Delta Tau GEO BRICK LV User Manual

Turbo PMAC User Manual

Setting Up Turbo PMAC-Based Commutation and/or Current Loop

Commutation Feedback Address: Ixx83

Ixx83 specifies the address of the register used for the commutation position feedback. The default
values of Ixx83 use the encoder register for the machine interface channel usually assigned to the motor.
Ixx83 seldom needs to be changed from the default value for PWM applications. When using on-board
encoder counter, these are X-registers, so Ixx01 must be set to 1, not 3, to use these. Typically, the values
used are:
PMAC-Style Servo IC Commutation Position Feedback Addresses (X-registers)

IC# - Chan#

0 - 1

0 - 2

0 - 3

0 - 4

1 - 1

1 - 2

1 - 3

1 - 4

Ixx83

$078001 $078005 $078009 $07800D $078101 $078105 $078109 $07810D

IC# - Chan#

2 - 1

2 - 2

2 - 3

2 - 4

3 - 1

3 - 2

3 - 3

3 - 4

Ixx83

$078201 $078205 $078209 $07820D $078301 $078305 $078309 $07830D

IC# - Chan#

4 - 1

4 - 2

4 - 3

4 - 4

5 - 1

5 - 2

5 - 3

5 - 4

Ixx83

$079201 $079205 $079209 $07920D $079301 $079305 $079309 $07930D

IC# - Chan#

6 - 1

6 - 2

6 - 3

6 - 4

7 - 1

7 - 2

7 - 3

7 - 4

Ixx83

$07A201 $07A205 $07A209 $07A20D $07A301 $07A305 $07A309 $07A30D

IC# - Chan#

8 - 1

8 - 2

8 - 3

8 - 4

9 - 1

9 - 2

9 - 3

9 - 4

Ixx83

$07B201 $07B205 $07B209 $07B20D $07B301 $07B305 $07B309 $07B30D

Servo ICs 0 and 1 are on the Turbo PMAC itself.
Servo ICs 2 – 9 are on Acc-24P/V or Acc-51P boards.
Channels 1 – 4 on odd-numbered Servo ICs are Channels 5 – 8 on the boards.

PMAC2-Style Servo IC Commutation Position Feedback Addresses (X-registers)

IC# - Chan#

0 - 1

0 - 2

0 - 3

0 - 4

1 - 1

1 - 2

1 - 3

1 - 4

Ixx83

$078001 $078009 $078011 $078019 $078101 $078109 $078111 $078119

IC# - Chan#

2 - 1

2 - 2

2 - 3

2 - 4

3 - 1

3 - 2

3 - 3

3 - 4

Ixx83

$078201 $078209 $078211 $078219 $078301 $078309 $078311 $078319

IC# - Chan#

4 - 1

4 - 2

4 - 3

4 - 4

5 - 1

5 - 2

5 - 3

5 - 4

Ixx83

$079201 $079209 $079211 $079219 $079301 $079309 $079311 $079319

IC# - Chan#

6 - 1

6 - 2

6 - 3

6 - 4

7 - 1

7 - 2

7 - 3

7 - 4

Ixx83

$07A201 $07A209 $07A211 $07A219 $07A301 $07A309 $07A311 $07A319

IC# - Chan#

8 - 1

8 - 2

8 - 3

8 - 4

9 - 1

9 - 2

9 - 3

9 - 4

Ixx83

$07B201 $07B209 $07B211 $07B219 $07B301 $07B309 $07B311 $07B319

Servo ICs 0 and 1 are on the Turbo PMAC2 itself or on Acc-2E 3U-format stack boards.
Servo ICs 2 – 9 are on Acc-24x2 or Acc-51E boards.
Channels 1 – 4 on odd-numbered Servo ICs are Channels 5 – 8 on dual-Servo-IC boards.

When performing commutation over the MACRO ring, Ixx83 points to the position feedback register
(Register 0) for the node used. These are Y-registers, so Ixx01 must be set to 3, not 1, to use these. The
values used in the MACRO Type 1 protocol expected by Delta Tau MACRO products are:
MACRO Node Commutation Position Feedback Addresses (Y-registers)

IC# - Node#

0 - 0

0 - 1

0 - 4

0 - 5

0 - 8

0 - 9

0 - 12

0 - 13

Ixx83

$078420 $078424 $078428 $07842C $078430 $078434 $078438 $07843C

IC# - Node#

1 - 0

1 - 1

1 - 4

1 - 5

1 - 8

1 - 9

1 - 12

1 - 13

Ixx83

$079420 $079424 $079428 $07942C $079430 $079434 $079438 $07943C

IC# - Node#

2 - 0

2 - 1

2 - 4

2 - 5

2 - 8

2 - 9

2 - 12

2 - 13

Ixx83

$07A420 $07A424 $07A428 $07A42C $07A430 $07A434 $07A438 $07A43C

IC# - Node#

3 - 0

3 - 1

3 - 4

3 - 5

3 - 8

3 - 9

3 - 12

3 - 13

Ixx83

$07B420 $07B424 $07B428 $07B42C $07B430 $07B434 $07B438 $07B43C

If using the older Type 0 MACRO protocol, add 3 to the value shown in the above table (e.g. $078420
becomes $078423).