Reference Manual

PMAC 2 Software Reference
116 PMAC I-Variable Specifiation
Motor 4 has a 20-bit single-turn absolute encoder at Port A of the first ACC-14 (address
Y:$FFD0): I481=$14FFD0 ($14=20dec)
Motor 5 is a brush motor with a double geared resolver at locations 0 and 1 of an ACC-8D
Opt 7 board at multiplex address 2; no homing search is permitted: I581=0 (no phasing
required); I510=$000002
Motor 6 uses hall-effect sensors wired into the flags on Channel 12 for power-up phase
referencing. The zero point of the hall effect is at 60
o
e, and the direction is “standard”, not
reversed. I610= $8BC034.
See Also
Phasing Referenced to Absolute Sensor (Setting Up PMAC Commutation)
I-Variables I8x, I9x, Ix03, Ix10, Ix75, Ix83
ACC-8D Option 7 (R/D Converter) Manual
Ix82 Current loop Feedback Address {PMAC2 only}
Range
Legal PMAC Y addresses
Units
Legal PMAC Y addresses
Default
0
Remarks
Ix82 tells PMAC2 which addresses to read to get its current feedback values for Motor x if
PMAC2 is closing the current loop for this motor. PMAC must be performing the
commutation for the motor (Ix01=1) if it is to close the current loop as well.
A zero value for Ix82 tells PMAC2 not to close the current loop for this motor. In this
case, PMAC either outputs one velocity or torque command value (Ix01=0), or two phase-
current command values (Ix01=1), usually represented as analog voltages.
A non-zero value for Ix82 automatically triggers current loop execution in the phase
interrupt, using the current value(s) found in the register(s) specified by Ix82. Typically
these registers are analog-to-digital converter (ADC) registers in the PMAC2 ASIC, or
MACRO feedback registers containing copies of ADC registers in a MACRO Station
When Ix01 is set to 1, PMAC2 performs the phase commutation for this motor, computing
two phase current commands based on the position/velocity servo command and the
magnetization current value. If Ix82>0, these commands are compared to the two actual
current values read from the address specified by Ix82, and the next lower address. It
executes a PI filter on the current loops and outputs three voltage command values to the
address specified by Ix02 and the next two higher addresses. These are typically the PWM
commands for the three half-bridges of a brushless motor power stage.
When the digital current loop is used for drives connected directly to the PMAC2, the
typical values for Ix82 are:
Channel Ix82 Channel Ix82
ADC1A & B $C006 ACDC9A & B $C046
ADC2A & B $C00E ACDC10A & B $C04E
ADC3A & B $C016 ACDC11A & B $C056
ADC4A & B $C01E ACDC12A & B $C05E
ADC5A & B $C026 ACDC13A & B $C066
ADC6A & B $C02E ACDC14A & B $C06E
ADC7A & B $C036 ACDC15A & B $C076
ADC8A & B $C03E ACDC16A & B $C07E
Channels 9 – 16 are present on an ACC-24P/V2 board