Delta Tau GEO BRICK LV Reference Manual
Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Global I-Variables
74
If Turbo PMAC has not received a response to the MACRO auxiliary communications command within
I78 servo cycles, it will stop waiting and register a “MACRO Auxiliary Communications Error”, setting
Bit 5 of global status register X:$000006. A value of 32 for I78 is suggested.
Bit 15 of I70, I72, I74, and I76 must be set to 0 to disable Node 15’s Type 0 (node-specific) auxiliary
communications for each MACRO IC if I78 is greater than 0. If a value of I78 greater than 0 has been
saved into PMAC’s non-volatile memory, then at subsequent power-up/resets, bit 15 of I70, I72, I74, and
I76 are automatically forced to 0 by PMAC firmware, regardless of the value saved for I70.
I78 servo cycles, it will stop waiting and register a “MACRO Auxiliary Communications Error”, setting
Bit 5 of global status register X:$000006. A value of 32 for I78 is suggested.
Bit 15 of I70, I72, I74, and I76 must be set to 0 to disable Node 15’s Type 0 (node-specific) auxiliary
communications for each MACRO IC if I78 is greater than 0. If a value of I78 greater than 0 has been
saved into PMAC’s non-volatile memory, then at subsequent power-up/resets, bit 15 of I70, I72, I74, and
I76 are automatically forced to 0 by PMAC firmware, regardless of the value saved for I70.
This function is controlled by I1003 on non-Turbo PMACs.
I79
MACRO Type 1 Master/Master Communications Timeout
Range:
0 .. 255
Units:
Servo Cycles
Default:
0
I79 permits the enabling of MACRO Type 1 master-to-master auxiliary communications using Node 14,
which are executed with the MM, MMR, and MMW commands. If I79 is set to 0, these communications are
disabled. If I79 is set to a value greater than 0, these communications are enabled, and the value of I79
sets the timeout value for the auxiliary response, in Turbo PMAC servo cycles.
which are executed with the MM, MMR, and MMW commands. If I79 is set to 0, these communications are
disabled. If I79 is set to a value greater than 0, these communications are enabled, and the value of I79
sets the timeout value for the auxiliary response, in Turbo PMAC servo cycles.
If Turbo PMAC has not received a response to the MACRO auxiliary communications command within
I79 servo cycles, it will stop waiting and register a MACRO Auxiliary Communications Error, setting Bit
5 of global status register X:$000006. A value of 32 for I79 is suggested.
Bit 14 of I70 must be set to 0 to disable Node 14’s Type 0 (node-specific) auxiliary communications if
I79 is greater than 0. If a value of I79 greater than 0 has been saved into PMAC’s non-volatile memory,
then at subsequent power-up/resets, bit 14 of I70 is automatically forced to 0 by PMAC firmware,
regardless of the value saved for I70.
I79 servo cycles, it will stop waiting and register a MACRO Auxiliary Communications Error, setting Bit
5 of global status register X:$000006. A value of 32 for I79 is suggested.
Bit 14 of I70 must be set to 0 to disable Node 14’s Type 0 (node-specific) auxiliary communications if
I79 is greater than 0. If a value of I79 greater than 0 has been saved into PMAC’s non-volatile memory,
then at subsequent power-up/resets, bit 14 of I70 is automatically forced to 0 by PMAC firmware,
regardless of the value saved for I70.
Certain master-to-master communications registers are only set up at the Turbo PMAC power-up/reset, so
before master-to-master communications can be performed, a non-zero value of I79 must be stored in
flash memory with the SAVE command, and the board must be reset.
before master-to-master communications can be performed, a non-zero value of I79 must be stored in
flash memory with the SAVE command, and the board must be reset.
I80
MACRO Ring Check Period
Range:
0 .. 255
Units:
servo cycles
Default:
0
I80 determines the period for Turbo PMAC to evaluate whether there has been a MACRO ring failure. If I80
is greater than 0, Turbo PMAC must receive the sync node packet (as specified by I6841) at least I82 times
within I80 servo cycles. It also must detect less than I81 ring errors (byte violation error, packet parity error,
packet overflow error, or packet underflow error) in this same period, and find no errors for at least one of its
checks during the period. If either of these conditions is not met, Turbo PMAC will assume it is a ring fault,
and will disable all motors.
is greater than 0, Turbo PMAC must receive the sync node packet (as specified by I6841) at least I82 times
within I80 servo cycles. It also must detect less than I81 ring errors (byte violation error, packet parity error,
packet overflow error, or packet underflow error) in this same period, and find no errors for at least one of its
checks during the period. If either of these conditions is not met, Turbo PMAC will assume it is a ring fault,
and will disable all motors.
If I80 is 0, Turbo PMAC does not perform these checks, even if MACRO is active.
A ring check period of about 20 milliseconds is recommended in a typical MACRO application. I80 can
be set as function of the desired period according to the formula:
be set as function of the desired period according to the formula:
I80 = Desired ring check period (msec) * Servo update frequency (kHz)
If I80 is greater than 0, activating this check function, bits 16 to 19 of I6841 (Sync Packet Number) must
specify the number of a packet that is regularly being received by this card. Otherwise, Turbo PMAC will
immediately detect a ring fault. Typically, Packet 15 ($F) is used as the sync packet, and it is always sent
because bit 15 of I6841 is set to 1 to activate the node to send the packet around the ring every cycle.
specify the number of a packet that is regularly being received by this card. Otherwise, Turbo PMAC will
immediately detect a ring fault. Typically, Packet 15 ($F) is used as the sync packet, and it is always sent
because bit 15 of I6841 is set to 1 to activate the node to send the packet around the ring every cycle.