Delta Tau GEO BRICK LV User Manual
Turbo PMAC User Manual
130
Setting Up Turbo PMAC-Based Commutation and/or Current Loop
Setting the I-Variables
Setting up a motor for microstepping is simply a matter of setting motor I-variables according to the
following list. Since there is no feedback, there is no tuning necessary.
following list. Since there is no feedback, there is no tuning necessary.
Commutation Enable: Ixx01
Set Ixx01 to 3 to enable Turbo PMAC commutation, reading a Y-register for commutation position
feedback. (See the Ixx83 section below.)
feedback. (See the Ixx83 section below.)
Command Output Address: Ixx02
Set Ixx02 to the lower address of the pair of output DACs being used (e.g. $078002 for DAC1 and DAC2
on a Turbo PMAC or DAC1A and B on a Turbo PMAC2, $078420 for MACRO IC 0 Node 0 Registers 0
and 1 for DACs on a remote MACRO Station. This setting is the same as for using these registers with
normal, closed-loop commutation. The following tables show the settings for DAC pairs in PMAC-style
Servo ICs, in PMAC2-style Servo ICs, and in MACRO ICs.
Sine-Wave Mode Command Output Addresses –
PMAC-style Servo ICs (Y-registers)
on a Turbo PMAC or DAC1A and B on a Turbo PMAC2, $078420 for MACRO IC 0 Node 0 Registers 0
and 1 for DACs on a remote MACRO Station. This setting is the same as for using these registers with
normal, closed-loop commutation. The following tables show the settings for DAC pairs in PMAC-style
Servo ICs, in PMAC2-style Servo ICs, and in MACRO ICs.
Sine-Wave Mode Command Output Addresses –
PMAC-style Servo ICs (Y-registers)
IC# - Chan#
0 – 1&2
0 – 3&4
1 – 1&2
1 – 3&4
Ixx02
$078002 $07800A $078102 $07810A
IC# - Chan#
2 - 1&2
2 - 3&4
3 - 1&2
3 - 3&4
Ixx02
$078202 $07820A $078302 $07830A
IC# - Chan#
4 - 1&2
4 - 3&4
5 - 1&2
5 - 3&4
Ixx02
$079202 $07920A $079302 $07930A
IC# - Chan#
6 - 1&2
6 - 3&4
7 - 1&2
7 - 3&4
Ixx02
$07A202 $07A20A $07A302 $07A30A
IC# - Chan#
8 - 1&2
8 - 3&4
9 - 1&2
9 - 3&42
Ixx02
$07B202 $07B20A $07B302 $07B309
Servo ICs 0 and 1 are on the Turbo PMAC itself.
Servo ICs 2 – 9 are on Acc-24P/V or Acc-51P boards.
Channels 1 – 4 on odd-numbered Servo ICs are Channels 5 – 8 on the boards.
Servo ICs 2 – 9 are on Acc-24P/V or Acc-51P boards.
Channels 1 – 4 on odd-numbered Servo ICs are Channels 5 – 8 on the boards.
Sine-Wave Mode Command Output Addresses – PMAC2-style Servo ICs (Y-registers)
IC# - Chan#
0 - 1
0 - 2
0 - 3
0 - 4
1 - 1
1 - 2
1 - 3
1 - 4
Ixx02
$078002 $07800A $078012 $07801A $078102 $07810A $078112 $07811A
IC# - Chan#
2 - 1
2 - 2
2 - 3
2 - 4
3 - 1
3 - 2
3 - 3
3 - 4
Ixx02
$078202 $07820A $078212 $07821A $078302 $07830A $078312 $07831A
IC# - Chan#
4 - 1
4 - 2
4 - 3
4 - 4
5 - 1
5 - 2
5 - 3
5 - 4
Ixx02
$079202 $07920A $079212 $07921A $079302 $07930A $079312 $07931A
IC# - Chan#
6 - 1
6 - 2
6 - 3
6 - 4
7 - 1
7 - 2
7 - 3
7 - 4
Ixx02
$07A202 $07A20A $07A212 $07A21A $07A302 $07A30A $07A312 $07A31A
IC# - Chan#
8 - 1
8 - 2
8 - 3
8 - 4
9 - 1
9 - 2
9 - 3
9 - 4
Ixx02
$07B202 $07B20A $07B212 $07B21A $07B302 $07B30A $07B312 $07B31A
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.
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 dual-Servo-IC boards.