User manual

Brick Controller User Manual
PinOuts and Software Setup 32
The equivalent Turbo PMAC script code for 8-channel entries
// Channel 1
I8000=$FF8000 ; High resolution interpolator
I8001=$078B00 ; A/D converter address
I8002=$000000 ; Bias Term and Entry result
// Channel 2
I8003=$FF8008 ; High resolution interpolator
I8004=$078B02 ; A/D converter address
I8005=$000000 ; Bias Term and Entry result
// Channel 3
I8006=$FF8010 ; High resolution interpolator
I8007=$078B04 ; A/D converter address
I8008=$000000 ; Bias Term and Entry result
// Channel 4
I8009=$FF8018 ; High resolution interpolator
I8010=$078B06 ; A/D converter address
I8011=$000000 ; Bias Term and Entry result
// Channel 5
I8012=$FF8100 ; High resolution interpolator
I8013=$078B08 ; A/D converter address
I8014=$000000 ; Bias Term and Entry result
// Channel 6
I8015=$FF8108 ; High resolution interpolator
I8016=$078B0A ; A/D converter address
I8017=$000000 ; Bias Term and Entry result
// Channel 7
I8018=$FF8110 ; High resolution interpolator
I8019=$078B0C ; A/D converter address
I8020=$000000 ; Bias Term and Entry result
// Channel 8
I8021=$FF8118 ; High resolution interpolator
I8022=$078B0E ; A/D converter address
I8023=$000000 ; Bias Term and Entry result
Position and Velocity feedback pointers should now be set to the corresponding ECT result:
I103=$3503 I104=$3503
I203=$3506 I204=$3506
I303=$3509 I304=$3509
I403=$350C I404=$350C
I503=$350F I504=$350F
I603=$3512 I604=$3512
I703=$3515 I704=$3515
I803=$3518 I804=$3518
Note
At this point of the setup, you should be able to move the
motor/encoder shaft by hand and see ‘motor’ counts in the position
window.
Counts per User Units
With the interpolation of x 4096 in Turbo PMAC, there are 128 (4096/32) motor counts per sine/cosine
cycles. Motor counts can be monitored in the motor position window upon moving the motor by hand.
Examples:
A 1024 Sine/Cosine periods per revolution of a rotary encoder produces 1024 x 128 = 131,072 cts/rev.
A 20 μm linear encoder resolution produces 128/0.02 = 6400 cts/mm.