Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Global I-Variables 246
Extended Entries ($F): Encoder conversion table entries in which the first hex digit of the first line is
$F are extended entries. In these entries, the actual method is dependent on the first digit of the second
line. Extended entries are a minimum of two lines.
High-Resolution Interpolator Entries ($F/$0): An ECT entry in which the first hex digit of the first line
is $F and the first hex digit of the second line is $0 processes the result of a high-resolution interpolator
for analog “sine-wave” encoders, such as the ACC-51. This entry, when used with a high-resolution
interpolator, produces a value with 4096 states per line. The entry must read both an encoder channel for
the whole number of lines of the encoder, and a pair of A/D converters to determine the location within
the line, mathematically combining the values to produce a single position value.
Encoder Channel Address: The first line of the three-line entry contains $F in the first hex digit and the
base address of the encoder channel to be read in the low 19 bits (bits 0 to 18). If the bit-19 mode switch
of the line is set to 0, Turbo PMAC expects a PMAC(1)-style Servo IC on the interpolator, as in the ACC-
51P. If the bit-19 mode switch bit is set to1, Turbo PMAC expects a PMAC2-style Servo IC on the
interpolator, as in the ACC-51E, 51C, and 51P2.
The following table shows the possible entries when PMAC(1)-style Servo ICs are used, as in the ACC-
51P.
High-Res Interpolator Entry First Lines for PMAC(1)-Style Servo ICs
Servo IC #
Channel 1
Channel 2
Channel 3
Channel 4
2
$F78200
$F78204
$F78208
$F7820C
3
$F78300
$F78304
$F78308
$F7830C
4
$F79200
$F79204
$F79208
$F7920C
5
$F79300
$F79304
$F79308
$F7930C
6
$F7A200
$F7A204
$F7A208
$F7A20C
7
$F7A300
$F7A304
$F7A308
$F7A30C
8
$F7B200
$F7B204
$F7B208
$F7B20C
9
$F7B300
$F7B304
$F7B308
$F7B30C
The following table shows the possible entries when PMAC2-style Servo ICs are used, as in the ACC-
51E, 51C, or 51P2:
High-Res Interpolator Entry First Lines for PMAC2-Style Servo ICs
Servo IC #
Channel 1
Channel 2
Channel 3
Channel 4
2
$FF8200
$FF8208
$FF8210
$FF8218
3
$FF8300
$FF8308
$FF8310
$FF8318
4
$FF9200
$FF9208
$FF9210
$FF9218
5
$FF9300
$FF9308
$FF9310
$FF9318
6
$FFA200
$FFA208
$FFA210
$FFA218
7
$FFA300
$FFA308
$FFA310
$FFA318
8
$FFB200
$FFB208
$FFB210
$FFB218
9
$FFB300
$FFB308
$FFB310
$FFB318