Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Global I-Variables 230
Conversion Table I-Variables
I8000 - I8191 Conversion Table Setup Lines
Range: $000000 - $FFFFFF
Units: Modified Turbo PMAC Addresses
Defaults:
Turbo PMAC Defaults
I-Var.
Setting
Meaning
I-Var.
Setting
Meaning
I8000
$078000
1/T Extension of Encoder 1
I8004
$078100
1/T Extension of Encoder 5
I8001
$078004
1/T Extension of Encoder 2
I8005
$078104
1/T Extension of Encoder 6
I8002
$078008
1/T Extension of Encoder 3
I8006
$078108
1/T Extension of Encoder 7
I8003
$07800C
1/T Extension of Encoder 4
I8007
$07810C
1/T Extension of Encoder 8
Note: I8008 - I8191 = 0
Turbo PMAC2 Defaults
I-Var.
Setting
Meaning
I-Var.
Setting
Meaning
I8000
$078000
1/T Extension of Encoder 1
I8004
$078100
1/T Extension of Encoder 5
I8001
$078008
1/T Extension of Encoder 2
I8005
$078108
1/T Extension of Encoder 6
I8002
$078010
1/T Extension of Encoder 3
I8006
$078110
1/T Extension of Encoder 7
I8003
$078018
1/T Extension of Encoder 4
I8007
$078118
1/T Extension of Encoder 8
Note: I8008 - I8191 = 0
Turbo PMAC2 Ultralite Defaults
I-Var.
Setting
Meaning
I-Var.
Setting
Meaning
I8000
$2F8420
MACRO Node 0 Reg. 0 Read
I8008
$2F8430
MACRO Node 8 Reg. 0 Read
I8001
$018000
24 bits, bit 0 LSB
I8009
$018000
24 bits, bit 0 LSB
I8002
$2F8424
MACRO Node 1 Reg. 0 Read
I8010
$2F8434
MACRO Node 9 Reg. 0 Read
I8003
$018000
24 bits, bit 0 LSB
I8011
$018000
24 bits, bit 0 LSB
I8004
$2F8428
MACRO Node 4 Reg. 0 Read
I8012
$2F8438
MACRO Node 12 Reg. 0 Read
I8005
$018000
24 bits, bit 0 LSB
I8013
$018000
24 bits, bit 0 LSB
I8006
$2F842C
MACRO Node 5 Reg. 0 Read
I8014
$2F843C
MACRO Node 13 Reg. 0 Read
I8007
$018000
24 bits, bit 0 LSB
I8015
$018000
24 bits, bit 0 LSB
Note: I8016 - I8191 = 0
I8000 to I8191 form the 192 setup lines of the Turbo PMAC’s Encoder Conversion Table (ECT). The
main purpose of the ECT is to provide a pre-processing of feedback and master data to prepare it for use
by the servo loop. It can also be used to execute certain simple calculations at the servo update
frequency.
Each I-variable occupies a fixed register in the Turbo PMAC’s memory map. The register addresses are
important, because the results of the ECT are accessed by address.
The ECT has two halves: setup and results. The setup half resides in Turbo PMAC’s Y-memory, and can
be accessed through these 192 I-variables. The result half resides in Turbo PMAC’s X-memory. Each of
the 192 I-variables has a matching result X-register at the same numerical address. If the entry consists of
more than one line, the last line has the final result; any previous lines contain intermediate results.
The entries in the ECT are usually set up through the table’s configuration menu in the PMAC Executive
program.