Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Global I-Variables 159
Example:
Motor 1 has a double resolver with the fine resolver connected to the R/D converter at location 2 on an
Acc-8D Option 7 board set to multiplexer address 4, and the coarse resolver, geared down at a 36:1 ratio
from the fine resolver, connected to the R/D converter at location 3 on the same board. The following I-
variable settings should be used:
I110=$000004 .. ; Value of $0004 specifies multiplexer address 4
I118=$020000 .. ; $02 in high 8 bits of I118
......................... ; specifies R/D at location 2 of this address
I199=36............ ; Specify 36 turns of fine resolver per turn of
......................... ; coarse resolver; R/D must be at location 3
......................... ; of multiplexer address 4
I198=0 ............. ; No third resolver
Supplemental Motor Setup I-Variables
Iyy00 – Iyy49/Iyy50 – Iyy99 Supplemental Motor I-Variables
yy = 33 – 48
Motor Number xx = 2 * (yy - 32) - 1 for Iyy00 – Iyy49 (odd-numbered motors)
Motor Number xx = 2 * (yy - 32) for Iyy50 – Iyy99 (even-numbered motors)
Motor
#
Supplemental
I-Variables
Motor
#
Supplemental
I-Variables
Motor
#
Supplemental
I-Variables
Motor
#
Supplemental
I-Variables
1
I3300 - I3349
9
I3700 - I3749
17
I4100 - I4149
25
I4500 - I4549
2
I3350 - I3399
10
I3750 - I3799
18
I4150 - I4199
26
I4550 - I4599
3
I3400 - I3449
11
I3800 - I3849
19
I4200 - I4249
27
I4600 - I4649
4
I3450 - I3499
12
I3850 - I3899
20
I4250 - I4299
28
I4650 - I4699
5
I3500 - I3549
13
I3900 - I3949
21
I4300 - I4349
29
I4700 - I4749
6
I3550 - I3599
14
I3950 - I3999
22
I4350 - I4399
30
I4750 - I4799
7
I3600 - I3649
15
I4000 - I4049
23
I4400 - I4449
31
I4800 - I4849
8
I3650 - I3699
16
I4050 - I4099
24
I4450 - I4499
32
I4850 - I4899
Iyy00/50 Motor xx Extended Servo Algorithm Enable
Range: 0 - 1
Units: none
Default: 0
Iyy00 or Iyy50 controls whether the matching Motor xx uses the PID servo algorithm or the Extended
Servo Algorithm (ESA). If Iyy00/50 is set to the default value of 0, Motor xx uses the PID servo
algorithm, whose gains are determined by Ixx30-39 and Ixx63-69. If Iyy00/50 is set to 1, Motor xx uses
the ESA, whose gains are determined by Iyy10/60 to Iyy39/89.
The motor should be killed when changing which servo algorithm is used by changing Iyy00/50. The
loop should not be closed again until the gain variables for the selected servo algorithm are set up
properly.
The following servo control I-variables are only used if Iyy00/50 is set to 0:
Ixx30-39, Ixx63-65, Ixx67
The following servo control I-variables are only used if Iyy00/50 is set to 1:
Iyy10-39 / Iyy60 – 89