Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Global I-Variables 238
Second Acc-14D/V Port B
$m78B01
Fifth Acc-14D/V Port B
$m78E01
Third Acc-14D/V Port A
$m78C00
Sixth Acc-14D/V Port A
$m78F00
Third Acc-14D/V Port B
$m78C01
Sixth Acc-14D/V Port B
$m78F01
MACRO Position Feedback: When position feedback is received through the MACRO ring, the
MACRO input registers are treated as parallel-data feedback. The following table shows the first line of
the entries for MACRO position feedback registers.
Entries for Type 1 MACRO Position Feedback Registers
Register
First Line Value
Register
First Line Value
MACRO IC 0 Node 0 Reg. 0
$2F8420
MACRO IC 2 Node 0 Reg. 0
$2FA420
MACRO IC 0 Node 1 Reg. 0
$2F8424
MACRO IC 2 Node 1 Reg. 0
$2FA424
MACRO IC 0 Node 4 Reg. 0
$2F8428
MACRO IC 2 Node 4 Reg. 0
$2FA428
MACRO IC 0 Node 5 Reg. 0
$2F842C
MACRO IC 2 Node 5 Reg. 0
$2FA42C
MACRO IC 0 Node 8 Reg. 0
$2F8430
MACRO IC 2 Node 8 Reg. 0
$2FA430
MACRO IC 0 Node 9 Reg. 0
$2F8434
MACRO IC 2 Node 9 Reg. 0
$2FA434
MACRO IC 0 Node 12 Reg. 0
$2F8438
MACRO IC 2 Node 12 Reg. 0
$2FA438
MACRO IC 0 Node 13 Reg. 0
$2F843C
MACRO IC 2 Node 13 Reg. 0
$2FA43C
MACRO IC 1 Node 0 Reg. 0
$2F9420
MACRO IC 3 Node 0 Reg. 0
$2FB420
MACRO IC 1 Node 1 Reg. 0
$2F9424
MACRO IC 3 Node 1 Reg. 0
$2FB424
MACRO IC 1 Node 4 Reg. 0
$2F9428
MACRO IC 3 Node 4 Reg. 0
$2FB428
MACRO IC 1 Node 5 Reg. 0
$2F942C
MACRO IC 3 Node 5 Reg. 0
$2FB42C
MACRO IC 1 Node 8 Reg. 0
$2F9430
MACRO IC 3 Node 8 Reg. 0
$2FB430
MACRO IC 1 Node 9 Reg. 0
$2F9434
MACRO IC 3 Node 9 Reg. 0
$2FB434
MACRO IC 1 Node 12 Reg. 0
$2F9438
MACRO IC 3 Node 12 Reg. 0
$2FB438
MACRO IC 1 Node 13 Reg. 0
$2F943C
MACRO IC 3 Node 13 Reg. 0
$2FB43C
Note that the bit-19 mode switch has been set to 1 so that the data out of the MACRO node is not shifted.
This changes the second hex digit from 7 to F. Type 1 MACRO feedback comes with fractional count
information in the low five bits, so it does not need to be shifted.
The second line of an entry for MACRO feedback should be $018000 to specify the use of 24 bits ($018)
starting at bit 0 ($000).
When performing commutation of motors over the MACRO ring, it is advisable to get servo position
feedback data not directly from the MACRO ring registers, as shown above, but from the motor’s
previous phase position register instead. This is where the commutation algorithm has stored the position
it read from the ring (with Ixx83) for use in its next cycle.
Using this register prevents the possibility of jitter if the conversion table execution can be pushed too late
in the cycle. The following table shows the first line of the conversion table entry for each motor’s
previous phase position register:
Entries for Turbo PMAC Previous Phase Position Registers
Motor #
First Line
Value
Motor #
First Line
Value
Motor #
First Line
Value
Motor #
First Line
Value
1
$2800B2
9
$2804B2
17
$2808B2
25
$280CB2
2
$280132
10
$280532
18
$280932
26
$280D32
3
$2801B2
11
$2805B2
19
$2809B2
27
$280DB2
4
$280232
12
$280632
20
$280A32
28
$280E32
5
$2802B2
13
$2806B2
21
$280AB2
29
$280EB2
6
$280332
14
$280732
22
$280B32
30
$280F32
7
$2803B2
15
$2807B2
23
$280BB2
31
$280FB2
8
$280432
16
$280832
24
$280C32
32
$281032