Delta Tau PMAC2 PCI User Manual download pdf (Page 69)

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PMAC2 User Manual

Setting Up PMAC2 for Pulse-and-Direction Control 61

However, if the output pulse train is used for simulated feedback, it is best to process the counts without

any sub-count interpolation. This will prevent the PMAC from trying to position between pulses and

create dithering. In the PMAC Executive program Encoder Table Configure window, change the entry

from Incremental with 1/T Interpolation to Incremental with No Interpolation. If writing directly to the

memory location of the table, change the format byte from $00 to $C0.

The addresses of the counters and timer sets in PMAC2 are shown in table 7-2. These addresses are the

source addresses for the encoder conversion table.

The following table shows the configuration of the encoder conversion table for the ten encoder channels,

with either 1/T interpolation, or no interpolation. For example, change the default conversion table to one

processing the first four encoder inputs without interpolation, the following command could be used:

WY:$0720,$C0C000,$C0C008,$C0C010,$C0C018

Note:

The addresses of the counters and timers specified in the PMAC2 conversion table

itself are different from those in PMAC, but these have been taken care of in the

default table setup. However, an older PMAC Executive program released before

PMAC2 may identify the contents of the specified addresses incorrectly.

Counter/Timers 1

$C000

Counter/Timers 5

$C020

Counter/Timers 2

$C008

Counter/Timers 6

$C028

Counter/Timers 3

$C010

Counter/Timers 7

$C030

Counter/Timers 4

$C018

Counter/Timers 8

$C038

Counter/Timers 1*

$C090

Counter/Timers 2*

$C098

Entry

Address of

Setup Word

1/T Interp.

Setup Word

No Interp.

Setup Word

Address of

Result

1 Y:$0720 $00C000 $C0C000 X:$0720

2 Y:$0721 $00C008 $C0C008 X:$0721

3 Y:$0722 $00C010 $C0C010 X:$0722

4 Y:$0723 $00C018 $C0C018 X:$0723

5 Y:$0724 $00C020 $C0C020 X:$0724

6 Y:$0725 $00C028 $C0C028 X:$0725

7 Y:$0726 $00C030 $C0C030 X:$0726

8 Y:$0727 $00C038 $C0C038 X:$0727

1* Y:$0728 $00C090 $C0C090 X:$0728

2* Y:$0729 $00C098 $C0C098 X:$0729

Feedback Addresses: Ix03, Ix04

Ix03 tells PMAC2 where to look to get its position-loop feedback. Whether, real or simulated feedback is

used, this location should be that of a processed encoder counter in PMAC2’s encoder conversion table.

In a typical setup, Motor x on PMAC2 will use the xth entry of the conversion table, with addresses

$0720 to $0727. These are the default values for Ix03.

Ix04 tells PMAC2 where to look to get its velocity-loop feedback. For the simulated feedback, this

should be set to the same address as Ix03 for each motor.

Scale Factors: Ix08, Ix09

Ix08 and Ix09 should be minimized to allow the most possible flexibility in setting servo loop gains to

optimize pulse train performance. If no position following (electronic gearing) is desired, Ix08 and Ix09

should be set to the minimum possible value of 1.

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