Reference Manual

Turbo PMAC/PMAC2 Software Reference
Introduction 22
With the additional speed and memory, new features are possible on the Turbo PMAC. The most
important of these are:
 Multi-block lookahead for acceleration control
 Built-in inverse-kinematic and forward-kinematic capability
 Three-dimensional cutter-radius compensation
 Altered destination of moves on the fly
 Simultaneous communications over multiple ports
 Individual custom commutation sine tables for each motor
 Individual selection by motor of PID or extended servo algorithm
 Significantly enlarged synchronous M-variable buffer
 2 dedicated user servo-rate timers per coordinate system
 Trajectory reversal capability
How do I Convert a PMAC Application?
Converting a PMAC application to run on the Turbo PMAC will involve some change in the setup, but
virtually no change in the applications programs, except as desired to take advantage of new Turbo
features.
The key setup differences are the new I-variable numbering scheme and the new memory and I/O map,
which affects the M-variable definitions. Most I-variables, particularly the motor I-variables, have not
changed. Other I-variables have been moved in banks to new numbers, in what most users will consider a
logical fashion.
The memory and I/O map is completely changed. This software reference manual contains a detailed
memory and I/O map, plus an extensive list of suggested M-variables for both PMAC and PMAC2
versions of the Turbo PMAC.
How do I use this Manual?
The Turbo PMAC Software Reference manual provides detailed information on all of the variables,
commands, and registers of the Turbo PMAC family. Variables and registers are presented in numerical
order; commands are presented in alphabetical order.
This manual is designed to be used in conjunction with the User Manual for the entire PMAC/PMAC2
family of controllers, which explains the features and capabilities of the board in conceptual fashion. The
User’s Manual was written before the introduction of the Turbo PMAC boards, so it does not recognize
some specifics of the Turbo PMACs. Chapter 2 of this manual presents the differences between Turbo
and non-Turbo boards in tabular form for easy reference; Chapter 3 describes the significant new features
of Turbo PMACs.
The hardware reference manuals for each particular version of the Turbo PMAC describe the hardware
configuration, jumpers, and pinouts for the particular boards.