Delta Tau GEO BRICK LV ユーザーズマニュアル
Turbo PMAC User Manual
Motor Compensation Tables and Constants
141
T
1
T
2
T
1
T
2
A
B
Servo
Interrupts
PMAC 1/T Extension
Velocity Estimation : V =
K
n
Position Estimation : P = Counter +/-
T
2
T
1
n
T
1
Note:
For PMAC2-style Servo ICs of Revision D or newer (introduced 2002), IC-
channel variable I7mn9 must be set to the default value of 0 so the two timers can
be read. (Backward compatibility is maintained.)
channel variable I7mn9 must be set to the default value of 0 so the two timers can
be read. (Backward compatibility is maintained.)
Examples:
I8000=$078000
; Software 1/T extension of Servo IC 0 Channel 1
I8001=$078004
; Software 1/T extension of Servo IC 0 Channel 2 (PMAC1)
Hardware 1/T Extension (Method digit $C, mode-switch bit 1)
This method lets the Servo IC compute the fractional count value in its hardware. It requires PMAC2-
style Servo ICs of Revision “D” or newer (introduced 2002), with IC-channel variable I7mn9 set to 1 to
enable the hardware calculations.
style Servo ICs of Revision “D” or newer (introduced 2002), with IC-channel variable I7mn9 set to 1 to
enable the hardware calculations.
This method permits new hardware position-capture and position-compare circuits with sub-count
resolution to be used with digital quadrature encoders. It also saves a small amount of computational
time.
Examples:
resolution to be used with digital quadrature encoders. It also saves a small amount of computational
time.
Examples:
I8000=$CF8000
; Hardware 1/T extension of Servo IC 0 Channel 1
I8001=$CF8008
; Hardware 1/T extension of Servo IC 0 Channel 2 (PMAC2)
No Extension (Method digit $C, mode-switch bit 0)
This method computes no fractional count value, leaving the 5 fractional bits at 0, and just using the
hardware counter for the whole count values. This is primarily used for the simulated feedback from the
pulse-and-direction output for open-loop stepper control, in which the fractional count estimation can
cause unwelcome dithering.
hardware counter for the whole count values. This is primarily used for the simulated feedback from the
pulse-and-direction output for open-loop stepper control, in which the fractional count estimation can
cause unwelcome dithering.