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Turbo PMAC User Manual
90
Setting Up Turbo PMAC-Based Commutation and/or Current Loop
Commutation Feedback Address: Ixx83
Ixx83 specifies the address of the register used for the commutation position feedback. The default
values of Ixx83 use the encoder register for the machine interface channel usually assigned to the motor.
Ixx83 seldom needs to be changed from the default value for PWM applications. When using on-board
encoder counter, these are X-registers, so Ixx01 must be set to 1, not 3, to use these. Typically, the values
used are:
PMAC-Style Servo IC Commutation Position Feedback Addresses (X-registers)
values of Ixx83 use the encoder register for the machine interface channel usually assigned to the motor.
Ixx83 seldom needs to be changed from the default value for PWM applications. When using on-board
encoder counter, these are X-registers, so Ixx01 must be set to 1, not 3, to use these. Typically, the values
used are:
PMAC-Style Servo IC Commutation Position Feedback Addresses (X-registers)
IC# - Chan#
0 - 1
0 - 2
0 - 3
0 - 4
1 - 1
1 - 2
1 - 3
1 - 4
Ixx83
$078001 $078005 $078009 $07800D $078101 $078105 $078109 $07810D
IC# - Chan#
2 - 1
2 - 2
2 - 3
2 - 4
3 - 1
3 - 2
3 - 3
3 - 4
Ixx83
$078201 $078205 $078209 $07820D $078301 $078305 $078309 $07830D
IC# - Chan#
4 - 1
4 - 2
4 - 3
4 - 4
5 - 1
5 - 2
5 - 3
5 - 4
Ixx83
$079201 $079205 $079209 $07920D $079301 $079305 $079309 $07930D
IC# - Chan#
6 - 1
6 - 2
6 - 3
6 - 4
7 - 1
7 - 2
7 - 3
7 - 4
Ixx83
$07A201 $07A205 $07A209 $07A20D $07A301 $07A305 $07A309 $07A30D
IC# - Chan#
8 - 1
8 - 2
8 - 3
8 - 4
9 - 1
9 - 2
9 - 3
9 - 4
Ixx83
$07B201 $07B205 $07B209 $07B20D $07B301 $07B305 $07B309 $07B30D
Servo ICs 0 and 1 are on the Turbo PMAC itself.
Servo ICs 2 – 9 are on Acc-24P/V or Acc-51P boards.
Channels 1 – 4 on odd-numbered Servo ICs are Channels 5 – 8 on the boards.
Servo ICs 2 – 9 are on Acc-24P/V or Acc-51P boards.
Channels 1 – 4 on odd-numbered Servo ICs are Channels 5 – 8 on the boards.
PMAC2-Style Servo IC Commutation Position Feedback Addresses (X-registers)
IC# - Chan#
0 - 1
0 - 2
0 - 3
0 - 4
1 - 1
1 - 2
1 - 3
1 - 4
Ixx83
$078001 $078009 $078011 $078019 $078101 $078109 $078111 $078119
IC# - Chan#
2 - 1
2 - 2
2 - 3
2 - 4
3 - 1
3 - 2
3 - 3
3 - 4
Ixx83
$078201 $078209 $078211 $078219 $078301 $078309 $078311 $078319
IC# - Chan#
4 - 1
4 - 2
4 - 3
4 - 4
5 - 1
5 - 2
5 - 3
5 - 4
Ixx83
$079201 $079209 $079211 $079219 $079301 $079309 $079311 $079319
IC# - Chan#
6 - 1
6 - 2
6 - 3
6 - 4
7 - 1
7 - 2
7 - 3
7 - 4
Ixx83
$07A201 $07A209 $07A211 $07A219 $07A301 $07A309 $07A311 $07A319
IC# - Chan#
8 - 1
8 - 2
8 - 3
8 - 4
9 - 1
9 - 2
9 - 3
9 - 4
Ixx83
$07B201 $07B209 $07B211 $07B219 $07B301 $07B309 $07B311 $07B319
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 dual-Servo-IC 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 dual-Servo-IC boards.
When performing commutation over the MACRO ring, Ixx83 points to the position feedback register
(Register 0) for the node used. These are Y-registers, so Ixx01 must be set to 3, not 1, to use these. The
values used in the MACRO Type 1 protocol expected by Delta Tau MACRO products are:
MACRO Node Commutation Position Feedback Addresses (Y-registers)
(Register 0) for the node used. These are Y-registers, so Ixx01 must be set to 3, not 1, to use these. The
values used in the MACRO Type 1 protocol expected by Delta Tau MACRO products are:
MACRO Node Commutation Position Feedback Addresses (Y-registers)
IC# - Node#
0 - 0
0 - 1
0 - 4
0 - 5
0 - 8
0 - 9
0 - 12
0 - 13
Ixx83
$078420 $078424 $078428 $07842C $078430 $078434 $078438 $07843C
IC# - Node#
1 - 0
1 - 1
1 - 4
1 - 5
1 - 8
1 - 9
1 - 12
1 - 13
Ixx83
$079420 $079424 $079428 $07942C $079430 $079434 $079438 $07943C
IC# - Node#
2 - 0
2 - 1
2 - 4
2 - 5
2 - 8
2 - 9
2 - 12
2 - 13
Ixx83
$07A420 $07A424 $07A428 $07A42C $07A430 $07A434 $07A438 $07A43C
IC# - Node#
3 - 0
3 - 1
3 - 4
3 - 5
3 - 8
3 - 9
3 - 12
3 - 13
Ixx83
$07B420 $07B424 $07B428 $07B42C $07B430 $07B434 $07B438 $07B43C
If using the older Type 0 MACRO protocol, add 3 to the value shown in the above table (e.g. $078420
becomes $078423).
becomes $078423).