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UMAC MACRO and MACRO Stack User Manual
Ixx83: Commutation Feedback Address
If the Turbo PMAC2 is performing commutation for Motor xx (Ixx01 bit 0 = 1), providing either
2 phase current commands (“sine-wave output”) or 3 PWM phase voltage commands (“direct
PWM”), Ixx83 must specify the address of the ongoing commutation position feedback.
When commutating over MACRO, the position feedback comes from Register 0 of the MACRO
node. In this case, Ixx83 must contain the address of this MACRO node register. The following
table contains the default Ixx83 values for Turbo PMAC2 Ultralite boards, listing the addresses of
the position feedback registers for each MACRO servo node.
Turbo PMAC2 Ultralite Ixx83 Defaults
Ixx83
Value
Register
Ixx83
I183
$078420 MACRO IC 0 Node 0 Reg. 0
I1783
I283
$078424 MACRO IC 0 Node 1 Reg. 0
I1883
I383
$078428 MACRO IC 0 Node 4 Reg. 0
I1983
I483
$07842C MACRO IC 0 Node 5 Reg. 0
I2083
I583
$078430 MACRO IC 0 Node 8 Reg. 0
I2183
I683
$078434 MACRO IC 0 Node 9 Reg. 0
I2283
I783
$078438 MACRO IC 0 Node 12 Reg. 0
I2383
I883
$07843C MACRO IC 0 Node 13 Reg. 0
I2483
I983
$079420 MACRO IC 1 Node 0 Reg. 0
I2583
I1083
$079424 MACRO IC 1 Node 1 Reg. 0
I2683
I1183
$079428 MACRO IC 1 Node 4 Reg. 0
I2783
I1283
$07942C MACRO IC 1 Node 5 Reg. 0
I2883
I1383
$079430 MACRO IC 1 Node 8 Reg. 0
I2983
I1483
$079434 MACRO IC 1 Node 9 Reg. 0
I3083
I1583
$079438 MACRO IC 1 Node 12 Reg. 0
I3183
I1683
$07943C MACRO IC 1 Node 13 Reg. 0
I3283
Because these are all ‘Y’ addresses, bit 1 of Ixx01 must be set to 1.
commutation, the net value of Ixx01 is 3.
46
Value
Register
$07A420 MACRO IC 2 Node 0 Reg. 0
$07A424 MACRO IC 2 Node 1 Reg. 0
$07A428 MACRO IC 2 Node 4 Reg. 0
$07A42C MACRO IC 2 Node 5 Reg. 0
$07A430 MACRO IC 2 Node 8 Reg. 0
$07A434 MACRO IC 2 Node 9 Reg. 0
$07A438 MACRO IC 2 Node 12 Reg. 0
$07A43C MACRO IC 2 Node 13 Reg. 0
$07B420 MACRO IC 3 Node 0 Reg. 0
$07B424 MACRO IC 3 Node 1 Reg. 0
$07B428 MACRO IC 3 Node 4 Reg. 0
$07B42C MACRO IC 3 Node 5 Reg. 0
$07B430 MACRO IC 3 Node 8 Reg. 0
$07B434 MACRO IC 3 Node 9 Reg. 0
$07B438 MACRO IC 3 Node 12 Reg. 0
$07B43C MACRO IC 3 Node 13 Reg. 0
With bit 0 of Ixx01 set to 1 to enable
Turbo PMAC2 Software Setup for MACRO Station