Reference Manual

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Turbo PMAC/PMAC2 Software Reference

Turbo PMAC Global I-Variables 147

UMAC Turbo Ixx83 Defaults

Ixx83

Value

Ixx83

Value

I183

$078201

First Acc-24E2 Encoder 1

I1783

$07A201

Fifth Acc-24E2 Encoder 1

I283

$078209

First Acc-24E2 Encoder 2

I1883

$07A209

Fifth Acc-24E2 Encoder 2

I383

$078211

First Acc-24E2 Encoder 3

I1983

$07A211

Fifth Acc-24E2 Encoder 3

I483

$078219

First Acc-24E2 Encoder 4

I2083

$07A219

Fifth Acc-24E2 Encoder 4

I583

$078301

Second Acc-24E2 Encoder 1

I2183

$07A301

Sixth Acc-24E2 Encoder 1

I683

$078309

Second Acc-24E2 Encoder 2

I2283

$07A309

Sixth Acc-24E2 Encoder 2

I783

$078311

Second Acc-24E2 Encoder 3

I2383

$07A311

Sixth Acc-24E2 Encoder 3

I883

$078319

Second Acc-24E2 Encoder 4

I2483

$07A319

Sixth Acc-24E2 Encoder 4

I983

$079201

Third Acc-24E2 Encoder 1

I2583

$07B201

Seventh Acc-24E2 Encoder 1

I1083

$079209

Third Acc-24E2 Encoder 2

I2683

$07B209

Seventh Acc-24E2 Encoder 2

I1183

$079211

Third Acc-24E2 Encoder 3

I2783

$07B211

Seventh Acc-24E2 Encoder 3

I1283

$079219

Third Acc-24E2 Encoder 4

I2883

$07B219

Seventh Acc-24E2 Encoder 4

I1383

$079301

Fourth Acc-24E2 Encoder 1

I2983

$07B301

Eighth Acc-24E2 Encoder 1

I1483

$079309

Fourth Acc-24E2 Encoder 2

I3083

$07B309

Eighth Acc-24E2 Encoder 2

I1583

$079311

Fourth Acc-24E2 Encoder 3

I3183

$07B311

Eighth Acc-24E2 Encoder 3

I1683

$079319

Fourth Acc-24E2 Encoder 4

I3283

$07B319

Eighth Acc-24E2 Encoder 4

For a motor commutated by Turbo PMAC (Ixx01 = 1 or 3), Ixx83 tells Turbo PMAC where to read its

commutation (phasing) position information for Motor xx every commutation cycle. This can be a

different address from that used for power-on/reset phasing position, which is determined by Ixx81. If

Turbo PMAC is not commutating Motor xx (Ixx01 = 0 or 2), Ixx83 is not used.

Ixx83 contains the address of the register to be read. If Ixx01 bit 1 is set to 0 (Ixx01 = 1), the register is

the X-register at that address. If Ixx01 bit 1 is set to 1 (Ixx01 = 3), the register is the Y-register at that

address.

For Turbo PMAC boards with on-board encoder circuitry, typically Ixx83 contains the address of the

phase position encoder register for encoder x; this is the default. Since these registers have X addresses,

Ixx01 is set to 1.

For Turbo PMAC2 Ultralite boards, Ixx83 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, Ixx01 is set to 3 in these cases.

Ixx84 Motor xx Current-Loop Feedback Mask Word

Range: $000000 - $FFFFFF

Units: Bit mask

Default: $FFF000 (12-bit ADCs)

Ixx84 tells Turbo PMAC what bits of the 24-bit current feedback words to use as actual the actual current

value in the current loop equations. It is used only if Ixx82>0, enabling current loop closure in Motor xx

of the Turbo PMAC.

Turbo PMAC supports interface to serial analog-to-digital converters of many resolutions through a

PMAC2-style DSPGATE1 Servo IC, either on the PMAC, on an Acc-24 axis expansion board, or at a

remote MACRO node. The data is received in 18-bit shift registers in the ASIC, which are read as the

high end of a 24-bit word, with the number left-justified to the most significant bit.

Ixx84 specifies a 24-bit mask word that is combined with the feedback word through a logical AND

operation to produce the value that is used in the current loop equations. There should be a 1 in every bit

that is used, and a 0 in every bit that is not. Since the data is left justified, Ixx84 should start with 1s and

end with 0s. Usually Ixx84 is represented as a hexadecimal number, with four bits per digit, and a total of

six digits