Delta Tau GEO BRICK LV Manual Do Utilizador
Turbo PMAC User Manual
360
Synchronizing Turbo PMAC to External Events
For PMAC2-style Servo ICs, the M-variable definitions for the position-capture registers are shown in the
following table:
following table:
Servo IC #
Channel 1
Channel 2
Channel 3
Channel 4
0 X:$078003,0,24,S
X:$07800B,0,24,S
X:$078013,0,24,S
X:$07801B,0,24,S
1 X:$078103,0,24,S
X:$07810B,0,24,S
X:$078113,0,24,S
X:$07811B,0,24,S
2 X:$078203,0,24,S
X:$07820B,0,24,S
X:$078213,0,24,S
X:$07821B,0,24,S
3 X:$078303,0,24,S
X:$07830B,0,24,S
X:$078313,0,24,S
X:$07831B,0,24,S
4 X:$079003,0,24,S
X:$07900B,0,24,S
X:$079013,0,24,S
X:$07901B,0,24,S
5 X:$079103,0,24,S
X:$07910B,0,24,S
X:$079113,0,24,S
X:$07911B,0,24,S
6 X:$07A203,0,24,S
X:$07A20B,0,24,S
X:$07A213,0,24,S
X:$07A21B,0,24,S
7 X:$07A303,0,24,S
X:$07A30B,0,24,S
X:$07A313,0,24,S
X:$07A31B,0,24,S
8 X:$07B203,0,24,S
X:$07B20B,0,24,S
X:$07B213,0,24,S X:$07B21B,0,24,S
9 X:$07B303,0,24,S
X:$07B30B,0,24,S
X:$07B313,0,24,S X:$07B31B,0,24,S
The value in this register is referenced to the power-up/reset position of the sensor. That is, the counter is
set to zero at power-up/reset, and it counts from there. It does not get reset to zero if the motor using it
for feedback is homed. If the travel of the sensor from the power-up/reset position goes more than +/-
8,388,608 (+/-2
set to zero at power-up/reset, and it counts from there. It does not get reset to zero if the motor using it
for feedback is homed. If the travel of the sensor from the power-up/reset position goes more than +/-
8,388,608 (+/-2
23
) counts, the count value will roll over. In this case, you must keep track of the rollover.
Note that the act of reading the position-capture register resets the trigger logic, automatically re-arming it
for another trigger. It is a good idea to perform a dummy read of the capture register before starting a
capture sequence to make sure the trigger logic is armed (the standard move-until-trigger functions do this
automatically). If you are also reading the fractional-count capture register (see below), read that register
first to ensure that both it and the whole-count register represent the same triggered position.
for another trigger. It is a good idea to perform a dummy read of the capture register before starting a
capture sequence to make sure the trigger logic is armed (the standard move-until-trigger functions do this
automatically). If you are also reading the fractional-count capture register (see below), read that register
first to ensure that both it and the whole-count register represent the same triggered position.
Fractional-Count Position-Capture Register
In PMAC(2)-style Servo ICs of Revision D and newer (started shipments in 2002), it is possible to
capture timer-estimated sub-count position as well as the whole-count position described above. This is
most commonly used with the Acc-51 high-resolution sinusoidal-encoder interpolator, but can be used
with quadrature encoders as well.
In PMAC(2)-style Servo ICs of Revision D and newer (started shipments in 2002), it is possible to
capture timer-estimated sub-count position as well as the whole-count position described above. This is
most commonly used with the Acc-51 high-resolution sinusoidal-encoder interpolator, but can be used
with quadrature encoders as well.
If variable I7mn9 for Channel n of Servo IC m is set to 1, this function is enabled. (Note that if this is
enabled, the traditional “software 1/T” interpolation registers are disabled.) In this case, bits 12 – 23 of
the Y-register of the channel’s base address (Y:$078000 for Servo IC 0 Channel 1), contain the captured
fractional count value. Bit 23 has a value of ½-count, bit 22 has a value of ¼-count, and so on. A count
in this context is a “hardware count,” which is not necessarily the same as the motor’s “software count.”
enabled, the traditional “software 1/T” interpolation registers are disabled.) In this case, bits 12 – 23 of
the Y-register of the channel’s base address (Y:$078000 for Servo IC 0 Channel 1), contain the captured
fractional count value. Bit 23 has a value of ½-count, bit 22 has a value of ¼-count, and so on. A count
in this context is a “hardware count,” which is not necessarily the same as the motor’s “software count.”
The M-variable definitions for the fractional-count position-capture registers are shown in the following
table. The suggested M-variable for Motor xx, assuming the standard matching of channels to motors, is
Mxx83.
table. The suggested M-variable for Motor xx, assuming the standard matching of channels to motors, is
Mxx83.
Servo IC #
Channel 1
Channel 2
Channel 3
Channel 4
0 Y:$078000,12,12,U
Y:$078008,12,12,U
Y:$078010,12,12,U
Y:$078018,12,12,U
1 Y:$078100,12,12,U
Y:$078108,12,12,U
Y:$078110,12,12,U
Y:$078118,12,12,U
2 Y:$078200,12,12,U
Y:$078208,12,12,U
Y:$078210,12,12,U
Y:$078218,12,12,U
3 Y:$078300,12,12,U
Y:$078308,12,12,U
Y:$078310,12,12,U
Y:$078318,12,12,U
4 Y:$079000,12,12,U
Y:$079008,12,12,U
Y:$079010,12,12,U
Y:$079018,12,12,U
5 Y:$079100,12,12,U
Y:$079108,12,12,U
Y:$079110,12,12,U
Y:$079118,12,12,U
6 Y:$07A200,12,12,U
Y:$07A208,12,12,U
Y:$07A210,12,12,U
Y:$07A218,12,12,U
7 Y:$07A300,12,12,U
Y:$07A308,12,12,U
Y:$07A310,12,12,U
Y:$07A318,12,12,U
8 Y:$07B200,12,12,U
Y:$07B208,12,12,U
Y:$07B210,12,12,U Y:$07B218,12,12,U
9 Y:$07B300,12,12,U
Y:$07B308,12,12,U
Y:$07B310,12,12,U Y:$07B318,12,12,U