Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Global I-Variables 232
Table Structure: The ECT consists of a series of entries, with each entry creating one processed
(converted) feedback value. An entry in the ECT can have 1, 2, or 3 lines, with each line containing a 24-
bit setup word (I-variable) in Y-memory, and a 24-bit result register in X-memory. Therefore, each entry
contains 1, 2, or 3 of these 24-bit I-variables. The final result is always in the X-memory register
matching the last I-variable in the entry.
The variables that commonly contain the address of the last line of the entry are Ixx03 Motor xx Position-
Loop Feedback Address, Ixx04 Motor xx Velocity-Loop Feedback Address, Ixx05 Motor xx Master
Position Address and Isx93 Coordinate System x Time-Base Address.
The addresses for these variables can be specified directly using the above table (e.g. I103=$3501) or
by reference to the table I-variable with the special on-line command I{constant}=@I{constant},
which sets the first I-variable to the address of the second (e.g. I103=@I8000).
Entry First Line: The first line’s setup register (I-variable) in each entry consists of a source address in
the low 19 bits (bits 0 – 18), which contains the Turbo PMAC address of the raw data to be processed, a
possible mode switch in bit 19 and a method value in the high 4 bits (first hex digit), which specifies how
this data is to be processed. If the first line (I-variable) in the entry is $000000, this signifies the end of
the active table, regardless of what subsequent entries in the table (higher numbered I-variables) contain.
Entry Additional Lines: Depending on the method, one or two additional lines (I-variables) may be
required in the entry to provide further instructions on processing.
The following table summarizes the content of entries in the Encoder Conversion Table:
Method
Digit
# of
lines
Process Defined
Mode Switch
1
st
Additional Line
2
nd
Additional
Line
$0
1
1/T Extension of
Incremental Encoder
None
-
-
$1
1
ACC-28 style A/D
converter (high 16 bits,
no rollover)
0 = signed data
1 = unsigned data
-
-
$2
2
Parallel Y-word data, no
filtering
0 = normal shift
1 = unshifted
Width/Offset
Word
-
$3
3
Parallel Y-word data,
with filtering
0 = normal shift
1 = unshifted
Width/Offset
Word
Max Change per
Cycle
$4
2
“Time Base” scaled
digital differentiation
None
Time Base Scale
Factor
-
$5
2
Integrated ACC-28 style
A/D converter
0 = signed data
1 = unsigned data
Input Bias
-
$6
2
Parallel Y/X-word data,
no filtering
0 = normal shift
1 = unshifted
Width/Offset
Word
-
$7
3
Parallel Y/X-word data,
with filtering
0 = normal shift
1 = unshifted
Width/Offset
Word
Max Change per
Cycle
$8
1
Parallel Extension of
Incremental Encoder
0 = PMAC(1) IC
1 = PMAC2 IC
-
-
$9
2
Triggered Time Base,
frozen
0 = PMAC(1) IC
1 = PMAC2 IC
Time Base Scale
Factor
-