Reference Manual

PMAC 2 Software Reference
50 PMAC I-Variable Specifiation
I75=$00D00D ; Select ANAI05 and ANAI08 (if present) bipolar
I76=$00E00E ; Select ANAI06 and ANAI08 (if present) bipolar
I77=$00F00F ; Select ANAI07 and ANAI08 (if present) bipolar
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.
In firmware versions prior to V1.17C, the 8 setup registers did not have I-variables
assigned to them, but operated in the same way, accessed directly at addresses X:$0708 –
X:$070F.
I8x Motor x Third-Resolver Gear Ratio
Range
0 .. 4095
Units
Second-resolver turns per third-resolver turn
Default
0
Remarks
I8x tells PMAC the gear ratio between the second (medium) and third (coarse) resolvers
for a triple-resolver setup for Motor x. It is expressed as the number of turns (electrical
cycles) the second resolver makes in one full turn (electrical cycle) of the third resolver.
This parameter is used only during PMAC’s power-up/reset cycle to establish absolute
power-on servo position. Therefore, the parameter must be set, the value stored in
EAROM with the SAVE command, and the card reset before it takes effect.
If there is no geared third resolver on Motor x, or if absolute power-on position is not
desired, I8x should be set to zero. If either Ix10 (for the primary resolver) or I9x (for the
secondary resolver) is set to zero, I8x is not used.
The third resolver must be connected to the next higher numbered R/D converter at the
same multiplexer address than the second resolver, which must be connected to the next
higher numbered converter at the same multiplexer address than the primary resolver.