Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Global I-Variables 236
The next table shows the entry values that should be used for Acc-28B boards interfaced to PMAC2-style
Servo ICs (Acc-28A is not compatible with these 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 PMAC2-Style ADC Registers Using Acc-28B
Register
PMAC2
First
Acc-24P/V2
Second
Acc-24P/V2
Third
Acc-24P/V2
Fourth
Acc-24P/V2
ADC 1A
$mF8005
$mF8205
$mF9205
$mFA205
$mFB205
ADC 1B
$mF8006
$mF8206
$mF9206
$mFA206
$mFB206
ADC 2A
$mF800D
$mF820D
$mF920D
$mFA20D
$mFB20D
ADC 2B
$mF800E
$mF820E
$mF920E
$mFA20E
$mFB20E
ADC 3A
$mF8015
$mF8215
$mF9215
$mFA215
$mFB215
ADC 3B
$mF8016
$mF8216
$mF9216
$mFA216
$mFB216
ADC 4A
$mF801D
$mF821D
$mF921D
$mFA21D
$mFB21D
ADC 4B
$mF801E
$mF821E
$mF921E
$mFA21E
$mFB21E
ADC 5A
$mF8105
$mF8305
$mF9305
$mFA305
$mFB305
ADC 5B
$mF8106
$mF8306
$mF9306
$mFA306
$mFB306
ADC 6A
$mF810D
$mF830D
$mF930D
$mFA30D
$mFB30D
ADC 6B
$mF810E
$mF830E
$mF930E
$mFA30E
$mFB30E
ADC 7A
$mF8115
$mF8315
$mF9315
$mFA315
$mFB315
ADC 7B
$mF8116
$mF8316
$mF9316
$mFA316
$mFB316
ADC 8A
$mF811D
$mF831D
$mF931D
$mFA31D
$mFB31D
ADC 8B
$mF811E
$mF831E
$mF931E
$mFA31E
$mFB31E
The next table shows the entry values that should be used for Acc-28E boards in a UMAC Turbo system.
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-28E changes the second hex digit from 7 to F.
Entries for UMAC Acc-28E ADCs
I/O IC #
SW1-1
SW1-2
SW1-3
SW1-4
Chan. 1
Chan. 2
Chan. 3
Chan. 4
0
ON
ON
ON
ON
$mF8C00
$mF8C01
$mF8C02
$mF8C03
1
OFF
ON
ON
ON
$mF8D00
$mF8D01
$mF8D02
$mF8D03
2
ON
OFF
ON
ON
$mF8E00
$mF8E01
$mF8E02
$mF8E03
3
OFF
OFF
ON
ON
$mF8F00
$mF8F01
$mF8F02
$mF8F03
4
ON
ON
OFF
ON
$mF9C00
$mF9C01
$mF9C02
$mF9C03
5
OFF
ON
OFF
ON
$mF9D00
$mF9D01
$mF9D02
$mF9D03
6
ON
OFF
OFF
ON
$mF9E00
$mF9E01
$mF9E02
$mF9E03
7
OFF
OFF
OFF
ON
$mF9F00
$mF9F01
$mF9F02
$mF9F03
8
ON
ON
ON
OFF
$mFAC00
$mFAC01
$mFAC02
$mFAC03
3
OFF
ON
ON
OFF
$mFAD00
$mFAD01
$mFAD02
$mFAD03
4
ON
OFF
ON
OFF
$mFAE00
$mFAE01
$mFAE02
$mFAE03
5
OFF
OFF
ON
OFF
$mFAF00
$mFAF01
$mFAF02
$mFAF03
6
ON
ON
OFF
OFF
$mFBC00
$mFBC01
$mFBC02
$mFBC03
7
OFF
ON
OFF
OFF
$mFBD00
$mFBD01
$mFBD02
$mFBD03
8
ON
OFF
OFF
OFF
$mFBE00
$mFBE01
$mFBE02
$mFBE03
9
OFF
OFF
OFF
OFF
$mFBE00
$mFBE01
$mFBE00
$mFBE03
Integration Bias: The $5 integrated format requires a second line to specify the bias of the A/D converter.
This bias term is a signed quantity (even for an unsigned A/D converter), with units of 1/256 of the LSB
of the 16-bit A/D converter. This value is subtracted from the reading of the ADC before the integration
occurs.
For example, if there were an offset in a 16-bit ADC of +5 LSBs, this term would be set to 1280. If no
bias is desired, a zero value should be entered here. If the conversion is unsigned, the result after the bias
is not permitted to be less than zero. This term permits reasonable integration, even with an analog offset.