Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Global I-Variables 225
Note:
Immediately after power-up, the Yaskawa encoder automatically cycles its AB
outputs forward and back through a full quadrature cycle to ensure that all of the
hall commutation states are available to the controller before any movement is
started. However, if the encoder is powered up at the same time as the Turbo
PMAC, this will happen before the Servo IC is ready to accept these signals. Bit 2
of the channel’s status word, Invalid De-multiplex, will be set to 1 if the Servo IC
has not seen all of these states when it was ready for them. To use this feature, it is
recommended that the power to the encoder be provided through a software-
controlled relay to ensure that valid readings of all states have been read before
using these signals for power-on phasing.
I7mn5 has the following possible settings:
 I7mn5 = 0: Gate index with high-high quadrature state (GI = A and B and C), no demux
 I7mn5 = 1: Gate index with low-low quadrature state (GI = A/ and B/ and C), no demux
 I7mn5 = 2 or 3: De-multiplex hall and index from third channel, gating irrelevant
I7mn6 Servo IC m Channel n Output Mode Select
Range: 0 - 3
Units: none
Default: 0
I7mn6 controls what output formats are used on the command output signal lines for machine interface
channel n of a PMAC2-style Servo IC m. It has the following possible settings:
 I7mn6 = 0: Outputs A and B are PWM; Output C is PWM
 I7mn6 = 1: Outputs A and B are DAC; Output C is PWM
 I7mn6 = 2: Outputs A and B are PWM; Output C is PFM
 I7mn6 = 3: Outputs A and B are DAC; Output C is PFM
If a three-phase direct PWM command format is desired, I7mn6 should be set to 0. If signal outputs for
(external) digital-to-analog converters are desired, I7mn6 should be set to 1 or 3. In this case, the C
output can be used as a supplemental (non-servo) output in either PWM or PFM form. For example, it
can be used to excite an MLDT sensor (e.g. Temposonics
™
) in PFM form.
I7mn7 Servo IC m Channel n Output Invert Control
Range: 0 - 3
Units: none
Default: 0
I7mn7 controls the high/low polarity of the command output signals for Channel n on a PMAC2-style
Servo IC m. It has the following possible settings:
 I7mn7 = 0: Do not invert Outputs A and B; Do not invert Output C
 I7mn7 = 1: Invert Outputs A and B; Do not invert Output C
 I7mn7 = 2: Do not invert Outputs A and B; Invert Output C
 I7mn7 = 3: Invert Outputs A and B; Invert Output C
The default non-inverted outputs are high true. For PWM signals on Outputs A, B, and C, this means that
the transistor-on signal is high. Delta Tau PWM-input amplifiers, and most other PWM-input amplifiers,
expect this non-inverted output format. For such a 3-phase motor drive, I7mn7 should be set to 0.