Turbo PMAC Clipper Hardware Reference Manual
Drive – Motor Setup
56
PFM Setup Example
// Encoder Conversion Table, for channels 1-4
I8000=$C78000
; Entry 1 incremental encoder, no extension
I8001=$C78008
; Entry 2 incremental encoder, no extension
I8002=$C78010
; Entry 3 incremental encoder, no extension
I8003=$C78018
; Entry 4 incremental encoder, no extension
// Channels 1-4 Output Mode Select, Encoder/Decode
I7016,4,10 = 3 ; Servo IC 0, Channels 1-4 Output Mode Select to PFM
I7010,4,10 = 8 ; Servo IC 0, Channels 1-4 Encoder Decode, Internal Pulse and Direction
// Channels 1-4 Command Output Register
I102=$78004 ; Channel 1, PFM
I202=$7800c
; Channel 2, PFM
I302=$78014
; Channel 3, PFM
I402=$7801C
; Channel 4, PFM
// Encoder Conversion Table, for channels 5-8
I8004=$C78100
; Entry 5 incremental encoder, no extension
(First Acc-1P)
I8005=$C78108
; Entry 6 incremental encoder, no extension
(First Acc-1P)
I8006=$C78110
; Entry 7 incremental encoder, no extension
(First Acc-1P)
I8007=$C78118
; Entry 8 incremental encoder, no extension
(First Acc-1P)
// Channels 5-8 Output Mode Select, Encoder/Decode
I7116,4,10 = 3 ; Servo IC 1, Channels 5-8 Output Mode Select to PFM
(First Acc-1P)
I7110,4,10 = 8 ; Servo IC 1, Channels 5-8 Encoder Decode, Internal Pulse and Dir. (First Acc-1P)
// Channels 5-8 Command Output Register
I502=$78104 ; Channel 5, PFM
(First Acc-1P)
I602=$7810C
; Channel 6, PFM
(First Acc-1P)
I702=$78114
; Channel 7, PFM
(First Acc-1P)
I802=$7811C
; Channel 8, PFM
(First Acc-1P)
// Encoder Conversion Table, for channels 9-12
I8008=$C79200
; Entry 9 incremental encoder, no extension
(Second Acc-1P)
I8009=$C79208
; Entry 10 incremental encoder, no extension
(Second Acc-1P)
I8010=$C79210
; Entry 11 incremental encoder, no extension
(Second Acc-1P)
I8011=$C79218
; Entry 12 incremental encoder, no extension
(Second Acc-1P)
// Channels 9-12 Output Mode Select, Encoder/Decode
I7216,4,10 = 3 ; Servo IC 2, Channels 9-12 Output Mode Select to PFM
(Second Acc-1P)
I7210,4,10 = 8 ; Servo IC 2, Channels 9-12 Encoder Decode, Internal Pulse and Dir.(Second Acc-1P)
// Channels 9-12 Command Output Register
I902=$78204 ; Channel 9, PFM
(Second Acc-1P)
I1002=$7820C
; Channel 10, PFM
(Second Acc-1P)
I1102=$78214
; Channel 11, PFM
(Second Acc-1P)
I1202=$7821C
; Channel 12, PFM
(Second Acc-1P)
In PFM mode, it is possible to:
Write directly to the PFM output register using the suggested M-Variable definition (Mxx07)
The corresponding channel has to be deactivated in this mode (Ixx00=0)
Issue open loop commands to a channel/motor, e.g.:#1O5
The corresponding channel has to be activated in this mode (Ixx00=1)
Issue closed loop commands to a channel/motor, e.g.: #1J=1000
The corresponding channel has to be activated (Ixx00=1) and the position loop PID gains have to
be implemented.
Writing directly to the PFM register
// Channels 1-4 Suggested M-Variables, PFM command output
M107->Y:$78004,8,16,S ; Channel 1, Min=0, Max= Calculated I169
M207->Y:$7800C,8,16,S ; Channel 2, Min=0, Max= Calculated I269
M307->Y:$78014,8,16,S ; Channel 3, Min=0, Max= Calculated I369
Summary of Contents for Turbo PMAC Clipper
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Page 11: ...Turbo PMAC Clipper Connections and Software Setup 11 SPECIFICATIONS Part Number ...
Page 78: ...Turbo PMAC Clipper Hardware Reference Manual Appendix B 78 APPENDIX B SCHEMATICS ...
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