Delta Tau GEO BRICK LV User Manual

 

And the equivalent Turbo PMAC code for setting up all 8 channels: 

// Channel 1 
I8000=$FF8000  ; High resolution interpolator entry, $78000 
I8001=$078B00  ; A/D converter address, $78B00 
I8002=$000000  ; Bias Term and Entry result at $3503 
// Channel 2 
I8003=$FF8008  ; High resolution interpolator entry, $78008 
I8004=$078B02  ; A/D converter address, $78B02 
I8005=$000000  ; Bias Term and Entry result at $3506 
// Channel 3 
I8006=$FF8010  ; High resolution interpolator entry, $78010 
I8007=$078B04  ; A/D converter address, $78B04 
I8008=$000000  ; Bias Term and Entry result at $3509 
// Channel 4 
I8009=$FF8018  ; High resolution interpolator entry, $78018 
I8010=$078B06  ; A/D converter address, $78B06 
I8011=$000000  ; Bias Term and Entry result at $350C 
// Channel 5 
I8012=$FF8100  ; High resolution interpolator entry, $78100 
I8013=$078B08  ; A/D converter address, $78B08 
I8014=$000000  ; Bias Term and Entry result at $350F 
// Channel 6 
I8015=$FF8108  ; High resolution interpolator entry, $78108 
I8016=$078B0A  ; A/D converter address, $78B0A 
I8017=$000000  ; Bias Term and Entry result at $3512 
// Channel 7 
I8018=$FF8110  ; High resolution interpolator entry, $78110 
I8019=$078B0C  ; A/D converter address, $78B0C 
I8020=$000000  ; Bias Term and Entry result at $3515 
// Channel 8 
I8021=$FF8118  ; High resolution interpolator entry, $78118 
I8022=$078B0E  ; A/D converter address, $78B0E 
I8023=$000000  ; Bias Term and Entry result at $3518 

 
Now, the position and velocity pointers are assigned to the corresponding processed data register: 

I103=$3503 I104=$3503  ; Motor #1 Position and Velocity feedback address 
I203=$3506 I204=$3506  ; Motor #2 Position and Velocity feedback address 
I303=$3509 I304=$3509  ; Motor #3 Position and Velocity feedback address 
I403=$350C I404=$350C  ; Motor #4 Position and Velocity feedback address 
I503=$350F I504=$350F  ; Motor #5 Position and Velocity feedback address 
I603=$3512 I604=$3512  ; Motor #6 Position and Velocity feedback address 
I703=$3515 I704=$3515  ; Motor #7 Position and Velocity feedback address 
I803=$3518 I804=$3518  ; Motor #8 Position and Velocity feedback address 

 
Channel Activation 

I100,8,100=1 

 

; Motors 1-8 activated 

 

 

At  this  point  of  the  setup  process,  you  should  be  able  to  move  the 
motor/encoder  shaft  by  hand  and  see  encoder  counts  in  the  position 
window. 

 

Counts Per Revolution: 

With the  interpolation of x 4096 in Turbo PMAC, there are 128 (4096/32) motor counts per sine/cosine 
cycles. Motor counts can be monitored in the motor position window upon moving the motor by hand.       
Examples: 
A 1024 Sine/Cosine periods per revolution rotary encoder produces 1024 x 128 = 131,072 cts/rev. 
A 20 μm resolution linear encoder produces 128/0.02 = 6400 cts/mm.