Delta Tau GEO BRICK LV User Manual

 

 

Turbo PMAC’s high-resolution interpolation of sinusoidal encoders produces 4096 states per line, or 
1024 states per hardware count (10 bits of fraction).  However, Turbo PMAC’s servo software assumes 
there are only 5 bits of fractional count data in the positions it accesses.  Therefore, a software count from 
an Acc-51 interpolator is 1/32 the size of a hardware count, yielding 128 software counts per line of the 
encoder. 

The following table shows, for each Servo IC and channel, the I-variable that enables the sub-count 
compare and the M-variable definitions for whole count and fractional count data. 

0 

1  I7019 Y:$078007,0,24,S X:$078001,0,12,U X:$078007,0,24,S Y:$078000,0,12,U 

0 

2  I7029 Y:$07800F,0,24,S X:$078009,0,12,U X:$07800F,0,24,S Y:$078008,0,12,U 

0 

3  I7039 Y:$078017,0,24,S X:$078011,0,12,U X:$078017,0,24,S Y:$078010,0,12,U 

0 

4  I7049 Y:$07801F,0,24,S X:$078019,0,12,U X:$07801F,0,24,S Y:$078018,0,12,U 

1 

1  I7119 Y:$078107,0,24,S X:$078101,0,12,U X:$078107,0,24,S Y:$078100,0,12,U 

1 

2  I7129 Y:$07810F,0,24,S X:$078109,0,12,U X:$07810F,0,24,S Y:$078108,0,12,U 

1 

3  I7139 Y:$078117,0,24,S X:$078111,0,12,U X:$078117,0,24,S Y:$078110,0,12,U 

1 

4  I7149 Y:$07811F,0,24,S X:$078119,0,12,U X:$07811F,0,24,S Y:$078118,0,12,U 

2 

1  I7219 Y:$078207,0,24,S X:$078201,0,12,U X:$078207,0,24,S Y:$078200,0,12,U 

2 

2  I7229 Y:$07820F,0,24,S X:$078209,0,12,U X:$07820F,0,24,S Y:$078208,0,12,U 

2 

3  I7239 Y:$078217,0,24,S X:$078211,0,12,U X:$078217,0,24,S Y:$078210,0,12,U 

2 

4  I7249 Y:$07821F,0,24,S X:$078219,0,12,U X:$07821F,0,24,S Y:$078218,0,12,U 

3 

1  I7319 Y:$078307,0,24,S X:$078301,0,12,U X:$078307,0,24,S Y:$078300,0,12,U 

3 

2  I7329 Y:$07830F,0,24,S X:$078309,0,12,U X:$07830F,0,24,S Y:$078308,0,12,U 

3 

3  I7339 Y:$078317,0,24,S X:$078311,0,12,U X:$078317,0,24,S Y:$078310,0,12,U 

3 

4  I7349 Y:$07831F,0,24,S X:$078319,0,12,U X:$07831F,0,24,S Y:$078318,0,12,U 

4 

1  I7419 Y:$079207,0,24,S X:$079201,0,12,U X:$079207,0,24,S Y:$079200,0,12,U 

4 

2  I7429 Y:$07920F,0,24,S X:$079209,0,12,U X:$07920F,0,24,S Y:$079208,0,12,U 

4 

3  I7439 Y:$079217,0,24,S X:$079211,0,12,U X:$079217,0,24,S Y:$079210,0,12,U 

4 

4  I7449 Y:$07921F,0,24,S X:$079219,0,12,U X:$07921F,0,24,S Y:$079218,0,12,U 

5 

1  I7519 Y:$079307,0,24,S X:$079301,0,12,U X:$079307,0,24,S Y:$079300,0,12,U 

5 

2  I7529 Y:$07930F,0,24,S X:$079309,0,12,U X:$07930F,0,24,S Y:$079308,0,12,U 

5 

3  I7539 Y:$079317,0,24,S X:$079311,0,12,U X:$079317,0,24,S Y:$079310,0,12,U 

5 

4  I7549 Y:$07931F,0,24,S X:$079319,0,12,U X:$07931F,0,24,S Y:$079318,0,12,U 

6 

1  I7619 Y:$07A207,0,24,S X:$07A201,0,12,U X:$07A207,0,24,S Y:$07A200,0,12,U

6 

2  I7629 Y:$07A20F,0,24,S X:$07A209,0,12,U X:$07A20F,0,24,S Y:$07A208,0,12,U

6 

3  I7639 Y:$07A217,0,24,S X:$07A211,0,12,U X:$07A217,0,24,S Y:$07A210,0,12,U

6 

4  I7649 Y:$07A21F,0,24,S X:$07A219,0,12,U X:$07A21F,0,24,S Y:$07A218,0,12,U

7 

1  I7719 Y:$07A307,0,24,S X:$07A301,0,12,U X:$07A307,0,24,S Y:$07A300,0,12,U

7 

2  I7729 Y:$07A30F,0,24,S X:$07A309,0,12,U X:$07A30F,0,24,S Y:$07A308,0,12,U

7 

3  I7739 Y:$07A317,0,24,S X:$07A311,0,12,U X:$07A317,0,24,S Y:$07A310,0,12,U

7 

4  I7749 Y:$07A31F,0,24,S X:$07A319,0,12,U X:$07A31F,0,24,S Y:$07A318,0,12,U

8 

1  I7819 Y:$07B207,0,24,S X:$07B201,0,12,U X:$07B207,0,24,S Y:$07B200,0,12,U

8 

2  I7829 Y:$07B20F,0,24,S X:$07B209,0,12,U X:$07B20F,0,24,S Y:$07B208,0,12,U

8 

3  I7839 Y:$07B217,0,24,S X:$07B211,0,12,U X:$07B217,0,24,S Y:$07B210,0,12,U

8 

4  I7849 Y:$07B21F,0,24,S X:$07B219,0,12,U X:$07B21F,0,24,S Y:$07B218,0,12,U

9 

1  I7919 Y:$07B307,0,24,S X:$07B301,0,12,U X:$07B307,0,24,S Y:$07B300,0,12,U

9 

2  I7929 Y:$07B30F,0,24,S X:$07B309,0,12,U X:$07B30F,0,24,S Y:$07B308,0,12,U

9 

3  I7939 Y:$07B317,0,24,S X:$07B311,0,12,U X:$07B317,0,24,S Y:$07B310,0,12,U

9 

4  I7949 Y:$07B31F,0,24,S X:$07B319,0,12,U X:$07B31F,0,24,S Y:$07B318,0,12,U