Delta Tau GEO BRICK LV ユーザーズマニュアル
Turbo PMAC User Manual
138
Motor Compensation Tables and Constants
$A
2
Triggered Time Base,
running
running
0 = PMAC IC
1 = PMAC2 IC
1 = PMAC2 IC
Time Base Scale Factor
-
$B
2
Triggered Time Base,
armed
armed
0 = PMAC IC
1 = PMAC2 IC
1 = PMAC2 IC
Time Base Scale Factor
-
$C
1
Incremental Encoder, no
or HW 1/T extension
or HW 1/T extension
0 = No extension
1 = Hardware 1/T
1 = Hardware 1/T
- -
$D
3
Exponential filter of
parallel data
parallel data
None
Max Change per Cycle
Filter Gain (Inverse
Time Constant)
$E
1
Sum or difference of
entries
entries
0 = no integration
1 = integrate result
1 = integrate result
- -
$F
-
(Extended entry – type
determined by 1
determined by 1
st
digit of
2
nd
line)
- -
-
$F/$0 3
High-Resolution
Interpolator
Interpolator
0 = PMAC IC
1 = PMAC2 IC
1 = PMAC2 IC
$0 Method digit &
Address of 1
st
A/D
converter
A/D Bias Term
$F/$2 2
Byte-wide
parallel
Y-
word data, no filtering
0 = normal shift
1 = unshifted
1 = unshifted
$2 and Width/Offset
Word
-
$F/$3 3
Byte-wide
parallel
Y-
word data, with filtering
0 = normal shift
1 = unshifted
1 = unshifted
$3 and Width/Offset
Word
Max Change per Cycle
Because most source addresses have a 7 in the second hex digit, the effect of setting the mode-switch bit
to 1 is to change the second hex digit from 7 to F. For example, an Acc-28 ADC entry that is $178005
with the mode-switch bit at 0 is changed to $1F8005 with the mode-switch bit at 1.
to 1 is to change the second hex digit from 7 to F. For example, an Acc-28 ADC entry that is $178005
with the mode-switch bit at 0 is changed to $1F8005 with the mode-switch bit at 1.
In the Software Reference Manual under the descriptions for I8000 – I8191, there is a detailed description
for the setup of each type of entry, with extensive tables of the common source addresses for each. The
PMAC Executive program’s setup menu for the conversion table has good pick lists of source addresses
for each method.
for the setup of each type of entry, with extensive tables of the common source addresses for each. The
PMAC Executive program’s setup menu for the conversion table has good pick lists of source addresses
for each method.
Entry Subsequent Setup I-Variables
If the method defined in the first line specifies an entry of more than one line, the next one or two setup
lines (I-variables) in the table are further setup values for this entry. The meaning of these subsequent
lines is dependent on the method; the above table gives a brief description of what these are, and the
Software Reference Manual describes these in detail.
lines (I-variables) in the table are further setup values for this entry. The meaning of these subsequent
lines is dependent on the method; the above table gives a brief description of what these are, and the
Software Reference Manual describes these in detail.
Next Entry
After the last line of any entry, whether the entry is one, two or three lines long, the next line in the table
is the first line of the next entry. For example, if the first line in the table is a three-line entry, I8000,
I8001, and I8002 will be used to set up that entry, and I8003 will be the first setup line of the next entry.
is the first line of the next entry. For example, if the first line in the table is a three-line entry, I8000,
I8001, and I8002 will be used to set up that entry, and I8003 will be the first setup line of the next entry.
End of Table
If a setup line (I-variable) that could be the first line of an entry is set to 0, this marks the end of the active
table. Even if there are valid entries below this point in the table, they will not be executed.
table. Even if there are valid entries below this point in the table, they will not be executed.
Result Structure
The column of the encoder conversion table that is in X-memory contains the processed results of the
table. The 24-bit data in this column for the last line of the entry (the only line for a single-line entry) is
the final processed result. This value will be used for subsequent operations in the Turbo PMAC. The
data in this column for previous lines (if any) of the entry contain intermediate results; these generally are
for internal use only.
table. The 24-bit data in this column for the last line of the entry (the only line for a single-line entry) is
the final processed result. This value will be used for subsequent operations in the Turbo PMAC. The
data in this column for previous lines (if any) of the entry contain intermediate results; these generally are
for internal use only.