Reference Manual

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Turbo PMAC/PMAC2 Software Reference

Turbo PMAC Global I-Variables 235

$mnA200

$mnA208

$mnA210

$mnA218

Fifth Acc-24E2x, first IC on third Acc-24P/V2

$mnA300

$mnA308

$mnA310

$mnA318

Sixth Acc-24E2x, second IC on third Acc-24P/V2

$mnB200

$mnB208

$mnB210

$mnB218

Seventh Acc-24E2x, first IC on fourth Acc-24P/V2

$mnB300

$mnB308

$mnB310

$mnB318

Eighth Acc-24E2x, second IC on fourth Acc-24P/V2

Entries for PMAC2 MACRO IC 0:

Handwheel Channel #

PMAC2

Channel 1

$mn8410

Channel 2

$mn8418

These are single-line entries in the table, so the next line (I-Variable) is the start of the next entry.

Acc-28 Style A/D Entries ($1, $5): The A/D feedback entries read from the high 16 bits of the specified

address and shift the data right three bits so that the least significant bit of the processed result in bit 5.

Unlike the parallel feedback methods, this method will not roll over and extend the result.

The $1 method processes the information directly, essentially a copying with shift. The $5 integrates the

input value as it copies and shifts it. That is, it reads the input value, shifts it right three bits, adds the bias

term in the second line, and adds this value to the previous processed result.

If the bit 19 mode switch of the entry is 0, the 16-bit source value is treated as a signed quantity; this

should be used for the Acc-28A. If bit 19 of the entry is 1, the 16-bit value is treated as an unsigned

quantity; this should be used for the Acc-28B or the Acc-28E.

The first two tables show the entry values that should be used for Acc-28 boards interfaced to PMAC-

style Servo ICs. The m in the first hex digit refers to the method digit – $1 for un-integrated; $5 for

integrated. Note that setting the bit 19 mode switch bit to 1 for the Acc-28B changes the second hex digit

from 7 to F.

Entries for PMAC-Style Servo ICs using Acc-28A

Servo

IC #

Chan. 1

Chan. 2

Chan. 3

Chan. 4

Notes

$m78006

$m78007

$m7800E

$m7800F

First IC on board PMAC

$m78106

$m78107

$m7810E

$m7810F

Second IC on board PMAC

$m78206

$m78207

$m7820E

$m7820F

First IC on first Acc-24P/V

$m78306

$m78307

$m7830E

$m7830F

Second IC on first Acc-24P/V

$m79206

$m79207

$m7920E

$m7920F

First IC on second Acc-24P/V

$m79306

$m79307

$m7930E

$m7930F

Second IC on second Acc-24P/V

$m7A206

$m7A207

$m7A20E

$m7A20F

First IC on third Acc-24P/V

$m7A306

$m7A307

$m7A30E

$m7A30F

Second IC on third Acc-24P/V

$m7B206

$m7B207

$m7B20E

$m7B20F

First IC on fourth Acc-24P/V

$m7B306

$m7B307

$m7B30E

$m7B30F

Second IC on fourth Acc-24P/V

Entries for PMAC-Style Servo ICs using Acc-28B

Servo

IC #

Chan. 1

Chan. 2

Chan. 3

Chan. 4

Notes

$mF8006

$mF8007

$mF800E

$mF800F

First IC on board PMAC

$mF8106

$mF8107

$mF810E

$mF810F

Second IC on board PMAC

$mF8206

$mF8207

$mF820E

$mF820F

First IC on first Acc-24P/V

$mF8306

$mF8307

$mF830E

$mF830F

Second IC on first Acc-24P/V

$mF9206

$mF9207

$mF920E

$mF920F

First IC on second Acc-24P/V

$mF9306

$mF9307

$mF930E

$mF930F

Second IC on second Acc-24P/V

$mFA206

$mFA207

$mFA20E

$mFA20F

First IC on third Acc-24P/V

$mFA306

$mFA307

$mFA30E

$mFA30F

Second IC on third Acc-24P/V

$mFB206

$mFB207

$mFB20E

$mFB20F

First IC on fourth Acc-24P/V

$mFB306

$mFB307

$mFB30E

$mFB30F

Second IC on fourth Acc-24P/V