Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Global I-Variables 140
Ixx81 Values for Acc-49 Sanyo Absolute Encoder Converter (Ixx91=$0D0000)
Addresses are Turbo PMAC Memory-I/O Addresses
Enc. # on
Board
Ixx10 for
E1 ON
Ixx10 for
E2 ON
Ixx10 for
E3 ON
Enc. # on
Board
Ixx10 for
E4 ON
Ixx10 for
E5 ON
Ixx10 for
E6 ON
Enc. 1
$078A00
$078B00
$078C00
Enc. 3
$078D00
$078E00
$078F00
Enc. 2
$078A04
$078B04
$078C04
Enc. 4
$078D04
$078E04
$078F04
The fourth common source is a register in the 3U-format Acc-3E1 (for 3U Turbo Stack systems) or Acc-
14E (for UMAC Turbo systems) board. In this case, the last hex digit of Ixx91 must be set to a non-zero
value to specify the byte-wide bus of these boards. The following tables show Ixx81 values for these
boards.
Ixx81 Values for Acc-3E1 Registers in 3U Turbo Stack Systems
(Ixx91=$08000x to $18000x [unsigned], $88000x to $98000x [signed])
Acc-3E1 Address Jumper
E1
E2
E3
E4
Ixx81 Value
$07880x
$07890x
$078A0x
$078B0x
Ixx81 Values for Acc-14E Registers in UMAC Turbo Systems
(Ixx91=$08000x to $18000x [unsigned], $88000x to $98000x [signed])
DIP-Switch
Setting
SW1-1 ON (0)
SW1-2 ON (0)
SW1-1 OFF (1)
SW1-2 ON (0)
SW1-1 ON (0)
SW1-2 OFF (1)
SW1-1 OFF (1)
SW1-2 OFF (1)
SW1-3 ON (0)
SW1-4 ON (0)
$078C0x
$078D0x
$078E0x
$078F0x
SW1-3 OFF (1)
SW1-4 ON (0)
$079C0x
$079D0x
$079E0x
$079F0x
SW1-3 ON (0)
SW1-4 OFF (1)
$07AC0x
$07AD0x
$07AE0x
$07AF0x
SW1-3 OFF (1)
SW1-4 OFF (1)
$07BC0x
$07BD0x
$07BE0x
$07BF0x
SW1-5 and 6 must be ON (0). ON means CLOSED; OFF means OPEN.
The final digit, represented by an x in both of these tables, can take a value of 0 to 5, depending on which
I/O point on the board is used for the least significant bit (LSB):
Ixx10 Last Hex Digit x
Pin Used for LSB
Pin Used for LSB
Pin Used for LSB
x=0
I/O00-07
I/O48-55
I/O96-103
x=1
I/O08-15
I/O56-63
I/O104-111
x=2
I/O16-23
I/O64-71
I/O112-119
x=3
I/O24-31
I/O72-79
I/O120-127
x=4
I/O32-39
I/O80-87
I/O128-135
x=5
I/O40-47
I/O88-95
I/O136-143
Hall Sensor Read: If Ixx91 contains a value from $800000 to $FF0000, Ixx81 specifies the address of a
Turbo PMAC X-memory or I/O register where it will read the power-on phase position in bits 20, 21, and
22 of the register. It is expecting these three bits to be encoded as U, V, and W hall sensors with 120
o
e
spacing. Typically, Ixx81 will contain the address of a flag register of a Servo IC.
Note:
Hall-style commutation sensors give only an approximate phase position, with a
+/-30
o
e error. Generally, it is necessary to correct the phase position value at a
known position such as the encoder’s index pulse, either using the SETPHASE
command or by writing directly into the phase position register (suggested M-
variable Mxx71).