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Turbo PMAC/PMAC2 Software Reference

Turbo PMAC Global I-Variables 139

Ixx81 Values for Acc-14D/V Registers

(Ixx91=$080000 to $18000)

Ixx81

First Acc-14D/V Port A

$078A00

Fourth Acc-14D/V Port A

$078D00

First Acc-14D/V Port B

$078A01

Fourth Acc-14D/V Port B

$078D01

Second Acc-14D/V Port A

$078B00

Fifth Acc-14D/V Port A

$078E00

Second Acc-14D/V Port B

$078B01

Fifth Acc-14D/V Port B

$078E01

Third Acc-14D/V Port A

$078C00

Sixth Acc-14D/V Port A

$078F00

Third Acc-14D/V Port B

$078C01

Sixth Acc-14D/V Port B

$078F01

The second common source of parallel data for an absolute power-on phase position read is the encoder

counter phase position register when an Acc-8D Option 9 Yaskawa Absolute Encoder converter board is

used. This board synthesizes quadrature signals into the Turbo PMAC at power-on until the power-on

position within one revolution is reached, so the value of the encoder counter can simply be read.

Encoder phase position counters map into X-registers, so bit 22 of Ixx91 is set to 1. The settings of Ixx81

for typical encoder registers on Turbo PMAC and PMAC2 boards are shown in the following tables:

Turbo PMAC Ixx81 Encoder Register Settings

(Ixx91=$480000 - $580000)

Encoder

Channel #

PMAC

First

Acc-24P/V

Second

Acc-24P/V

Third

Acc-24P/V

Fourth

Acc-24P/V

Channel 1

$078001

$078201

$079201

$07A201

$07B201

Channel 3

$078009

$078209

$079209

$07A209

$07B209

Channel 5

$078101

$078301

$079301

$07A301

$07B301

Channel 7

$078109

$078309

$079309

$07A309

$07B309

Turbo PMAC2 Ixx81 Typical Encoder Register Settings

(Ix91=$480000 - $580000)

Servo

IC #

Chan. 1

Chan. 2

Chan. 3

Chan. 4

Notes

$078001

$078009

$078011

$078019

First IC on board PMAC2, 3U stack

$078101

$078109

$078011

$078019

Second IC on board PMAC2, 3U stack

$078201

$078209

$078211

$078219

First Acc-24E2x, first IC on first Acc-24P/V2

$078301

$078309

$078311

$078319

Second Acc-24E2x, second IC on first Acc-24P/V2

$079201

$079209

$079211

$079219

Third Acc-24E2x, first IC on second Acc-24P/V2

$079301

$079309

$079311

$079319

Fourth Acc-24E2x, second IC on second Acc-24P/V2

$07A201

$07A209

$07A211

$07A219

Fifth Acc-24E2x, first IC on third Acc-24P/V2

$07A301

$07A309

$07A311

$07A319

Sixth Acc-24E2x, second IC on third Acc-24P/V2

$07B201

$07B209

$07B211

$07B219

Seventh Acc-24E2x, first IC on fourth Acc-24P/V2

$07B301

$07B309

$07B311

$07B319

Eighth Acc-24E2x, second IC on fourth Acc-24P/V2

The third common source of parallel data for power-on phasing is the Acc-49 Sanyo Absolute Encoder

Converter Board. The Acc-49 maps into Turbo PMAC’s expansion port, at the addresses shown in the

following table.