Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Global I-Variables 119
With MACRO ICs in the standard addresses, the following table shows the appropriate settings for Ixx44
for accepting commanded position.
Ixx44
MACRO IC and Node
Ixx44
MACRO IC and Node
$278420
MACRO IC 0 Node 0
$27A420
MACRO IC 2 Node 0
$278424
MACRO IC 0 Node 1
$27A424
MACRO IC 2 Node 1
$278428
MACRO IC 0 Node 4
$27A428
MACRO IC 2 Node 4
$27842C
MACRO IC 0 Node 5
$27A42C
MACRO IC 2 Node 5
$278430
MACRO IC 0 Node 8
$27A430
MACRO IC 2 Node 8
$278434
MACRO IC 0 Node 9
$27A434
MACRO IC 2 Node 9
$278438
MACRO IC 0 Node 12
$27A438
MACRO IC 2 Node 12
$27843C
MACRO IC 0 Node 13
$27A43C
MACRO IC 2 Node 13
$279420
MACRO IC 1 Node 0
$27B420
MACRO IC 3 Node 0
$279424
MACRO IC 1 Node 1
$27B424
MACRO IC 3 Node 1
$279428
MACRO IC 1 Node 4
$27B428
MACRO IC 3 Node 4
$27942C
MACRO IC 1 Node 5
$27B42C
MACRO IC 3 Node 5
$279430
MACRO IC 1 Node 8
$27B430
MACRO IC 3 Node 8
$279434
MACRO IC 1 Node 9
$27B434
MACRO IC 3 Node 9
$279438
MACRO IC 1 Node 12
$27B438
MACRO IC 3 Node 12
$27943C
MACRO IC 1 Node 13
$27B43C
MACRO IC 3 Node 13
Motor Servo and Commutation Modifiers
Ixx55 Motor xx Commutation Table Address Offset
Range: $000000 - $FFFFFF
Units: Turbo PMAC Address Offsets from $003800
Default: $0
Ixx55 permits the user to create and use a custom commutation table for Motor xx in Turbo PMAC,
instead of using the default commutation sine/cosine table. Ixx55 contains the offset from the start of the
default table at address $003800 to the start of the user’s custom table.
Custom tables are usually located in the UBUFFER at the end of flash-backed memory ($0107FF for
standard data memory configuration, $03FFFFF for the extended data memory configuration).
Alternately, they can be located in the optional battery-backed memory ($050000 - $053FFF for the basic
option, $050000 - $05FFFF for the extended option), but access is significantly slower to the battery-
backed memory.
Custom tables must occupy 2048 consecutive double words of memory, covering the 360 degrees of the
commutation cycle. The first register (lowest-numbered address) is the entry for 0 degrees. The address
of this register must be divisible by $800, which means that the last three hex digits of this address must
be $000 or $800, and the last three hex digits of Ix55 must be $800 or $000. The signed 24-bit X
registers contain cosine-type values multiplied by 2
23
; the signed 24-bit Y-registers contain sine-type
values multiplied by 2
23
.
Examples:
The custom commutation table for Motor 1 is located in the UBUFFER from $00F800 to $00FFFF. I155
should be set to $00F800 - $003800 = $00C000.
The custom commutation table for Motor 12 is located in battery-backed RAM from $052000 to
$0527FF. I1255 should be set to $052000 - $003800 = $048800.