Delta Tau GEO BRICK LV User Manual

Turbo PMAC User Manual

130

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

Setting the I-Variables

Setting up a motor for microstepping is simply a matter of setting motor I-variables according to the
following list. Since there is no feedback, there is no tuning necessary.

Commutation Enable: Ixx01

Set Ixx01 to 3 to enable Turbo PMAC commutation, reading a Y-register for commutation position
feedback. (See the Ixx83 section below.)

Command Output Address: Ixx02

Set Ixx02 to the lower address of the pair of output DACs being used (e.g. $078002 for DAC1 and DAC2
on a Turbo PMAC or DAC1A and B on a Turbo PMAC2, $078420 for MACRO IC 0 Node 0 Registers 0
and 1 for DACs on a remote MACRO Station. This setting is the same as for using these registers with
normal, closed-loop commutation. The following tables show the settings for DAC pairs in PMAC-style
Servo ICs, in PMAC2-style Servo ICs, and in MACRO ICs.
Sine-Wave Mode Command Output Addresses –
PMAC-style Servo ICs (Y-registers)

IC# - Chan#

0 – 1&2

0 – 3&4

1 – 1&2

1 – 3&4

Ixx02

$078002 $07800A $078102 $07810A

IC# - Chan#

2 - 1&2

2 - 3&4

3 - 1&2

3 - 3&4

Ixx02

$078202 $07820A $078302 $07830A

IC# - Chan#

4 - 1&2

4 - 3&4

5 - 1&2

5 - 3&4

Ixx02

$079202 $07920A $079302 $07930A

IC# - Chan#

6 - 1&2

6 - 3&4

7 - 1&2

7 - 3&4

Ixx02

$07A202 $07A20A $07A302 $07A30A

IC# - Chan#

8 - 1&2

8 - 3&4

9 - 1&2

9 - 3&42

Ixx02

$07B202 $07B20A $07B302 $07B309

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.

Sine-Wave Mode Command Output Addresses – PMAC2-style Servo ICs (Y-registers)

IC# - Chan#

0 - 1

0 - 2

0 - 3

0 - 4

1 - 1

1 - 2

1 - 3

1 - 4

Ixx02

$078002 $07800A $078012 $07801A $078102 $07810A $078112 $07811A

IC# - Chan#

2 - 1

2 - 2

2 - 3

2 - 4

3 - 1

3 - 2

3 - 3

3 - 4

Ixx02

$078202 $07820A $078212 $07821A $078302 $07830A $078312 $07831A

IC# - Chan#

4 - 1

4 - 2

4 - 3

4 - 4

5 - 1

5 - 2

5 - 3

5 - 4

Ixx02

$079202 $07920A $079212 $07921A $079302 $07930A $079312 $07931A

IC# - Chan#

6 - 1

6 - 2

6 - 3

6 - 4

7 - 1

7 - 2

7 - 3

7 - 4

Ixx02

$07A202 $07A20A $07A212 $07A21A $07A302 $07A30A $07A312 $07A31A

IC# - Chan#

8 - 1

8 - 2

8 - 3

8 - 4

9 - 1

9 - 2

9 - 3

9 - 4

Ixx02

$07B202 $07B20A $07B212 $07B21A $07B302 $07B30A $07B312 $07B31A

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.