Reference Manual

PMAC 2 Software Reference
118 PMAC I-Variable Specifiation
The following table provides the Ix83 values for all of the possible phase-position registers
in PMAC(1) system:
Channel Ix83 Channel Ix83
1 $C001 9 $C021
2 $C005 10 $C025
3 $C009 11 $C029
4 $C00D 12 $C02D
5 $C011 13 $C031
6 $C015 14 $C035
7 $C019 15 $C039
8 $C01D 16 $C03D
Channels 9 – 16 are present on an ACC-24P/V board
On PMAC2 boards, commutation requires only one channel, so any channel can be used
for commutation feedback. The following table provides the Ix83 values for all of the
phase-position registers in a PMAC2 system:
Channel Ix83 Channel Ix83
1 $C001 9 $C041
2 $C009 10 $C049
3 $C011 11 $C051
4 $C019 12 $C059
5 $C021 13 $C061
6 $C029 14 $C069
7 $C031 15 $C071
8 $C039 16 $C079
Channels 9 – 16 are present on an ACC-24P/V2 board
For PMAC2 Ultralite boards, Ix83 typically contains the address of a MACRO node’s
position feedback register; this is the default. Since PMAC2 can only commutate over
MACRO using nodes with ‘Y’ addresses, bit 19 must be set to 1 in these cases. The
following table shows Ix83 values for all of the MACRO servo nodes:
Node Ix83 Channel Ix83
0 $8C0A0 8 $8C0B0
1 $8C0A4 9 $8C0B4
4 $8C0A8 12 $8C0B8
5 $8C0AC 13 $8C0BC
If the motor is performing open-loop microstepping control inside PMAC (Ix01=1, bit 16
of Ix02=1), this parameter must contain the address of the motor’s “phase advance “
register (X:$0042, X:$007E, etc.) instead of an encoder register.
See Also
I-variables Ix01, Ix02, Ix03, Ix04, Ix81
Setting Up PMAC Commutation
I/O-Memory Map registers X:$C001, X:$C005, etc., X:$0042, X:$007E, etc.
Ix84 Current-Loop Feedback Mask Word {PMAC2 only}
Range
$000000 .. $FFFFFF
Units
Bit mask
Default
$FFF000 (12-bit ADCs)
Remarks
Ix84 tells PMAC2 what bits of the 24-bit current feedback word(s) to use as actual the
actual current value in the current loop equations when it is closing the current loops for a
direct-PWM “power-block” amplifier. It is only used if Ix82>0, enabling current loop
closure in the PMAC2.