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Turbo PMAC User Manual
Setting Up Feedback and Master Position Sensors
69
Setting Up for Power-On Absolute Position
Absolute Power-On Position Address and Format: Ixx10, Ixx95, MI11x
Generally, position data that comes to a Turbo PMAC system as an analog voltage is absolute in nature,
so no homing search move is required if it is used for position feedback. Turbo PMAC variables Ixx10
(Motor xx Power-On Servo Position Address) and Ixx95 (Motor xx Power-On Position Format) can be
used to establish this absolute position. The Ixx10 description in the Turbo PMAC Software Reference
Manual has a complete table of the possible address settings for the ADC registers, and also for getting
absolute position from a MACRO Station.
so no homing search move is required if it is used for position feedback. Turbo PMAC variables Ixx10
(Motor xx Power-On Servo Position Address) and Ixx95 (Motor xx Power-On Position Format) can be
used to establish this absolute position. The Ixx10 description in the Turbo PMAC Software Reference
Manual has a complete table of the possible address settings for the ADC registers, and also for getting
absolute position from a MACRO Station.
Ixx95 should be set to $B10000 for the signed 16-bit data from an Acc-28A; it should be set to $310000
for the unsigned 16-bit data from an Acc-28B. For 12-bit unsigned data, it should be set to $0C0000; for
12-bit signed data, it should be set to $8C0000. It should be set to $740000 to specify power-on position
from a MACRO Station; station variable MI11x should be set to $17nnnn, where “nnnn” represents the
Y-address of the ADC register (or de-multiplexed register in memory) on the MACRO Station.
for the unsigned 16-bit data from an Acc-28B. For 12-bit unsigned data, it should be set to $0C0000; for
12-bit signed data, it should be set to $8C0000. It should be set to $740000 to specify power-on position
from a MACRO Station; station variable MI11x should be set to $17nnnn, where “nnnn” represents the
Y-address of the ADC register (or de-multiplexed register in memory) on the MACRO Station.
Scaling the Feedback Units
If the above instructions are followed, the increment of the least significant bit (LSB) of the ADC is
considered a count by the Turbo PMAC motor functions. All subsequent position, velocity, and
acceleration units are based on this definition of a count.
considered a count by the Turbo PMAC motor functions. All subsequent position, velocity, and
acceleration units are based on this definition of a count.
Setting Up Absolute Encoders
Turbo PMAC can accept feedback data from a variety of absolute encoders through various interface
boards. The instructions for setting up the hardware and software for these interfaces is detailed in the
manuals for the particular interface boards. The following table briefly summarizes these setups:
boards. The instructions for setting up the hardware and software for these interfaces is detailed in the
manuals for the particular interface boards. The following table briefly summarizes these setups:
Encoder Interface
Board Conversion Table
Absolute Power On*
Parallel Format
Acc-14D
Acc-14V
Acc-14V
Acc-14E
Filtered Parallel ($3)
Filtered Parallel ($3)
Filtered Parallel ($3)
Filtered Parallel Byte ($F/$3)
Ixx95=$nn0000
Ixx95=$nn0000
Ixx95=$nn000b
Ixx95=$nn0000
Ixx95=$nn000b
Yaskawa Sigma I
Acc-8D Opt 9
1/T Encoder ($0)
Ixx95=$710000
SSI
Acc-53E
Filtered Parallel ($3)
Ixx95=$nn0000
Hiperface
Acc-51x Opt 2
Hi-Res Interpolator ($F/$0)
Ixx95=$nn0000
Heidenhain EnDat
Acc-51x Opt 3
Hi-Res Interpolator ($F/$0)
Ixx95=$nn0000
Mitsubishi
Acc-57E Opt M
Filtered Parallel ($3)
Ixx95=$nn0000
Sanyo
Acc-49P
Filtered Parallel ($3)
Ixx95=$nn0000
Tamagawa
Acc-70P
Filtered Parallel ($3)
Ixx95=$nn0000
*The nn in $nn0000 expresses the number of bits to use as a hexadecimal value. The b specifies which
byte of the 24-bit word to use: 4 for low, 5 for middle, 6 for high.
byte of the 24-bit word to use: 4 for low, 5 for middle, 6 for high.
Details on the actual hardware and software setup for these data formats can be found in the user manual
for the appropriate accessory.
for the appropriate accessory.