Delta Tau GEO BRICK LV Reference Manual
Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Global I-Variables
155
Bit 23 of Ixx95 specifies whether the position is interpreted as an unsigned or a signed value. If the bit is
set to 0, it is interpreted as an unsigned value, if the bit is 1, it is interpreted as a signed value. Because
Acc-28A produces signed values, Ixx95 should be set to $B10000 when using Acc-28A. Acc-28B
produces unsigned values, so Ixx95 should be set to $310000 when using Acc-28B.
set to 0, it is interpreted as an unsigned value, if the bit is 1, it is interpreted as a signed value. Because
Acc-28A produces signed values, Ixx95 should be set to $B10000 when using Acc-28A. Acc-28B
produces unsigned values, so Ixx95 should be set to $310000 when using Acc-28B.
Sanyo Absolute Encoder Read: If Ixx95 is set to $320000 or $B20000, Motor xx will expect its power-
on position from the Acc-49 Sanyo Absolute Encoder converter board at the Turbo PMAC address
specified by Ixx10.
on position from the Acc-49 Sanyo Absolute Encoder converter board at the Turbo PMAC address
specified by Ixx10.
The first hex digit of Ixx95, which can take a value of 3 or B in this mode, specifies whether the position
is interpreted as an unsigned value (first digit = 0) or as a signed value (first digit = 8). Set Ixx95 to
$320000 for unsigned, or to $B20000 for signed.
is interpreted as an unsigned value (first digit = 0) or as a signed value (first digit = 8). Set Ixx95 to
$320000 for unsigned, or to $B20000 for signed.
Yaskawa Absolute Encoder Read: If Ixx95 is set to $710000 or $F10000, Motor xx will expect its
power-on position from the Yaskawa Absolute Encoder converter board at the multiplexer port address
specified by Ixx10.
power-on position from the Yaskawa Absolute Encoder converter board at the multiplexer port address
specified by Ixx10.
The first hex digit of Ixx95, which can take a value of 7 or F in this mode, specifies whether the position
is interpreted as an unsigned value (first digit = 0) or as a signed value (first digit = 8). Set Ixx95 to
$710000 for unsigned, or to $F10000 for signed.
is interpreted as an unsigned value (first digit = 0) or as a signed value (first digit = 8). Set Ixx95 to
$710000 for unsigned, or to $F10000 for signed.
In this mode, Ixx99 specifies the number of bits per revolution for a single turn of the Yaskawa absolute
encoder. It must be set greater than 0 to use the multi-turn absolute capability of this encoder.
encoder. It must be set greater than 0 to use the multi-turn absolute capability of this encoder.
MACRO Station Yaskawa Absolute Encoder Read: If Ixx95 is set to $720000 or $F20000, Motor xx
will expect its power-on position from a Yaskawa Absolute Encoder through a MACRO Station. In this
mode, Ixx10 specifies the MACRO node number at which the position value will be read by Turbo
PMAC itself. Set-up variable MI11x for the MACRO Station tells the Station how to read the Yaskawa
Encoder converter connected to its own multiplexer port or serial port.
will expect its power-on position from a Yaskawa Absolute Encoder through a MACRO Station. In this
mode, Ixx10 specifies the MACRO node number at which the position value will be read by Turbo
PMAC itself. Set-up variable MI11x for the MACRO Station tells the Station how to read the Yaskawa
Encoder converter connected to its own multiplexer port or serial port.
The first hex digit of Ixx95, which can take a value of 7 or F in this mode, specifies whether the position
is interpreted as an unsigned value (first digit = 0) or as a signed value (first digit = 8). Set Ixx95 to
$720000 for unsigned, or to $F20000 for signed.
is interpreted as an unsigned value (first digit = 0) or as a signed value (first digit = 8). Set Ixx95 to
$720000 for unsigned, or to $F20000 for signed.
In this mode, Ixx99 specifies the number of bits per revolution for a single turn of the Yaskawa absolute
encoder. It must be set greater than 0 to use the multi-turn absolute capability of this encoder.
encoder. It must be set greater than 0 to use the multi-turn absolute capability of this encoder.
MACRO Station R/D Converter Read: If Ixx95 is set to $730000 or $F30000, Motor xx will expect its
power-on position from an R/D converter through a MACRO Station or compatible device. In this mode,
Ixx10 specifies the MACRO node number at which Turbo PMAC will read the position value itself. Set-
up variable MI11x for the matching node on the MACRO Station tells the Station how to read the R/D
converter connected to its own multiplexer port.
power-on position from an R/D converter through a MACRO Station or compatible device. In this mode,
Ixx10 specifies the MACRO node number at which Turbo PMAC will read the position value itself. Set-
up variable MI11x for the matching node on the MACRO Station tells the Station how to read the R/D
converter connected to its own multiplexer port.
The first hex digit of Ixx95, which can take a value of 7 or F in this mode, specifies whether the position
is interpreted as an unsigned value (first digit = 0) or as a signed value (first digit = 8). Set Ixx95 to
$730000 for unsigned, or to $F30000 for signed.
is interpreted as an unsigned value (first digit = 0) or as a signed value (first digit = 8). Set Ixx95 to
$730000 for unsigned, or to $F30000 for signed.
If Ixx99 is set greater than 0, the next higher numbered R/D converter at the same multiplexer port
address is also read and treated as a geared-down resolver, with Ixx99 specifying the gear ratio. Ixx98 is
also set greater than 0, the following R/D converter at the same multiplexer port address is read and
treated as a third resolver geared down from the second, with Ixx98 specifying that gear ratio.
address is also read and treated as a geared-down resolver, with Ixx99 specifying the gear ratio. Ixx98 is
also set greater than 0, the following R/D converter at the same multiplexer port address is read and
treated as a third resolver geared down from the second, with Ixx98 specifying that gear ratio.
MACRO Station Parallel Data Read: If Ixx95 is set to $740000 or $F40000, Motor xx will expect its
power-on position from a parallel data source through a MACRO Station or compatible device. In this
mode, Ixx10 specifies the MACRO node number at which Turbo PMAC will read the position value
itself. Set-up variable MI11x for the matching node on the MACRO Station tells the Station how to read
the parallel data source connected to it.
power-on position from a parallel data source through a MACRO Station or compatible device. In this
mode, Ixx10 specifies the MACRO node number at which Turbo PMAC will read the position value
itself. Set-up variable MI11x for the matching node on the MACRO Station tells the Station how to read
the parallel data source connected to it.
The first hex digit of Ixx95, which can take a value of 7 or F in this mode, specifies whether the position
is interpreted as an unsigned value (first digit = 0) or as a signed value (first digit = 8). Set Ixx95 to
$740000 for unsigned, or to $F40000 for signed.
is interpreted as an unsigned value (first digit = 0) or as a signed value (first digit = 8). Set Ixx95 to
$740000 for unsigned, or to $F40000 for signed.