Reference Manual

Turbo PMAC/PMAC2 Software Reference
Change Summary: PMAC to Turbo PMAC 744
I-Variable Changes (continued)
PMAC/PMAC2
Turbo PMAC/PMAC2
Ix02 Motor x Command Output Address & Mode
Ixx02 Motor xx Command Output Address
Ixx01 Motor xx Commutation Enable (& Address
Type)
Ixx96 Motor xx Command Output Mode
Ix03 Motor x Position-Loop Feedback Address &
Mode
Ixx03 Motor xx Position-Loop Feedback Address
Ixx97 Motor xx Position Capture & Trigger Mode
Ix05 Motor x Master Position Address & Mode
Ix06 Motor x Master Position Following Enable
Ixx05 Motor xx Master Position Address
Ixx06 Motor xx Position Following Enable & Mode
Ix10 Motor x Power-On Position Address & Format
Ixx10 Motor xx Power-On Position Address
Ixx95 Motor xx Power-On Position Format
Ix25 Motor x Flag Address & Mode
Ixx25 Motor xx Flag Address
Ixx24 Motor xx Flag Mode
Ix72 Motor x Commutation Phase Angle
Units of 1/256 cycle
Ixx72 Motor xx Commutation Phase Angle
Units of 1/2048 cycle
Ix81 Motor x Power-On Phase Position Address &
Format
Ixx81 Motor xx Power-On Phase Position Address
Ixx91 Motor xx Power-On Phase Position Format
Ix83 Motor x Commutation Feedback Address &
Type
Ixx83 Motor xx Commutation Feedback Address
Ixx01 Motor xx Commutation Enable (& Address
Type)
DPRAM Function Changes
PMAC/PMAC2
Turbo PMAC/PMAC2
Servo Data Reporting Buffer contains only motor
data that is updated at servo rates;
Background Data Reporting Buffer contains lower
frequency motor data, coordinate system data, and
global data.
Motor Data Reporting Buffer contains all motor
data that is reported;
Background Data Reporting Buffer contains
coordinate system data and global data
Servo Data Reporting Buffer must be reported as
foreground task
Motor Data Reporting Buffer can be reported as
foreground or background task
Servo Data Reporting Buffer reports raw
(uncombined) motor position registers
Motor Data Reporting Buffer reports net
(combined) motor position values
On-line ASCII commands prohibited while
DPRAM binary rotary buffers open.
On-line ASCII commands permitted while DPRAM
binary rotary buffers open.
Off-board Option 2 DPRAM board for PMAC ISA
bus boards can connect to all 50 pins of PMAC’s
JEXP connector
Off-board Option 2 DPRAM for Turbo PMAC ISA
bus boards cannot connect to pins 41 and 42 of
PMAC’s JEXP connector. These pins must be cut
on the DPRAM board, or on strands of the cable to
the DPRAM board
Compensation Table Changes
PMAC/PMAC2
Turbo PMAC/PMAC2
Table correction at motor position zero is 0 by
definition; last entry in table must be 0 for seamless
rollover.
Last entry in table sets correction at motor position
zero as well as other end of table; seamless rollover
is automatic.