Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Global I-Variables 247
Note that by setting the bit-19 mode switch to 1, the second hex digit changes from “7” to “F”.
A/D Converter Address: The second setup line (I-variable) of the entry contains $0 in the first hex digit
and the base address of the first of two A/D converters to be read in the low 19 bits (bits 0 to 18). The
second A/D converter will be read at the next higher address. The following table shows the possible
entries when the ACC-51P, with PMAC(1) style Servo ICs, is used:
High-Res Interpolator Entry Second Lines for PMAC(1)-Style Servo ICs
Servo IC #
Channel 1
Channel 2
Channel 3
Channel 4
2
$078202
$078206
$07820A
$07820E
3
$078302
$078306
$07830A
$07830E
4
$079202
$079206
$07920A
$07920E
5
$079302
$079306
$07930A
$07930E
6
$07A202
$07A206
$07A20A
$07A20E
7
$07A302
$07A306
$07A30A
$07A30E
8
$07B202
$07B206
$07B20A
$07B20E
9
$07B302
$07B306
$07B30A
$07B30E
The following table shows the possible entries when PMAC2-style Servo ICs are used, as in the ACC-
51E, 51C, or 51P2:
High-Res Interpolator Entry Second Lines for PMAC2-Style Servo ICs
Servo IC #
Channel 1
Channel 2
Channel 3
Channel 4
2
$078205
$07820D
$078215
$07821D
3
$078305
$07830D
$078315
$07831D
4
$079205
$07920D
$079215
$07921D
5
$079305
$07930D
$079315
$07931D
6
$07A205
$07A20D
$07A215
$07A21D
7
$07A305
$07A30D
$07A315
$07A31D
8
$07B205
$07B20D
$07B215
$07B21D
9
$07B305
$07B30D
$07B315
$07B31D
Sine/Cosine Bias Word: The third setup line (I-variable) in a high-resolution sinusoidal-encoder
conversion feedback entry contains bias-correction terms for the sine and cosine ADC values. The high
twelve bits (the first three hex digits) contain the bias-correction term for the sine input; the low twelve
bits (the last three hex digits) contain the bias-correction term for the cosine input. Each 12-bit section
should be treated as a signed 12-bit value (so if the most significant of the 12 bits is a 1, the bias value is
negative).