Delta Tau GEO BRICK LV User Manual

 

 

Absolute Power-On Position Address and Format: Ixx10, Ixx95, MI11x 

Generally, position data that comes to a Turbo PMAC system as an analog voltage is absolute in nature, 
so no homing search move is required if it is used for position feedback.  Turbo PMAC variables Ixx10 
(Motor xx Power-On Servo Position Address) and Ixx95 (Motor xx Power-On Position Format) can be 
used to establish this absolute position.  The Ixx10 description in the Turbo PMAC Software Reference 
Manual has a complete table of the possible address settings for the ADC registers, and also for getting 
absolute position from a MACRO Station.   

Ixx95 should be set to $B10000 for the signed 16-bit data from an Acc-28A; it should be set to $310000 
for the unsigned 16-bit data from an Acc-28B.  For 12-bit unsigned data, it should be set to $0C0000; for 
12-bit signed data, it should be set to $8C0000.  It should be set to $740000 to specify power-on position 
from a MACRO Station; station variable MI11x should be set to $17nnnn, where “nnnn” represents the 
Y-address of the ADC register (or de-multiplexed register in memory) on the MACRO Station. 

If the above instructions are followed, the increment of the least significant bit (LSB) of the ADC is 
considered a count by the Turbo PMAC motor functions.  All subsequent position, velocity, and 
acceleration units are based on this definition of a count. 

Turbo PMAC can accept feedback data from a variety of absolute encoders through various interface 
boards.  The instructions for setting up the hardware and software for these interfaces is detailed in the 
manuals for the particular interface boards.  The following table briefly summarizes these setups: 

Parallel Format 

Acc-14D 
Acc-14V 

Acc-14E 

Filtered Parallel ($3) 
Filtered Parallel ($3) 

Filtered Parallel Byte ($F/$3) 

Ixx95=$nn0000 
Ixx95=$nn0000 
Ixx95=$nn000b 

Yaskawa Sigma I 

Acc-8D Opt 9 

1/T Encoder ($0) 

Ixx95=$710000 

SSI 

Acc-53E 

Filtered Parallel ($3) 

Ixx95=$nn0000 

Hiperface 

Acc-51x Opt 2 

Hi-Res Interpolator ($F/$0) 

Ixx95=$nn0000 

Heidenhain EnDat 

Acc-51x Opt 3 

Hi-Res Interpolator ($F/$0) 

Ixx95=$nn0000 

Mitsubishi 

Acc-57E Opt M 

Filtered Parallel ($3) 

Ixx95=$nn0000 

Sanyo 

Acc-49P 

Filtered Parallel ($3) 

Ixx95=$nn0000 

Tamagawa 

Acc-70P 

Filtered Parallel ($3) 

Ixx95=$nn0000 

*The nn in $nn0000 expresses the number of bits to use as a hexadecimal value.  The b specifies which 
byte of the 24-bit word to use: 4 for low, 5 for middle, 6 for high. 

Details on the actual hardware and software setup for these data formats can be found in the user manual 
for the appropriate accessory.