Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Global I-Variables 85
Ixx03 Motor xx Position Loop Feedback Address
Range: $000000 - $FFFFFF
Units: Turbo PMAC Addresses
Turbo PMAC/PMAC2 Ixx03 Defaults
Ixx03
Value
Register
Ixx03
Value
Register
I103
$003501
Conversion Table Line 0
I1703
$003511
Conversion Table Line 16
I203
$003502
Conversion Table Line 1
I1803
$003512
Conversion Table Line 17
I303
$003503
Conversion Table Line 2
I1903
$003513
Conversion Table Line 18
I403
$003504
Conversion Table Line 3
I2003
$003514
Conversion Table Line 19
I503
$003505
Conversion Table Line 4
I2103
$003515
Conversion Table Line 20
I603
$003506
Conversion Table Line 5
I2203
$003516
Conversion Table Line 21
I703
$003507
Conversion Table Line 6
I2303
$003517
Conversion Table Line 22
I803
$003508
Conversion Table Line 7
I2403
$003518
Conversion Table Line 23
I903
$003509
Conversion Table Line 8
I2503
$003519
Conversion Table Line 24
I1003
$00350A
Conversion Table Line 9
I2603
$00351A
Conversion Table Line 25
I1103
$00350B
Conversion Table Line 10
I2703
$00351B
Conversion Table Line 26
I1203
$00350C
Conversion Table Line 11
I2803
$00351C
Conversion Table Line 27
I1303
$00350D
Conversion Table Line 12
I2903
$00351D
Conversion Table Line 28
I1403
$00350E
Conversion Table Line 13
I3003
$00351E
Conversion Table Line 29
I1503
$00350F
Conversion Table Line 14
I3103
$00351F
Conversion Table Line 30
I1603
$003510
Conversion Table Line 15
I3203
$003520
Conversion Table Line 31
Turbo PMAC2 Ultralite Ixx03 Defaults
Ixx03
Value
Register
Ixx03
Value
Register
I103
$003502
Conversion Table Line 1
I1703
$003522
Conversion Table Line 33
I203
$003504
Conversion Table Line 3
I1803
$003524
Conversion Table Line 35
I303
$003506
Conversion Table Line 5
I1903
$003526
Conversion Table Line 37
I403
$003508
Conversion Table Line 7
I2003
$003528
Conversion Table Line 39
I503
$00350A
Conversion Table Line 9
I2103
$00352A
Conversion Table Line 41
I603
$00350C
Conversion Table Line 11
I2203
$00352C
Conversion Table Line 43
I703
$00350E
Conversion Table Line 13
I2303
$00352E
Conversion Table Line 45
I803
$003510
Conversion Table Line 15
I2403
$003530
Conversion Table Line 47
I903
$003512
Conversion Table Line 17
I2503
$003532
Conversion Table Line 49
I1003
$003514
Conversion Table Line 19
I2603
$003534
Conversion Table Line 51
I1103
$003516
Conversion Table Line 21
I2703
$003536
Conversion Table Line 53
I1203
$003518
Conversion Table Line 23
I2803
$003538
Conversion Table Line 55
I1303
$00351A
Conversion Table Line 25
I2903
$00353A
Conversion Table Line 57
I1403
$00351C
Conversion Table Line 27
I3003
$00353C
Conversion Table Line 59
I1503
$00351E
Conversion Table Line 29
I3103
$00353E
Conversion Table Line 61
I1603
$003520
Conversion Table Line 31
I3203
$003540
Conversion Table Line 63
Ixx03 tells the Turbo PMAC where to look for its position feedback value to close the position loop for
Motor xx. It contains the address of the register where the motor will read its position feedback value.
Usually this is a result register in the “Encoder Conversion Table”, where raw feedback values have been
pre-processed at the beginning of each servo cycle. Feedback data is expected in units of 1/32 count (5
bits of fractional data). The result registers in the Encoder Conversion Table are located at addresses
X:$003501 to X:$0035C0, corresponding to table setup I-variables I8000 to I8191, respectively.
For a control loop with dual feedback, motor and load, use Ixx03 to point to the encoder on the load, and
Ixx04 to point to the encoder on the motor.