Delta Tau GEO BRICK LV Verweishandbuch
Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Global I-Variables
83
I402
$07842C
MACRO IC 0 Node 5 Reg. 0
I2002
$07A42C
MACRO IC 2 Node 5 Reg. 0
I502
$078430
MACRO IC 0 Node 8 Reg. 0
I2102
$07A430
MACRO IC 2 Node 8 Reg. 0
I602
$078434
MACRO IC 0 Node 9 Reg. 0
I2202
$07A434
MACRO IC 2 Node 9 Reg. 0
I702
$078438
MACRO IC 0 Node 12 Reg. 0
I2302
$07A438
MACRO IC 2 Node 12 Reg. 0
I802
$07843C
MACRO IC 0 Node 13 Reg. 0
I2402
$07A43C
MACRO IC 2 Node 13 Reg. 0
Turbo PMAC2 Ultralite Ixx02 Defaults (Continued)
Ixx02
Value
Register
Ixx02
Value
Register
I902
$079420
MACRO IC 1 Node 0 Reg. 0
I2502
$07B420
MACRO IC 3 Node 0 Reg. 0
I1002
$079424
MACRO IC 1 Node 1 Reg. 0
I2602
$07B424
MACRO IC 3 Node 1 Reg. 0
I1102
$079428
MACRO IC 1 Node 4 Reg. 0
I2702
$07B428
MACRO IC 3 Node 4 Reg. 0
I1202
$07942C
MACRO IC 1 Node 5 Reg. 0
I2802
$07B42C
MACRO IC 3 Node 5 Reg. 0
I1302
$079430
MACRO IC 1 Node 8 Reg. 0
I2902
$07B430
MACRO IC 3 Node 8 Reg. 0
I1402
$079434
MACRO IC 1 Node 9 Reg. 0
I3002
$07B434
MACRO IC 3 Node 9 Reg. 0
I1502
$079438
MACRO IC 1 Node 12 Reg. 0
I3102
$07B438
MACRO IC 3 Node 12 Reg. 0
I1602
$07943C
MACRO IC 1 Node 13 Reg. 0
I3202
$07B43C
MACRO IC 3 Node 13 Reg. 0
UMAC Turbo Ixx02 Defaults
Ixx02
Value
Register
Ixx02
Value
Register
I102
$078202
First Acc-24E2x DAC/PWM1A
I1702
$07A202
Fifth Acc-24E2x DAC/PWM1A
I202
$07820A
First Acc-24E2x DAC/PWM2A
I1802
$07A20A
Fifth Acc-24E2x DAC/PWM2A
I302
$078212
First Acc-24E2x DAC/PWM3A
I1902
$07A212
Fifth Acc-24E2x DAC/PWM3A
I402
$07821A
First Acc-24E2x DAC/PWM4A
I2002
$07A21A
Fifth Acc-24E2x DAC/PWM4A
I502
$078302
Second Acc-24E2x DAC/PWM1A
I2102
$07A302
Sixth Acc-24E2x DAC/PWM1A
I602
$07830A
Second Acc-24E2x DAC/PWM2A
I2202
$07A30A
Sixth Acc-24E2x DAC/PWM2A
I702
$078312
Second Acc-24E2x DAC/PWM3A
I2302
$07A312
Sixth Acc-24E2x DAC/PWM3A
I802
$07831A
Second Acc-24E2x DAC/PWM4A
I2402
$07A31A
Sixth Acc-24E2x DAC/PWM4A
I902
$079202
Third Acc-24E2x DAC/PWM1A
I2502
$07B202
Seventh Acc-24E2x DAC/PWM1A
I1002
$07920A
Third Acc-24E2x DAC/PWM2A
I2602
$07B20A
Seventh Acc-24E2x DAC/PWM2A
I1102
$079212
Third Acc-24E2x DAC/PWM3A
I2702
$07B212
Seventh Acc-24E2x DAC/PWM3A
I1202
$07921A
Third Acc-24E2x DAC/PWM4A
I2802
$07B21A
Seventh Acc-24E2x DAC/PWM4A
I1302
$079302
Fourth Acc-24E2x DAC/PWM1A
I2902
$07B302
Eighth Acc-24E2x DAC/PWM1A
I1402
$07930A
Fourth Acc-24E2x DAC/PWM2A
I3002
$07B30A
Eighth Acc-24E2x DAC/PWM2A
I1502
$079312
Fourth Acc-24E2x DAC/PWM3A
I3102
$07B312
Eighth Acc-24E2x DAC/PWM3A
I1602
$07931A
Fourth Acc-24E2x DAC/PWM4A
I3202
$07B31A
Eighth Acc-24E2x DAC/PWM4A
Ixx02 tells Motor xx which register or registers to which it writes its command output values. It contains
the address of this register or the first (lowest addresses) of these multiple registers. This determines
which output lines transmit the command output signals.
the address of this register or the first (lowest addresses) of these multiple registers. This determines
which output lines transmit the command output signals.
No Commutation: If Turbo PMAC is not commutating Motor xx (Ixx01=0 or 2), only one command
output value is calculated, which is written to the register at the address specified in Ixx02. If Ixx01 is set
to 0, this register is a Y-register; if Ixx01 is set to 2, this register is an X-register. Almost all output
registers on PMAC are Y-registers; the only common use of X-register outputs is in the Type 0 MACRO
protocol.
output value is calculated, which is written to the register at the address specified in Ixx02. If Ixx01 is set
to 0, this register is a Y-register; if Ixx01 is set to 2, this register is an X-register. Almost all output
registers on PMAC are Y-registers; the only common use of X-register outputs is in the Type 0 MACRO
protocol.
On Turbo PMAC boards, if Ixx01 is set to 0 or 2 and Ixx96 is set to 1, then only the magnitude of the
command is written to the register specified by Ixx02; the sign of the command is written to bit 14 of the
flag register specified by Ixx25, which is usually the AENA/DIR output. If this sign-and-magnitude
mode is used, bit 16 of Ixx24 should be set to 1 so this bit is not used for the amplifier-enable function.
Sign-and-magnitude mode does not work with PMAC2-style Servo ICs.
command is written to the register specified by Ixx02; the sign of the command is written to bit 14 of the
flag register specified by Ixx25, which is usually the AENA/DIR output. If this sign-and-magnitude
mode is used, bit 16 of Ixx24 should be set to 1 so this bit is not used for the amplifier-enable function.
Sign-and-magnitude mode does not work with PMAC2-style Servo ICs.
The default values listed above are usually suitable for commanding single analog outputs (velocity or
torque mode) when the Turbo PMAC is not commutating the motor.
torque mode) when the Turbo PMAC is not commutating the motor.
Commutation, No Current Loop: If Turbo PMAC is commutating Motor xx (Ixx01=1 or 3), but not
closing its current loop (Ixx82=0), two command output values are calculated, which are written to the Y-
register at the address specified in Ixx02, plus the Y-register at the next higher address.
closing its current loop (Ixx82=0), two command output values are calculated, which are written to the Y-
register at the address specified in Ixx02, plus the Y-register at the next higher address.