Reference Manual
Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Global I-Variables 84
The default values listed above are usually suitable for commanding analog output pairs when the Turbo
PMAC is commutating the motor, but not closing the current loop.
Commutation and Current Loop: If Turbo PMAC is commutating Motor xx (Ixx01=1 or 3) and
closing its current loop (Ixx82>0), three command output values are calculated, which are written to the
Y-register at the address specified in Ixx02, plus the Y-registers at the next two higher addresses.
The default values listed above are usually suitable for commanding three-phase PWM sets when the
Turbo PMAC is commutating the motor, and closing the current loop.
Pulse Frequency Output: One common application type for which the default value of Ixx02 cannot be
used is the direct pulse-and-direction output for stepper motor drives (Turbo PMAC2 only). This mode
uses the ‘C’ output register alone for each channel, and I7mn6 for Servo IC m Channel n must be set to 2
or 3 to get pulse frequency output. In this case, the following values should be used:
Turbo PMAC2 Ixx02 Pulse Frequency Output Settings
Servo
IC #
Chan. 1
Chan. 2
Chan. 3
Chan. 4
Notes
0
$078004
$07800C
$078014
$07801C
First IC on board PMAC2, 3U stack
1
$078104
$07810C
$078114
$07811C
Second IC on board PMAC2, 3U stack
2
$078204
$07820C
$078214
$07821C
First Acc-24E2x, first IC on first Acc-24P/V2
3
$078304
$07830C
$078314
$07831C
Second Acc-24E2x, second IC on first Acc-24P/V2
4
$079204
$07920C
$079214
$07921C
Third Acc-24E2x, first IC on second Acc-24P/V2
5
$079304
$07930C
$079314
$07931C
Fourth Acc-24E2x, second IC on second Acc-24P/V2
6
$07A204
$07A20C
$07A214
$07A21C
Fifth Acc-24E2x, first IC on third Acc-24P/V2
7
$07A304
$07A30C
$07A314
$07A31C
Sixth Acc-24E2x, second IC on third Acc-24P/V2
8
$07B204
$07B20C
$07B214
$07B21C
Seventh Acc-24E2x, first IC on fourth Acc-24P/V2
9
$07B304
$07B30C
$07B314
$07B31C
Eighth Acc-24E2x, second IC on fourth Acc-24P/V2
MACRO Type 1 Command Outputs: To write command outputs to MACRO registers for Type 1
MACRO devices such as the Delta Tau MACRO Station, the values of Ixx02 shown above as defaults for
the Turbo PMAC2 Ultralite can be used.
MACRO Type 0 Command Outputs: To write single velocity or torque command outputs to MACRO
registers for Type 0 MACRO drives such as the Performance Controls FLX Drive and the Kollmorgen
FAST Drive, the values of Ixx02 in the following table should be used. Each value can select two
registers (e.g. for Node 0 and Node 2). To select the lower-numbered node’s register, which is a Y-
register in Turbo PMAC, Ixx01 should be set to 0; to select the higher-numbered node’s register, which is
a Y-register, Ixx01 should be set to 2.
Ixx02 for Type 0 MACRO Commands
Ixx02
Value
Register
Ixx02
Value
Register
I102
$078423
MACRO IC 0 Node 0/2 Reg. 3
I1702
$07A423
MACRO IC 2 Node 0/2 Reg. 3
I202
$078427
MACRO IC 0 Node 1/3 Reg. 3
I1802
$07A427
MACRO IC 2 Node 1/3 Reg. 3
I302
$07842B
MACRO IC 0 Node 4/6 Reg. 3
I1902
$07A42B
MACRO IC 2 Node 4/6 Reg. 3
I402
$07842F
MACRO IC 0 Node 5/7 Reg. 3
I2002
$07A42F
MACRO IC 2 Node 5/7 Reg. 3
I502
$078433
MACRO IC 0 Node 8/10 Reg. 3
I2102
$07A433
MACRO IC 2 Node 8/10 Reg. 3
I602
$078437
MACRO IC 0 Node 9/11 Reg. 3
I2202
$07A437
MACRO IC 2 Node 9/11 Reg. 3
I702
$07843B
MACRO IC 0 Node 12/14 Reg. 3
I2302
$07A43B
MACRO IC 2 Node 12/14 Reg. 3
I802
$07843F
MACRO IC 0 Node 13/15 Reg. 3
I2402
$07A43F
MACRO IC 2 Node 13/15 Reg. 3
I902
$079423
MACRO IC 1 Node 0/2 Reg. 3
I2502
$07B423
MACRO IC 3 Node 0/2 Reg. 3
I1002
$079427
MACRO IC 1 Node 1/3 Reg. 3
I2602
$07B427
MACRO IC 3 Node 1/3 Reg. 3
I1102
$07942B
MACRO IC 1 Node 4/6 Reg. 3
I2702
$07B42B
MACRO IC 3 Node 4/6 Reg. 3
I1202
$07942F
MACRO IC 1 Node 5/7 Reg. 3
I2802
$07B42F
MACRO IC 3 Node 5/7 Reg. 3
I1302
$079433
MACRO IC 1 Node 8/10 Reg. 3
I2902
$07B433
MACRO IC 3 Node 8/10 Reg. 3
I1402
$079437
MACRO IC 1 Node 9/11 Reg. 3
I3002
$07B437
MACRO IC 3 Node 9/11 Reg. 3
I1502
$07943B
MACRO IC 1 Node 12/14 Reg. 3
I3102
$07B43B
MACRO IC 3 Node 12/14 Reg. 3
I1602
$07943F
MACRO IC 1 Node 13/15 Reg. 3
I3202
$07B43F
MACRO IC 3 Node 13/15 Reg. 3