Delta Tau GEO BRICK LV Reference Manual
Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Global I-Variables
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should be set to a value 2 greater than the base address of that board (e.g. $078502, $078602, or
$078702).
$078702).
I29 is only used at power-on/reset, so to make a change in the functionality of the display port, it is
necessary to change the value of I29, store the value in non-volatile flash memory with the SAVE
command, and reset the Turbo PMAC.
necessary to change the value of I29, store the value in non-volatile flash memory with the SAVE
command, and reset the Turbo PMAC.
I30
Compensation Table Wrap Enable
Range:
0 - 1
Units:
none
Default:
0
I30 controls whether the compensation tables entered into Turbo PMAC will automatically wrap or not.
This affects position (leadscrew), backlash, and torque compensation tables. If I30 is set to 0, when a
table is downloaded to PMAC, the compensation correction at motor position 0 is always set to 0. In this
case, if smooth rollover of the table is desired, the last entry of the table must explicitly be set to 0.
This affects position (leadscrew), backlash, and torque compensation tables. If I30 is set to 0, when a
table is downloaded to PMAC, the compensation correction at motor position 0 is always set to 0. In this
case, if smooth rollover of the table is desired, the last entry of the table must explicitly be set to 0.
If I30 is set to 1, the last entry of the table also becomes the correction at motor position 0, automatically
yielding a smooth rollover of the table, and permitting non-zero corrections at the rollover point.
yielding a smooth rollover of the table, and permitting non-zero corrections at the rollover point.
I30 affects table values only as they are being downloaded to Turbo PMAC; it does not affect the values
of tables already in Turbo PMAC’s memory.
of tables already in Turbo PMAC’s memory.
I35
Brick LV & Controller E-Stop Enable
Range:
0 .. 1
Units:
none
Default:
0
I35 permits the user to enable a fail-safe “E-stop” input on the Geo Brick LV controller/amplifier and on
the Brick Controller. If I35 is set to 1, system wiring must be drawing sufficient current through the E-
stop input (in the “ABORT+” pin and out the “ABORT-” pin) on the front panel to close the normally-
open E-stop relay, permitting motion. This is typically done by applying 24VDC across the circuit.
the Brick Controller. If I35 is set to 1, system wiring must be drawing sufficient current through the E-
stop input (in the “ABORT+” pin and out the “ABORT-” pin) on the front panel to close the normally-
open E-stop relay, permitting motion. This is typically done by applying 24VDC across the circuit.
When sufficient current is passing through the relay to close the contactor, bit 5 of Y:$070801 will be
read as 1 by the processor. In this case, normal operation of all motors in the system is permitted.
read as 1 by the processor. In this case, normal operation of all motors in the system is permitted.
When there is not sufficient current through the relay, the contactor opens, and bit 5 of Y:$070801 will be
read as 0 by the processor. When this occurs, the processor executes an “abort all” command, the
equivalent of receiving a <CTRL-A> command with I36 = 1. This will bring any enabled motor to a
closed-loop zero-velocity state, but will not enable any disabled motor. No motion can be commanded of
any motor as long as the relay contactor is closed and the bit value is 1. Note that the setting of I36 affects
the action of received <CTRL-A> commands, but it does not affect the action of this E-stop input.
read as 0 by the processor. When this occurs, the processor executes an “abort all” command, the
equivalent of receiving a <CTRL-A> command with I36 = 1. This will bring any enabled motor to a
closed-loop zero-velocity state, but will not enable any disabled motor. No motion can be commanded of
any motor as long as the relay contactor is closed and the bit value is 1. Note that the setting of I36 affects
the action of received <CTRL-A> commands, but it does not affect the action of this E-stop input.
This is a software-controlled stop function, and may not qualify as an emergency-stop circuit in
jurisdictions that require a “software-free” and/or “silicon-free” circuit. In those applications, the bus
supply power should be disconnected from the drives for an emergency stop.
jurisdictions that require a “software-free” and/or “silicon-free” circuit. In those applications, the bus
supply power should be disconnected from the drives for an emergency stop.
In other Turbo PMAC hardware implementations, I35 should be set to 0, because there is no physical
input at this address, and the value of the bit read by the processor is indeterminate.
input at this address, and the value of the bit read by the processor is indeterminate.
Note: This E-stop function is automatically enabled on the higher-voltage Geo Brick controller/amplifier,
which uses its own firmware variant. The Geo Brick does not use I35.
which uses its own firmware variant. The Geo Brick does not use I35.