Delta Tau GEO BRICK LV User Manual

Turbo PMAC User Manual

Basic Motor Setup

The following table shows the possible addresses for these variables when the flags are accessed through
PMAC2-style Servo ICs.
PMAC2-Style Servo IC Flag Addresses

IC# - Chan#

0 - 1

0 - 2

0 - 3

0 - 4

1 - 1

1 - 2

1 - 3

1 - 4

Ixx25/42/43

$078000 $078008 $078010 $078018 $078100 $078108 $078110 $078118

IC# - Chan#

2 - 1

2 - 2

2 - 3

2 - 4

3 - 1

3 - 2

3 - 3

3 - 4

Ixx25/42/43

$078200 $078208 $078210 $078218 $078300 $078308 $078310 $078318

IC# - Chan#

4 - 1

4 - 2

4 - 3

4 - 4

5 - 1

5 - 2

5 - 3

5 - 4

Ixx25/42/43

$079200 $079208 $079210 $079218 $079300 $079308 $079310 $079318

IC# - Chan#

6 - 1

6 - 2

6 - 3

6 - 4

7 - 1

7 - 2

7 - 3

7 - 4

Ixx25/42/43

$07A200 $07A208 $07A210 $07A218 $07A300 $07A308 $07A310 $07A318

IC# - Chan#

8 - 1

8 - 2

8 - 3

8 - 4

9 - 1

9 - 2

9 - 3

9 - 4

Ixx25/42/43

$07B200 $07B208 $07B210 $07B218 $07B300 $07B308 $07B310 $07B318

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 the dual-IC boards.

If the flags are accessed through the MACRO ring, the address specified is that of a dedicated image
register in memory for the MACRO node, not the MACRO node flag register itself. The following table
shows the possible addresses for these variables when the flags are accessed through the MACRO ring.

MACRO Ring Flag Addresses

IC# - Node#

0 - 0

0 - 1

0 - 4

0 - 5

0 - 8

0 - 9

0 - 12

0 - 13

Ixx25/42/43

$003440 $003441 $003444 $003445 $003448 $003449 $00344C $00344D

IC# - Node#

1 - 0

1 - 1

1 - 4

1 - 5

1 - 8

1 - 9

1 - 12

1 - 13

Ixx25/42/43

$003450 $003451 $003454 $003455 $003458 $003459 $00345C $00345D

IC# - Node#

2 - 0

2 - 1

2 - 4

2 - 5

2 - 8

2 - 9

2 - 12

2 - 13

Ixx25/42/43

$003460 $003461 $003464 $003465 $003468 $003469 $00346C $00346D

IC# - Node#

3 - 0

3 - 1

3 - 4

3 - 5

3 - 8

3 - 9

3 - 12

3 - 13

Ixx25/42/43

$003470 $003471 $003474 $003475 $003478 $003479 $00344C $00347D

Flag Modes: Ixx24

Variable Ixx24 is a collection of individual control bits that determines how the flags specified in Ixx25,
Ixx42, and Ixx43 are used (or not used). Each bit is described in detail in the Software Reference
Manual; a quick summary is given here.
Bit 0:

Set to 0 for flags in a PMAC-style Servo IC, to 1 for flags in a PMAC2-style Servo IC.

Bit 11: Set to 0 to capture with quadrature encoders, to 1 to capture with sinusoidal encoders through

Acc-51 with high-resolution interpolation.

Bit 12:   Set to 0 to use whole-count capture, to 1 to use fractional-count capture.
Bit 14:   Set to 0 to stop on desired-position limit, to 1 to saturate on desired-position limit.
Bit 15:   Set to 0 to disable desired-position limits, to 1 to enable.
Bit 16:   Set to 0 to use amplifier-enable output flag, to 1 not to use.
Bit 17:   Set to 0 to use overtravel limit flags, to 1 not to use.
Bit 18:   Set to 0 to use capture flags from Turbo PMAC, to 1 for capture flags through MACRO.
Bit 20:   Set to 0 to use amplifier-fault input flag, to 1 not to use.
Bits 21 and 22: Set to 00 to kill all motors on a fault; to 01 to kill motors in same coordinate system, to 10

to kill only faulted motor.

Bit 23: Set to 0 for low-true amplifier fault (0 means fault), to 1 for high-true amplifier fault.