Reference Manual

PMAC 2 Software Reference
372 PMAC Saved Setup Registers
Once this setup has been made, PMAC2 will automatically cycle through the analog inputs, copying the
converted digital values into RAM. These image registers can then be read as if they were the actual A/D
converters. For user program use, the image registers would be accessed with M-variables. Suggested
definitions for unipolar (unsigned) values are:
M1000->Y:$0708,0,12,U ; ANAI00 image register; from J1 pin 1
M1001->Y:$0709,0,12,U ; ANAI01 image register; from J1 pin 2
M1002->Y:$070A,0,12,U ; ANAI02 image register; from J1 pin 3
M1003->Y:$070B,0,12,U ; ANAI03 image register; from J1 pin 4
M1004->Y:$070C,0,12,U ; ANAI04 image register; from J1 pin 5
M1005->Y:$070D,0,12,U ; ANAI05 image register; from J1 pin 6
M1006->Y:$070E,0,12,U ; ANAI06 image register; from J1 pin 7
M1007->Y:$070F,0,12,U ; ANAI07 image register; from J1 pin 8
M1008->Y:$0708,12,12,U ; ANAI08 image register; from J1 pin 9
M1009->Y:$0709,12,12,U ; ANAI09 image register; from J1 pin 10
M1010->Y:$070A,12,12,U ; ANAI10 image register; from J1 pin 11
M1011->Y:$070B,12,12,U ; ANAI11 image register; from J1 pin 12
M1012->Y:$070C,12,12,U ; ANAI12 image register; from J1 pin 13
M1013->Y:$070D,12,12,U ; ANAI13 image register; from J1 pin 14
M1014->Y:$070E,12,12,U ; ANAI14 image register; from J1 pin 15
M1015->Y:$070F,12,12,U ; ANAI15 image register; from J1 pin 16
For bipolar (signed), just change the U in each definition to S.
Encoder Conversion Table Setup Registers: Y:$0720 – Y:$073F
The encoder conversion table (ECT), which performs pre-processing of feedback and master position data
for servo-loop use, has 32 saved setup registers.
Y:$0720 – Y:$073F Conversion Table Setup Lines
Range: $000000 - $FFFFFF
Units: Modified PMAC Addresses
Defaults:
PMAC(1) Defaults
Reg. Setting Meaning Reg. Setting Meaning
Y:$0720 $00C000 1/T Extension of Encoder 1 Y:$0725 $00C014 1/T Extension of Encoder 6
Y:$0721 $00C004 1/T Extension of Encoder 2 Y:$0726 $00C018 1/T Extension of Encoder 7
Y:$0722 $00C008 1/T Extension of Encoder 3 Y:$0727 $00C01C 1/T Extension of Encoder 8
Y:$0723 $00C00C 1/T Extension of Encoder 4 Y:$0728 $400723 Time base from 1/T of Enc 4
Y:$0724 $00C010 1/T Extension of Encoder 5 Y:$0729 $000295 Time base scale factor
Y:$072A – Y:$073F = 0
PMAC2 Defaults
Reg. Setting Meaning Reg. Setting Meaning
Y:$0720 $00C000 1/T Extension of Encoder 1 Y:$0725 $00C028 1/T Extension of Encoder 6
Y:$0721 $00C008 1/T Extension of Encoder 2 Y:$0726 $00C030 1/T Extension of Encoder 7
Y:$0722 $00C010 1/T Extension of Encoder 3 Y:$0727 $00C038 1/T Extension of Encoder 8
Y:$0723 $00C018 1/T Extension of Encoder 4 Y:$0728 $00C090 1/T Extension of Handwheel 1
Y:$0724 $00C020 1/T Extension of Encoder 5 Y:$0729 $00C098 1/T Extension of Handwheel 2
Y:$072A – Y:$073F = 0