IMAC 在运行中改变反馈.docVIP

Changing Feedback on the Fly Sometimes multiple sensors are required to cover the full range of motion for an axis. In one common case, multiple linear scales, each one with its own read head, are needed to handle the full linear range of motion. Switching between the feedback sensors must be done “on the fly”, with no disturbance to the motion. It is easy in Turbo PMAC controllers to switch on the fly between sensors of equivalent resolution, by changing the source address of the feedback I-variable. The only special requirement is that the “last source position” register be updated to reflect the position of the new sensor in the same servo cycle as the address is changed. This requirement necessitates that the actual change be done in a foreground program such as PLCC 0 or an Open Servo algorithm for a spare “motor” on Turbo PMAC. If PLCC 0 is used, it must be confirmed that these operations can complete reliably before the next servo interrupt occurs. In this example, there are three position sensors for Motor 1. In its proper range, a sensor is used simultaneously for position-loop feedback, velocity-loop feedback, and commutation-angle feedback. Each of these functions has its own address I-variable to be changed, and its own “last position” register whose contents must be changed when the sensor is switched. Note that the position and velocity loops used processed position values from the encoder conversion table (ECT), but commutation uses “raw” position values from encoder counters in the Servo ASIC. ; Substitutions and definitions ; Address I-variables #define Mtr1PosFdbkAdr I103 ; Reg for position-loop feedback #define Mtr1VelFdbkAdr I104 ; Reg for velocity-loop feedback #define Mtr1CommFdbkAdr I183 ; Reg for commutation feedback ; Sensor source addresses (processed values in conversion table) #define Sensor1PosAdr $003501 ; ECT result 0 (from I8000) #define Sensor2PosAdr $003502 ; ECT result 1 (from I8001) #define Sensor3PosAdr $003503 ; ECT