor 1 has a double resolver with the fine resolver connected to the R/D converter at location 2 on an
Acc-8D Option 7 board set to multiplexer address 4, and the coarse resolver, geared down at a 36:1 ratio
from the fine resolver, connected to the R/D converter at location 3 on the same board. The following I-
variable settings should be used:
Motor 1 has a double resolver with the fine resolver connected to the R/D converter at location 2 on an
Acc-8D Option 7 board set to multiplexer address 4, and the coarse resolver, geared down at a 36:1 ratio
from the fine resolver, connected to the R/D converter at location 3 on the same board. The following I-
variable settings should be used:
I110=$000004 ..
; Value of $0004 specifies multiplexer address 4
I118=$020000 ..
; $02 in high 8 bits of I118
.........................
; specifies R/D at location 2 of this address
I199=36............
; Specify 36 turns of fine resolver per turn of
.........................
; coarse resolver; R/D must be at location 3
.........................
; of multiplexer address 4
I198=0 .............
; No third resolver
Supplemental Motor Setup I-Variables
Iyy00 – Iyy49/Iyy50 – Iyy99
Supplemental Motor I-Variables
yy = 33 – 48
Motor Number xx = 2 * (yy - 32) - 1 for Iyy00 – Iyy49 (odd-numbered motors)
Motor Number xx = 2 * (yy - 32) for Iyy50 – Iyy99 (even-numbered motors)
Motor Number xx = 2 * (yy - 32) - 1 for Iyy00 – Iyy49 (odd-numbered motors)
Motor Number xx = 2 * (yy - 32) for Iyy50 – Iyy99 (even-numbered motors)
Motor
#
Supplemental
I-Variables
Motor
#
Supplemental
I-Variables
Motor
#
Supplemental
I-Variables
Motor
#
Supplemental
I-Variables
1
I3300 - I3349
9
I3700 - I3749
17
I4100 - I4149
25
I4500 - I4549
2
I3350 - I3399
10
I3750 - I3799
18
I4150 - I4199
26
I4550 - I4599
3
I3400 - I3449
11
I3800 - I3849
19
I4200 - I4249
27
I4600 - I4649
4
I3450 - I3499
12
I3850 - I3899
20
I4250 - I4299
28
I4650 - I4699
5
I3500 - I3549
13
I3900 - I3949
21
I4300 - I4349
29
I4700 - I4749
6
I3550 - I3599
14
I3950 - I3999
22
I4350 - I4399
30
I4750 - I4799
7
I3600 - I3649
15
I4000 - I4049
23
I4400 - I4449
31
I4800 - I4849
8
I3650 - I3699
16
I4050 - I4099
24
I4450 - I4499
32
I4850 - I4899
Iyy00/50
Motor xx Extended Servo Algorithm Enable
Range:
0 - 1
Units:
none
Default:
0
Iyy00 or Iyy50 controls whether the matching Motor xx uses the PID servo algorithm or the Extended
Servo Algorithm (ESA). If Iyy00/50 is set to the default value of 0, Motor xx uses the PID servo
algorithm, whose gains are determined by Ixx30-39 and Ixx63-69. If Iyy00/50 is set to 1, Motor xx uses
the ESA, whose gains are determined by Iyy10/60 to Iyy39/89.
Servo Algorithm (ESA). If Iyy00/50 is set to the default value of 0, Motor xx uses the PID servo
algorithm, whose gains are determined by Ixx30-39 and Ixx63-69. If Iyy00/50 is set to 1, Motor xx uses
the ESA, whose gains are determined by Iyy10/60 to Iyy39/89.
The motor should be killed when changing which servo algorithm is used by changing Iyy00/50. The
loop should not be closed again until the gain variables for the selected servo algorithm are set up
properly.
loop should not be closed again until the gain variables for the selected servo algorithm are set up
properly.
The following servo control I-variables are only used if Iyy00/50 is set to 0:
Ixx30-39, Ixx63-65, Ixx67
The following servo control I-variables are only used if Iyy00/50 is set to 1:
Iyy10-39 / Iyy60 – 89