PMAC/PMAC2 V1.17C Addendum 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 For bipolar (signed), just change the U in each definition to S . In firmware versions prior to V1.17C, the 8 setup registers did not have I-variables assigned to them, but operated in the same way, accessed directly at addresses X:$0708 – X:$070F.
Ix03 Motor x Position Loop Feedback Address [expanded] Range: Extended legal PMAC Addresses Units: Extended legal PMAC Addresses Defaults: … Hardware Capture with Normal-Resolution Feedback: If bit 18 of Ix03 is set to its default value of 0 when hardware position capture is used in a triggered move such as a homing-search move, the captured data (whether whole-count only or including sub-count data) is processed to match servo feedback of “normal” resolution (5 bits of fractional count data per hardware whole count). This setting is appropriate for digital quadrature feedback or for “low-resolution” interpolation of a sinusoidal encoder.
Hardware Capture with High-Resolution Interpolated Feedback: If bit 18 (value $40000, or 262,144) is set to 1 when hardware position capture is used in a triggered move, the captured data (whether whole-count only or including sub-count data) is processed to match servo feedback of “high” resolution (10 bits of fractional count data per hardware whole count). This setting is appropriate for “high-resolution” interpolation of a sinusoidal encoder through an ACC-51x interpolator. Whole-Count Capture:
If bit 19 of Ix03 is set to 0 when hardware position capture is used in a triggered move such as a homing-search move, only the whole-count captured position register is used to establish the trigger position.
This setting must be used on PMAC(1) controllers, and on V1.17C Firmware Version 5 Variable PMAC(1), PMAC2 Source with Default Table PMAC2 Ultralite Source with Default Table I103 $0720 Converted ENC1 $0721 Converted Node 0 I203 $0721 Converted ENC2 $0723 Converted Node 1 I303 $0722 Converted ENC3 $0725 Converted Node 4 I403 $0723 Converted ENC4 $0727 Converted Node 5 I503 $0724 Converted ENC5 $0729 Converted Node 8 I603 $0725 Converted ENC6 $072B Converted Node 9 I703 $0726 Converted ENC7 $072D Converted Node 12 I803 $0727 Converted ENC8 $072F Converted Node 13