Delta Tau GEO BRICK LV Guide D’Exploitation
Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Global I-Variables
86
Note:
To use Turbo PMAC’s hardware position-capture feature for homing search moves
or other types of automatic move-until-trigger (Ixx97=0), the encoder channel
number addressed by Ixx03 through the Encoder Conversion Table must match the
channel number of the flags addressed by Ixx25.
or other types of automatic move-until-trigger (Ixx97=0), the encoder channel
number addressed by Ixx03 through the Encoder Conversion Table must match the
channel number of the flags addressed by Ixx25.
Ixx04 Motor xx Velocity Loop Feedback Address
Range:
$000000 - $FFFFFF
Units:
Turbo PMAC Addresses
Turbo PMAC/PMAC2 Ixx04 Defaults
Ixx04
Value
Register
Ixx04
Value
Register
I104
$003501
Conversion Table Line 0
I1704
$003511
Conversion Table Line 16
I204
$003502
Conversion Table Line 1
I1804
$003512
Conversion Table Line 17
I304
$003503
Conversion Table Line 2
I1904
$003513
Conversion Table Line 18
I404
$003504
Conversion Table Line 3
I2004
$003514
Conversion Table Line 19
I504
$003505
Conversion Table Line 4
I2104
$003515
Conversion Table Line 20
I604
$003506
Conversion Table Line 5
I2204
$003516
Conversion Table Line 21
I704
$003507
Conversion Table Line 6
I2304
$003517
Conversion Table Line 22
I804
$003508
Conversion Table Line 7
I2404
$003518
Conversion Table Line 23
I904
$003509
Conversion Table Line 8
I2504
$003519
Conversion Table Line 24
I1004
$00350A
Conversion Table Line 9
I2604
$00351A
Conversion Table Line 25
I1104
$00350B
Conversion Table Line 10
I2704
$00351B
Conversion Table Line 26
I1204
$00350C
Conversion Table Line 11
I2804
$00351C
Conversion Table Line 27
I1304
$00350D
Conversion Table Line 12
I2904
$00351D
Conversion Table Line 28
I1404
$00350E
Conversion Table Line 13
I3004
$00351E
Conversion Table Line 29
I1504
$00350F
Conversion Table Line 14
I3104
$00351F
Conversion Table Line 30
I1604
$003510
Conversion Table Line 15
I3204
$003520
Conversion Table Line 31
Turbo PMAC2 Ultralite Ixx04 Defaults
Ixx04
Value
Register
Ixx04
Value
Register
I104
$003502
Conversion Table Line 1
I1704
$003522
Conversion Table Line 33
I204
$003504
Conversion Table Line 3
I1804
$003524
Conversion Table Line 35
I304
$003506
Conversion Table Line 5
I1904
$003526
Conversion Table Line 37
I404
$003508
Conversion Table Line 7
I2004
$003528
Conversion Table Line 39
I504
$00350A
Conversion Table Line 9
I2104
$00352A
Conversion Table Line 41
I604
$00350C
Conversion Table Line 11
I2204
$00352C
Conversion Table Line 43
I704
$00350E
Conversion Table Line 13
I2304
$00352E
Conversion Table Line 45
I804
$003510
Conversion Table Line 15
I2404
$003530
Conversion Table Line 47
I904
$003512
Conversion Table Line 17
I2504
$003532
Conversion Table Line 49
I1004
$003514
Conversion Table Line 19
I2604
$003534
Conversion Table Line 51
I1104
$003516
Conversion Table Line 21
I2704
$003536
Conversion Table Line 53
I1204
$003518
Conversion Table Line 23
I2804
$003538
Conversion Table Line 55
I1304
$00351A
Conversion Table Line 25
I2904
$00353A
Conversion Table Line 57
I1404
$00351C
Conversion Table Line 27
I3004
$00353C
Conversion Table Line 59
I1504
$00351E
Conversion Table Line 29
I3104
$00353E
Conversion Table Line 61
I1604
$003520
Conversion Table Line 31
I3204
$003540
Conversion Table Line 63
Ixx04 tells the Turbo PMAC where to look for its position feedback value to close the velocity loop for
Motor xx. It contains the address of the register where the motor will read its position feedback value.
Usually this is a result register in the “Encoder Conversion Table”, where raw feedback values have been
pre-processed at the beginning of each servo cycle. Feedback data is expected in units of 1/32 count (5
Motor xx. It contains the address of the register where the motor will read its position feedback value.
Usually this is a result register in the “Encoder Conversion Table”, where raw feedback values have been
pre-processed at the beginning of each servo cycle. Feedback data is expected in units of 1/32 count (5