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Turbo PMAC User Manual
Motor Compensation Tables and Constants
137
Executive Program Setup Menu
Generally, the setup of the encoder conversion table I-variables can be done interactively through the
configuration menu in the PMAC Executive Program. The following section explains how the setup can
be done directly and “manually.”
configuration menu in the PMAC Executive Program. The following section explains how the setup can
be done directly and “manually.”
Entry First Setup I-Variable
The first setup I-variable for an entry has three parts: the conversion method, a mode-switch bit, and the
address of the source data. The conversion method, which determines what processing is to be done, is
contained in the first hex digit (bits 20 – 23). The mode-switch bit, which specifies variants to the
processing, is contained in bit 19. The source address, which specifies which register or set of registers
contains the raw data, is contained in bits 0 – 18.
address of the source data. The conversion method, which determines what processing is to be done, is
contained in the first hex digit (bits 20 – 23). The mode-switch bit, which specifies variants to the
processing, is contained in bit 19. The source address, which specifies which register or set of registers
contains the raw data, is contained in bits 0 – 18.
The following table shows how the first I-variable for an entry is structured:
Entry First Setup Line (I-Variable) Structure
Bit
23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Digit
1 2 3 4 5 6
Contents Method
*
Source
Address
* Mode-switch bit
For example, the parallel extension (method digit $8) of an incremental encoder from a PMAC-style
(mode-switch bit 0) Servo IC 0 Channel 1 (source address $078000) in the first setup line of the
conversion table would be:
(mode-switch bit 0) Servo IC 0 Channel 1 (source address $078000) in the first setup line of the
conversion table would be:
I8000=$878000
The same parallel extension (method digit $8, but from a PMAC2-style (mode-switch bit 1) Servo IC 0
Channel 1 (source address $078000) in the first setup line of the conversion table would be:
Channel 1 (source address $078000) in the first setup line of the conversion table would be:
I8000=$8F8000
The structures of any subsequent lines for an entry are dependent on the method; each type is discussed
below.
The following table summarizes the operation specified by each method digit.
below.
The following table summarizes the operation specified by each method digit.
Method
Digit
# of
lines
Process Defined
Mode Switch
1
st
Additional Line
2
nd
Additional Line
$0 1
1/T
Extension
of
Incremental Encoder
None -
-
$1
1
Acc-28 style A/D
converter (high 16 bits,
no rollover)
converter (high 16 bits,
no rollover)
0 = signed data
1 = unsigned data
1 = unsigned data
- -
$2
2
Parallel Y-word data, no
filtering
filtering
0 = normal shift
1 = unshifted
1 = unshifted
Width/Offset Word
-
$3 3
Parallel
Y-word
data,
with filtering
0 = normal shift
1 = unshifted
1 = unshifted
Width/Offset Word
Max Change per Cycle
$4
2
Time Base scaled digital
differentiation
differentiation
None
Time Base Scale Factor
-
$5
2
Integrated Acc-28 style
A/D converter
A/D converter
0 = signed data
1 = unsigned data
1 = unsigned data
Input Bias
-
$6 2
Parallel
Y/X-word
data,
no filtering
0 = normal shift
1 = unshifted
1 = unshifted
Width/Offset Word
-
$7 3
Parallel
Y/X-word
data,
with filtering
0 = normal shift
1 = unshifted
1 = unshifted
Width/Offset Word
Max Change per Cycle
$8 1
Parallel
Extension
of
Incremental Encoder
0 = PMAC IC
1 = PMAC2 IC
1 = PMAC2 IC
- -
$9
2
Triggered Time Base,
frozen
frozen
0 = PMAC IC
1 = PMAC2 IC
1 = PMAC2 IC
Time Base Scale Factor
-