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Turbo PMAC User Manual
140
Motor Compensation Tables and Constants
Line I-variable
Address Line I-variable
Address
1 I8000
$3501 9 I8008
$3509
2 I8001
$3502 10 I8009
$350A
3 I8002
$3503 11 I8010
$350B
4 I8003
$3504 12 I8011
$350C
5 I8004
$3505 13 I8012
$350D
6 I8005
$3506 14 I8013
$350E
7 I8006
$3507 15 I8014
$350F
8 I8007 $3508 16 I8015 $3510
For example, to use the result in the eighth line of the table for position-loop feedback for Motor 4, either
of the following commands could be used:
of the following commands could be used:
I403=$3508
I403=@I8007
Even if the address is specified indirectly, it will still be reported back directly. So in the above example,
regardless of the way the value was specified, if Turbo PMAC is queried for the value of the I-variable, it
will return the address –
regardless of the way the value was specified, if Turbo PMAC is queried for the value of the I-variable, it
will return the address –
I403
$3508
$3508
Conversion Methods
Each conversion method is covered in detail in the description of the table’s I-variables in the Software
Reference manual. This section gives a brief overview.
Reference manual. This section gives a brief overview.
Digital Quadrature Encoders
The most common conversion is for digital quadrature encoders (or other pulse trains, such as pulse and
direction that feed these counters). These are single-line entries. The source addresses are always the
base addresses of encoder channels in the Servo ICs. A full list of these addresses is given in the
Software Reference manual; a quick list of common addresses is given here:
direction that feed these counters). These are single-line entries. The source addresses are always the
base addresses of encoder channels in the Servo ICs. A full list of these addresses is given in the
Software Reference manual; a quick list of common addresses is given here:
On-board PMAC-style channels 1 – 4: $78000, $78004, $78008, $7800C
On-board PMAC2-style channels 1 – 4: $78000, $78008, $78010, $78018
First four accessory PMAC2-style channels: $78200, $78208, $78210, $78218
On-board PMAC2-style channels 1 – 4: $78000, $78008, $78010, $78018
First four accessory PMAC2-style channels: $78200, $78208, $78210, $78218
There are three conversion methods for this signal format:
•
Software 1/T Extension
•
Hardware 1/T Extension
•
No Extension
Software 1/T Extension (Method digit $0)
This is the most common method, and the one that is used in the table by default. This method uses the
quadrature counter for the integer count value, and computes the ratio of two timers to obtain the five bits
of fractional count value.
quadrature counter for the integer count value, and computes the ratio of two timers to obtain the five bits
of fractional count value.