Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Global I-Variables 249
High-Res Interpolator Diagnostic Entry First Lines for PMAC(1)-Style Servo ICs
Servo IC #
Channel 1
Channel 2
Channel 3
Channel 4
2
$F78202
$F78206
$F7820A
$F7820E
3
$F78302
$F78306
$F7830A
$F7830E
4
$F79202
$F79206
$F7920A
$F7920E
5
$F79302
$F79306
$F7930A
$F7930E
6
$F7A202
$F7A206
$F7A20A
$F7A20E
7
$F7A302
$F7A306
$F7A30A
$F7A30E
8
$F7B202
$F7B206
$F7B20A
$F7B20E
9
$F7B302
$F7B306
$F7B30A
$F7B30E
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 Diagnostic Entry First Lines for PMAC2-Style Servo ICs
Servo IC #
Channel 1
Channel 2
Channel 3
Channel 4
2
$F78205
$F7820D
$F78215
$F7821D
3
$F78305
$F7830D
$F78315
$F7831D
4
$F79205
$F7920D
$F79215
$F7921D
5
$F79305
$F7930D
$F79315
$F7931D
6
$F7A205
$F7A20D
$F7A215
$F7A21D
7
$F7A305
$F7A30D
$F7A315
$F7A31D
8
$F7B205
$F7B20D
$F7B215
$F7B21D
9
$F7B305
$F7B30D
$F7B315
$F7B31D
Diagnostic Mode Setup Word: The second setup line (I-variable) of the five-line entry contains $1 in the
first hex digit and $0000 in the second through fifth hex digits. Bits 0 and 1 in the sixth hex digit control
the diagnostic mode (bits 2 and 3 should be left at 0). If bit 0 is set to 0 (making the word $100000), the
entry computes the sum of squares of the sine and cosine ADCs, permitting monitoring of the vector
magnitude of the inputs.
If bit 0 is set to 1, the entry computes the bias in the sine and cosine terms as the negative of average of
the maximum positive and maximum negative values found for each term. Each cycle it checks the
present readings against the logged maximum and minimum values, changing these values if necessary,
then computing the averages and the resulting bias word. If bit 1 is set to 0, the maximum and minimum
values are cleared. This setting (second setup word set to $100001) is used to start a test to determine the
bias compensation word. As soon as Turbo PMAC starts accumulating maximum and minimum values
(the next servo cycle), bit 1 is set to 1, making this second setup word equal to $100003. If you want to
start a new test, for example after a circuit adjustment, you must set bit 1 to 0 again by setting this setup
word back to $100001.