Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Global I-Variables 158
This parameter is used only during Turbo PMAC’s power-up/reset cycle to establish absolute power-on
servo position. Therefore, the parameter must be set, the value stored in non-volatile flash memory with
the SAVE command, and the card reset before it takes effect.
If there is no geared third resolver on Motor xx, or if absolute power-on position is not desired, Ixx98
should be set to zero. If either Ixx10 (for the primary resolver) or Ixx99 (for the secondary resolver) is set
to zero, Ixx98 is not used.
The third resolver must be connected to the next higher numbered R/D converter at the same multiplexer
address than the second resolver, which must be connected to the next higher numbered converter at the
same multiplexer address than the primary resolver. There can be up to eight R/D converters on two Acc-
8D Option 7 boards at one multiplexer address.
In non-Turbo PMACs, this function is controlled by I-variable I8x.
Example:
Motor 3 has a triple resolver, with each resolver geared down by a ratio of 16:1 from the resolver before
it. The fine resolver is connected to R/D converter 4 at multiplexer address 0 (the first R/D converter on
the second Acc-8D Option 7 at address 0). The medium resolver is connected to R/D converter 5 at this
address, and the coarse resolver is connected to R/D converter 6. The following I-variable values should
be used:
I310=$000100 .. ; The $000100 specifies multiplexer address 0
I395=$040000 .. ; the 4 in the high eight bits of Ixx95
......................... ; specifies R/D converter 4 at this address.
I399=16............ ; Specifies 16:1 ratio between medium and fine
I398=16............ ; Specifies 16:1 ratio between coarse and medium
Ixx99 Motor xx Second-Resolver Gear Ratio
Range: 0 - 4095
Units: Primary resolver turns per second-resolver turn
Default: 0
Ixx99 tells PMAC the gear ratio between the first (fine, or primary) and second (coarse or medium)
resolvers for a double- or triple-resolver setup for Motor xx. It is expressed as the number of turns
(electrical cycles) the first resolver makes in one full turn (electrical cycle) of the second resolver.
This parameter is used only during Turbo PMAC's power-up/reset cycle to establish absolute power-on
servo position. Therefore, the parameter must be set, the value stored in non-volatile flash memory with
the SAVE command, and the card reset before it takes effect.
If there is no geared second resolver on Motor xx, or if absolute power-on position is not desired, Ixx99
should be set to zero. If Ixx10 (for the primary resolver) is set to zero, Ixx99 is not used. In a triple-
resolver system, Ixx99 must be set greater than zero in order for Ixx88 (third-resolver gear ratio) to be
used.
The second resolver must be connected to the next higher numbered R/D converter at the same
multiplexer address than the first resolver. If there is a third resolver, it must be connected to the next
higher numbered converter at the same multiplexer address than the second resolver. There can be up to
eight R/D converters on two Acc-8D Option 7 boards at one multiplexer address.
If Ixx10 is set up for an Acc-8D Option 9 Yaskawa encoder converter, Ixx99 represents the counts per
revolution (including x2 or x4 quadrature decode, if used) of the encoder; effectively it is the “gear ratio”
between the encoder and the revolution counter.
In non-Turbo PMACs, this function is controlled by I-variable I9x.