User's Manual

PMAC2 User Manual
Using PMAC2 with MACRO Interface 69
WY:$0720,$28C0A0,$FFFFFF ; Node 0 conversion
WY:$0722,$28C0A4,$FFFFFF ; Node 1 conversion
WY:$0724,$28C0A8,$FFFFFF ; Node 4 conversion
WY:$0726,$28C0AC,$FFFFFF ; Node 5 conversion
WY:$0728,$28C0B0,$FFFFFF ; Node 8 conversion
WY:$072A,$28C0B4,$FFFFFF ; Node 9 conversion
WY:$072C,$28C0B8,$FFFFFF ; Node 12 conversion
WY:$072E,$28C0BC,$FFFFFF ; Node 13 conversion
The results from this conversion are in the following registers:
Node Address Node Address
Node 0: X:$0721 Node 8: X:$0729
Node 1: X:$0723 Node 9: X:$072B
Node 4: X:$0725 Node 12: X:$072D
Node 5: X:$0727 Node 13: X:$072F
Feedback Address I-variables: Ix03, Ix04
Ix03 and Ix04 specify the addresses for the position-loop and velocity-loop feedback registers,
respectively. In most applications, the same feedback sensor is used for both loops, so the values of both
variables is the same.
The feedback register to be read is virtually always that of the processed data in the conversion table. In
either of the above examples, the converted position from Node 0 is placed in X:$0721, so to use this for
the position-loop and velocity-loop feedback for Motor 1, I103 and I104 would each be set to $0721.
E. Command Output Address I-variables: Ix02
Ix02 specifies the address of the register(s) to which PMAC2 writes its command outputs. Bits 0 - 15
contain the address of the register, normally a Y-register on PMAC. If bit 19 of Ix02 is set to 1, then the
command output is written to a PMAC2 X-register rather than the typical Y-register. The main use for
this is to be able to write to those MACRO registers that are mapped into X-registers. This feature is only
usable in the Type 0 protocol and if PMAC2 is not performing the commutation for the motor -- if
PMAC2 is commutating the motor through MACRO registers and/or using the Type 1 protocol, only
those MACRO nodes mapped into Y-registers (0, 1, 4, 5, 8, 9, 12, 13) can be used.
To write command outputs to MACRO registers, the following values of Ix02 should be used:
Node # Type 0 Velocity /
Torque Mode
Type 0 Phase
Current Mode
Type 0 Direct
PWM Mode
Type 1:
Any Mode
Node 0 $C0A3 $C0A2 $C0A1 $C0A0
Node 1 $C0A7 $C0A6 $C0A5 $C0A4
Node 2 $8C0A3 N/A. N/A. N/A.
Node 3 $8C0A7 N/A. N/A. N/A.
Node 4 $C0AB $C0AA $C0A9 $C0A8
Node 5 $C0AF $C0AE $C0AD $C0AC
Node 6 $8C0AB N/A. N/A. N/A.
Node 7 $8C0AF N/A. N/A. N/A.
Node 8 $C0B3 $C0B2 $C0B1 $C0B0
Node 9 $C0B7 $C0B6 $C0B5 $C0B4
Node 10 $8C0B3 N/A. N/A. N/A.
Node 11 $8C0B7 N/A. N/A. N/A.
Node 12 $C0BB $C0BA $C0B9 $C0B8
Node 13 $C0BF $C0BE $C0BD $C0BC
Node 14 $8C0BB N/A. N/A. N/A.
Node 15 $8C0BF N/A. N/A. N/A.