Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Global I-Variables 136
Ixx80 Motor xx Power-Up Mode
Range: 0 – 7
Units: none
Default: 0
Ixx80 controls the power-up mode, including the phasing search method (if used), for Motor xx. It
consists of three independent control bits, each determining one aspect of the state of the motor at power-
up or full board reset:
 Bit 0 controls whether the motor is enabled at power-up/reset or not. If bit 0 is set to 0, the motor is
left in the killed (disabled) state at power-up/reset, and a command must be issued to the motor to
enable it. If bit 0 is set to 1, the motor is enabled at power-up/reset automatically, and if a phasing
search move is required to establish the commutation position reference, this is automatically done.
 Bit 1 controls what type of phasing search move is performed, if one is required (Ixx01 bit 0 = 1,
Ixx78 = 0, Ixx74 > 0), either during power-up/reset, or on a subsequent $ motor reset command. If
bit 1 is 0 and a phasing search move is required, Turbo PMAC will use the two-guess phasing search
method. If bit 1 is 1 and a phasing search move is required, Turbo PMAC will use the stepper-motor
phasing search method. The state of bit 1 does not matter unless a phasing search move is to be done.
 Bit 2 controls whether an absolute position read for the motor is done at power-up/reset or not, if one
is required (Ixx10 > 0). If bit 2 is set to 0 and an absolute position read is specified, this read
operation will be performed automatically at the board power-up/reset. If bit 2 is set to 1 and an
absolute position read is specified, this read operation will not be done automatically at power-
up/reset, and the $* or $$* command must be issued to perform the absolute position read. The state
of bit 2 does not matter unless an absolute position read is to be done.
The possible values of Ixx80 and the function of each are described in the following table:
Ixx80
Absolute Position Read
at Power-up/Reset?
Phasing Search
Method
Power-up/Reset
Enable State
0
Yes
Two-Guess
Disabled
1
Yes
Two-Guess
Enabled
2
Yes
Stepper-Motor
Disabled
3
Yes
Stepper-Motor
Enabled
4
No
Two-Guess
Disabled
5
No
Two-Guess
Enabled
6
No
Stepper-Motor
Disabled
7
No
Stepper-Motor
Enabled
Power-up/reset enable state: If the motor is not automatically enabled at power-up/reset, a command
must be used subsequently to enable the motor. If Turbo PMAC is commutating the motor (Ixx01 bit 0 =
1) and it is a synchronous motor (Ixx78 = 0), a phase reference must be established with the $ or $$
command as part of the enabling process. The motor cannot be enabled before a successful phase
reference is established, because the motor “phase reference error” status bit that is automatically set on
power-up/reset will not have been cleared.
If the motor is either not commutated by Turbo PMAC (Ixx01 bit 0 =0) or it is not a synchronous motor
(Ixx78 > 0), a simple enabling command can be used. The J/ command enables a single motor; the A
command enables all of the motors in a coordinate system; the <CTRL-A> command enables all of the
motors on Turbo PMAC.
The phase reference, whether executed at power-up/reset or on the $ command, can be done either by
reading an absolute position sensor (Ixx81 > 0) or by a phasing search move (Ixx74 > 0) if only an
incremental sensor is used.