User manual

PMAC User Manual
Setting Up a Motor 67
Each type of conversion is discussed below.
Note:
If the conversion table has two or more summing entries in a row, only the first
entry will perform summing. The other entries will only process their source data
with no summing. This means that it is not possible to directly sum three or more
sources. To sum three or more sources, an intermediary non-summing entry must
be used between the second and third source entries. This is accomplished by
reading the output of the second entry (the first summed entry) with an entry using
the $68 format. This entry can then be summed into a third source entry using the
standard technique.
PMAC Encoder Conversion Table
X-Memory (Results) Y-Memory (Set-up)
1. Single Line Entry
Bits Bits Bits Bits
5-23 0-4 16-23 0-15
Result:Integer Fraction Method Source Address
2. Multi-Line Entry
Bits
Bits
Bits Bits
5-23 0-4 16-23 0-15
(Intermediate Result)
Method Source Address
• • •
(Conversion Factors)
Result:Integer Fraction
• • •
Possible Conversion Formulas
Y-Word
Bits 16-23
Conversion Type No. of
Rows
$0x 1/T extension of incremental encoder 1
$1x A/D register — no rollover 1
$2y Parallel position from Y data word no filtering — with rollover 2
$3y Parallel position from Y data word with filtering — with rollover 3
$4x Time base conversion scaled digital differentiation 2
$50 Integrated analog 2
$6y Parallel position from X data word no filtering — with rollover 2
$7y Parallel position from X data word with filtering — with rollover 3
$8x Incremental encoder with parallel sub-count extension 1
$90 Triggered time base (frozen) 2
$A0 Triggered time base (running) 2
$B0 Triggered time base (armed) 2
$Cx Incremental encoder without extension 1
$D0 Exponential Filter 1
$Ex (Reserved for future use) 1
$Fx High-resolution sinusoidal encoder 2
x=0 for normal conversion, no summing
x=1 for conversion that sums this entry with one above it
y=0 for normal conversion, no summing
y=1 for conversion that sums this entry with one above it
y=8 for an unshifted conversion, no summing
y=9 for an unshifted conversion that sums this entry with one above it