Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Global I-Variables 223
 I7mn2 = 3: Capture on (Index high AND Flag n high)
 I7mn2 = 4: Immediate capture
 I7mn2 = 5: Capture on Index (CHCn) low
 I7mn2 = 6: Capture on Flag n high
 I7mn2 = 7: Capture on (Index low AND Flag n high)
 I7mn2 = 8: Immediate capture
 I7mn2 = 9: Capture on Index (CHCn) high
 I7mn2 = 10: Capture on Flag n low
 I7mn2 = 11: Capture on (Index high AND Flag n low)
 I7mn2 = 12: Immediate capture
 I7mn2 = 13: Capture on Index (CHCn) low
 I7mn2 = 14: Capture on Flag n low
 I7mn2 = 15: Capture on (Index low AND Flag n low)
Only flags and index inputs of the same channel number as the encoder may be used for hardware capture
of that encoder’s position. This means that to use the hardware capture feature for the homing search
move, Ixx25 must use flags of the same channel number as the encoder that Ixx03 uses for position-loop
feedback.
The trigger is armed when the position capture register is read. After this, as soon as the Servo IC
hardware sees that the specified input lines are in the specified states, the trigger will occur – it is level-
triggered, not edge-triggered.
I7mn3 Servo IC m Channel n Capture Flag Select Control
Range: 0 - 3
Units: none
Default: 0
I7mn3 determines which of the Flag inputs will be used for hardware position capture (if one is used) of
the encoder counter of Channel n on a PMAC2-style Servo IC m. I7mn2 determines whether a flag is
used and which polarity of the flag will cause the trigger. The possible values of I7mn3 and the flag each
selects is:
 I7mn3 = 0: HOMEn (Home Flag n)
 I7mn3 = 1: PLIMn (Positive End Limit Flag n)
 I7mn3 = 2: MLIMn (Negative End Limit Flag n)
 I7mn3 = 3: USERn (User Flag n)
Typically, I7mn3 is set to 0 for homing search moves in order to use the home flag for the channel. It is
typically set to 3 afterwards to select the User flag if other uses of the hardware position capture function
are desired, such as for probing and registration. To capture on the PLIMn or MLIMn overtravel limit
flags, disable their normal functions with Ixx24 or use a channel n where none of the flags is used for the
normal axis functions.
I7mn4 Servo IC m Channel n Encoder Gated Index Select
Range: 0 - 1
Units: none
Default: 0
I7mn4 controls whether the raw encoder index channel input or a version of the input gated by the AB-
quadrature state is used for position capture of Encoder n on a PMAC2-style Servo IC m. It has the
following possible settings:
 I7mn4 = 0: Use ungated index for encoder position capture
 I7mn4 = 1: Use index gated by quadrature channels for position capture