Reference Manual

ManualsBrandsDelta Tau ManualsControllersDelta Tau TURBO COMPACT UMAC CPU

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Turbo PMAC/PMAC2 Software Reference

Turbo PMAC Global I-Variables 242

Triggered Time-Base Entries for PMAC-Style Servo ICs (Running State)

Servo

IC #

Chan. 1

Chan. 2

Chan. 3

Chan. 4

Notes

$A78000

$A78004

$A78008

$A7800C

First IC on board PMAC

$A78100

$A78104

$A78108

$A7810C

Second IC on board PMAC

$A78200

$A78204

$A78208

$A7820C

First IC on first Acc-24P/V

$A78300

$A78304

$A78308

$A7830C

Second IC on first Acc-24P/V

$A79200

$A79204

$A79208

$A7920C

First IC on second Acc-24P/V

$A79300

$A79304

$A79308

$A7930C

Second IC on second Acc-24P/V

$A7A200

$A7A204

$A7A208

$A7A20C

First IC on third Acc-24P/V

$A7A300

$A7A304

$A7A308

$A7A30C

Second IC on third Acc-24P/V

$A7B200

$A7B204

$A7B208

$A7B20C

First IC on fourth Acc-24P/V

$A7B300

$A7B304

$A7B308

$A7B30C

Second IC on fourth Acc-24P/V

Triggered Time-Base Entries for PMAC2-Style Servo ICs (Running State)

Servo

IC #

Chan. 1

Chan. 2

Chan. 3

Chan. 4

Notes

$AF8000

$AF8008

$AF8010

$AF8018

First IC on board PMAC2, 3U stack

$AF8100

$AF8108

$AF8010

$AF8018

Second IC on board PMAC2, 3U stack

$AF8200

$AF8208

$AF8210

$AF8218

First Acc-24E2x, first IC on first Acc-24P/V2

$AF8300

$AF8308

$AF8310

$AF8318

Second Acc-24E2x, second IC on first Acc-24P/V2

$AF9200

$AF9208

$AF9210

$AF9218

Third Acc-24E2x, first IC on second Acc-24P/V2

$AF9300

$AF9308

$AF9310

$AF9318

Fourth Acc-24E2x, second IC on second Acc-24P/V2

$AFA200

$AFA208

$AFA210

$AFA218

Fifth Acc-24E2x, first IC on third Acc-24P/V2

$AFA300

$AFA308

$AFA310

$AFA318

Sixth Acc-24E2x, second IC on third Acc-24P/V2

$AFB200

$AFB208

$AFB210

$AFB218

Seventh Acc-24E2x, first IC on fourth Acc-24P/V2

$AFB300

$AFB308

$AFB310

$AFB318

Eighth Acc-24E2x, second IC on fourth Acc-24P/V2

Entries for PMAC2 MACRO IC 0

Handwheel Channel #

PMAC2

Channel 1

$AF8410

Channel 2

$AF8418

Example:

The application requires the use of Encoder 4 on board a Turbo PMAC2 as a triggered time base master

for coordinate system 1. It is to be triggered by the rising edge of its index channel. The real-time input

frequency is selected as 256 counts/msec. The conversion table starts with 8 single-line entries in I8000 –

I8007.

Setup On-line Command

I8008=$AF8018 ; Triggered time base from PMAC2 channel 4

I8009=64 ; TBSF=16384/256

I7042=1 ; Servo IC 0 Channel 4 trigger on rising index

I5193=@I8009 ; C.S.1 use I8009 result for time base

M403->X:$07801B,0,24,S ; Channels’ captured position register

Motion Program Segment

DWELL 0 ; Stop any lookahead

I8008=$9F8018 ; Freeze the time base

P403=M403 ; Dummy read to ensure capture logic reset

X10 ; Calculate first move

PLC Program Segment

IF (I8008=$9F8018) ; If frozen

I8008=$BF8018 ; Then arm

ENDIF