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Turbo PMAC User Manual
Basic Motor Setup
83
Command Output Address: Ixx02
Ixx02 tells Turbo PMAC where to write the output command value for Motor xx. To use the PFM, the
output must be written to the C command register for the axis interface circuit of the proper number. (The
default is to the A command register.) The addresses of the C command registers for PMAC2-style Servo
ICs are:
PFM Pulse Output Addresses (Y-registers)
Ixx02 tells Turbo PMAC where to write the output command value for Motor xx. To use the PFM, the
output must be written to the C command register for the axis interface circuit of the proper number. (The
default is to the A command register.) The addresses of the C command registers for PMAC2-style Servo
ICs are:
PFM Pulse Output Addresses (Y-registers)
IC# - Chan#
0 - 1
0 - 2
0 - 3
0 - 4
1 - 1
1 - 2
1 - 3
1 - 4
Ixx02
$078004 $07800C $078014 $07801C $078104 $07810C $078114 $07811C
IC# - Chan#
2 - 1
2 - 2
2 - 3
2 - 4
3 - 1
3 - 2
3 - 3
3 - 4
Ixx02
$078204 $07820C $078214 $07821C $078304 $07830C $078314 $07831C
IC# - Chan#
4 - 1
4 - 2
4 - 3
4 - 4
5 - 1
5 - 2
5 - 3
5 - 4
Ixx02
$079204 $07920C $079214 $07921C $079304 $07930C $079314 $07931C
IC# - Chan#
6 - 1
6 - 2
6 - 3
6 - 4
7 - 1
7 - 2
7 - 3
7 - 4
Ixx02
$07A204 $07A20C $07A214 $07A21C $07A304 $07A30C $07A314 $07A31C
IC# - Chan#
8 - 1
8 - 2
8 - 3
8 - 4
9 - 1
9 - 2
9 - 3
9 - 4
Ixx02
$07B204 $07B20C $07B214 $07B21C $07B304 $07B30C $07B314 $07B31C
IC# - Chan#
M0 - 1
M0 - 2
Ixx02
$078414
$07841C
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.
Channels 1 – 4 on odd-numbered Servo ICs are Channels 5 – 8 on the dual-IC boards.
MACRO IC 0 (M0) provides the two pulse channels on the handwheel port.
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 the dual-IC boards.
MACRO IC 0 (M0) provides the two pulse channels on the handwheel port.
When using this mode through a MACRO Station, the output must be written to Register 2 of the
appropriate MACRO node, from which it will be copied to the C command register for the matching
channel on the MACRO Station. The addresses of Register 2 for each MACRO node are:
appropriate MACRO node, from which it will be copied to the C command register for the matching
channel on the MACRO Station. The addresses of Register 2 for each MACRO node are:
MACRO IC PFM Pulse Output Addresses (Y-registers)
IC# - Node#
0 - 0
0 - 1
0 - 4
0 - 5
0 - 8
0 - 9
0 - 12
0 - 13
Ixx02
$078422 $078426 $07842A $07842E $078432 $078436 $07843A $07843E
IC# - Node#
1 - 0
1 - 1
1 - 4
1 - 5
1 - 8
1 - 9
1 - 12
1 - 13
Ixx02
$079422 $079426 $07942A $07942E $079432 $079436 $07943A $07943E
IC# - Node#
2 - 0
2 - 1
2 - 4
2 - 5
2 - 8
2 - 9
2 - 12
2 - 13
Ixx02
$07A422 $07A426 $07A42A $07A42E $07A432 $07A436 $07A43A $07A43E
IC# - Node#
3 - 0
3 - 1
3 - 4
3 - 5
3 - 8
3 - 9
3 - 12
3 - 13
Ixx02
$07B422 $07B426 $07B42A $07B42E $07B432 $07B436 $07B43A $07B43E
Encoder Conversion Table: The encoder conversion table implemented with variables I8000 – I8191
(MI120 – MI151 on a MACRO Station) does the initial processing of the real or simulated feedback
registers. The default conversion table in Turbo PMAC processes encoder channels with timer-based 1/T
sub-count interpolation, in its first ten entries. These are the ideal settings if real incremental encoder
feedback is used.
(MI120 – MI151 on a MACRO Station) does the initial processing of the real or simulated feedback
registers. The default conversion table in Turbo PMAC processes encoder channels with timer-based 1/T
sub-count interpolation, in its first ten entries. These are the ideal settings if real incremental encoder
feedback is used.
However, if the output pulse train is used for simulated feedback, it is best to process the counts without
any sub-count interpolation. This will prevent the PMAC from trying to position between pulses and
create dithering. In the PMAC Executive program Configure Encoder Table window, change the entry
from Incremental with 1/T Interpolation to Incremental with No Interpolation. If writing directly to the
memory location of the table, change the format digit from $0 to $C. The entries for this type of
conversion for the encoder registers of a Turbo PMAC2 system are:
any sub-count interpolation. This will prevent the PMAC from trying to position between pulses and
create dithering. In the PMAC Executive program Configure Encoder Table window, change the entry
from Incremental with 1/T Interpolation to Incremental with No Interpolation. If writing directly to the
memory location of the table, change the format digit from $0 to $C. The entries for this type of
conversion for the encoder registers of a Turbo PMAC2 system are: