User's Manual

Turbo PMAC User Manual
130 Setting Up Turbo PMAC-Based Commutation and/or Current Loop
Setting the I-Variables
Setting up a motor for microstepping is simply a matter of setting motor I-variables according to the
following list. Since there is no feedback, there is no tuning necessary.
Commutation Enable: Ixx01
Set Ixx01 to 3 to enable Turbo PMAC commutation, reading a Y-register for commutation position
feedback. (See the Ixx83 section below.)
Command Output Address: Ixx02
Set Ixx02 to the lower address of the pair of output DACs being used (e.g. $078002 for DAC1 and DAC2
on a Turbo PMAC or DAC1A and B on a Turbo PMAC2, $078420 for MACRO IC 0 Node 0 Registers 0
and 1 for DACs on a remote MACRO Station. This setting is the same as for using these registers with
normal, closed-loop commutation. The following tables show the settings for DAC pairs in PMAC-style
Servo ICs, in PMAC2-style Servo ICs, and in MACRO ICs.
Sine-Wave Mode Command Output Addresses –
PMAC-style Servo ICs (Y-registers)
IC# - Chan# 0 – 1&2 0 – 3&4 1 – 1&2 1 – 3&4
Ixx02
$078002 $07800A $078102 $07810A
IC# - Chan# 2 - 1&2 2 - 3&4 3 - 1&2 3 - 3&4
Ixx02
$078202 $07820A $078302 $07830A
IC# - Chan# 4 - 1&2 4 - 3&4 5 - 1&2 5 - 3&4
Ixx02
$079202 $07920A $079302 $07930A
IC# - Chan# 6 - 1&2 6 - 3&4 7 - 1&2 7 - 3&4
Ixx02
$07A202 $07A20A $07A302 $07A30A
IC# - Chan# 8 - 1&2 8 - 3&4 9 - 1&2 9 - 3&42
Ixx02
$07B202 $07B20A $07B302 $07B309
Servo ICs 0 and 1 are on the Turbo PMAC itself.
Servo ICs 2 – 9 are on Acc-24P/V or Acc-51P boards.
Channels 1 – 4 on odd-numbered Servo ICs are Channels 5 – 8 on the boards.
Sine-Wave Mode Command Output Addresses – PMAC2-style Servo ICs (Y-registers)
IC# - Chan# 0 - 1 0 - 2 0 - 3 0 - 4 1 - 1 1 - 2 1 - 3 1 - 4
Ixx02
$078002 $07800A $078012 $07801A $078102 $07810A $078112 $07811A
IC# - Chan# 2 - 1 2 - 2 2 - 3 2 - 4 3 - 1 3 - 2 3 - 3 3 - 4
Ixx02
$078202 $07820A $078212 $07821A $078302 $07830A $078312 $07831A
IC# - Chan# 4 - 1 4 - 2 4 - 3 4 - 4 5 - 1 5 - 2 5 - 3 5 - 4
Ixx02
$079202 $07920A $079212 $07921A $079302 $07930A $079312 $07931A
IC# - Chan# 6 - 1 6 - 2 6 - 3 6 - 4 7 - 1 7 - 2 7 - 3 7 - 4
Ixx02
$07A202 $07A20A $07A212 $07A21A $07A302 $07A30A $07A312 $07A31A
IC# - Chan# 8 - 1 8 - 2 8 - 3 8 - 4 9 - 1 9 - 2 9 - 3 9 - 4
Ixx02
$07B202 $07B20A $07B212 $07B21A $07B302 $07B30A $07B312 $07B31A
Servo ICs 0 and 1 are on the Turbo PMAC2 itself or on Acc-2E 3U-format stack boards.
Servo ICs 2 – 9 are on Acc-24x2 or Acc-51E boards.
Channels 1 – 4 on odd-numbered Servo ICs are Channels 5 – 8 on dual-Servo-IC boards.