Delta Tau PMAC2 PCI User Manual download pdf (Page 93)

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PMAC2 User Manual

PMAC2 General Purpose I/O Use 85

M1000->Y:$0708,0,12,U ; ANAI00 image register; from J1 pin 1

M1001->Y:$0709,0,12,U ; ANAI01 image register; from J1 pin 2

M1002->Y:$070A,0,12,U ; ANAI02 image register; from J1 pin 3

M1003->Y:$070B,0,12,U ; ANAI03 image register; from J1 pin 4

M1004->Y:$070C,0,12,U ; ANAI04 image register; from J1 pin 5

M1005->Y:$070D,0,12,U ; ANAI05 image register; from J1 pin 6

M1006->Y:$070E,0,12,U ; ANAI06 image register; from J1 pin 7

M1007->Y:$070F,0,12,U ; ANAI07 image register; from J1 pin 8

M1008->Y:$0708,12,12,U ; ANAI08 image register; from J1 pin 9

M1009->Y:$0709,12,12,U ; ANAI09 image register; from J1 pin 10

M1010->Y:$070A,12,12,U ; ANAI10 image register; from J1 pin 11

M1011->Y:$070B,12,12,U ; ANAI11 image register; from J1 pin 12

M1012->Y:$070C,12,12,U ; ANAI12 image register; from J1 pin 13

M1013->Y:$070D,12,12,U ; ANAI13 image register; from J1 pin 14

M1014->Y:$070E,12,12,U ; ANAI14 image register; from J1 pin 15

M1015->Y:$070F,12,12,U ; ANAI15 image register; from J1 pin 16

Servo Feedback Use

For servo feedback use, the images of ANAI00 to ANAI07 can be processed through the conversion

table. To the conversion table, they look like 12-bit parallel encoders. They should be processed with the

Parallel Y-data with filtering format (format $30). The active bit mask should be $000FFF to specify the

use of the low 12 bits only. The maximum velocity (change in position per servo cycle) should be set to a

value slightly larger than the maximum real velocity expected.

For example, to set up the encoder conversion table to process ADC data from ANAI00 to ANAI07 only,

with a maximum change per servo cycle of 16 LSBs per servo cycle, the following direct memory write

commands could be used:

WY:$0720,$300708,$000FFF,16 ; Parallel read of ANAI00

WY:$0723,$300709,$000FFF,16 ; Parallel read of ANAI01

WY:$0726,$30070A,$000FFF,16 ; Parallel read of ANAI02

WY:$0729,$30070B,$000FFF,16 ; Parallel read of ANAI03

WY:$072C,$30070C,$000FFF,16 ; Parallel read of ANAI04

WY:$072F,$30070D,$000FFF,16 ; Parallel read of ANAI05

WY:$0732,$30070E,$000FFF,16 ; Parallel read of ANAI06

WY:$0735,$30070F,$000FFF,16 ; Parallel read of ANAI07

Note:

When using some of these ADCs for servo feedback, in order to get new data

every servo cycle, it is necessary either to have a phase update rate at least 8 times

the servo update rate (I902>=7) or to extend the servo updates for the individual

motors using this feedback with Ix60 so that their actual update rate is less than 1/8

the phase update rate.

To convert ANAI08 to ANAI15, the $70 Parallel X-data with filtering format is used instead of the $30

format in this example.

The resulting values from these conversions are in the following registers:

ANAI00

X:$0722

ANAI01

X:$0725

ANAI02

X:$0728

ANAI03

X:$072B

ANAI04

X:$072E

ANAI05

X:$0731

ANAI06

X:$0734

ANAI07

X:$0737

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