Delta Tau GEO BRICK LV User Manual
Turbo PMAC User Manual
8
Turbo PMAC Family Overview
Machine Interface ICs
The Turbo PMAC CPU communicates to the physical machine through several types of special ICs that
have memory-mapped registers for easy processor access, and application-specific circuitry for the
machine interface. The most common of these are the Servo ICs, the MACRO ICs, and the I/O ICs,
application-specific ICs (ASICs) designed by Delta Tau and manufactured in gate array technology to
create a full feature set in a cost-effective manner.
have memory-mapped registers for easy processor access, and application-specific circuitry for the
machine interface. The most common of these are the Servo ICs, the MACRO ICs, and the I/O ICs,
application-specific ICs (ASICs) designed by Delta Tau and manufactured in gate array technology to
create a full feature set in a cost-effective manner.
Servo ICs
The Servo ICs contain all of the digital logic to provide the interface between the CPU and the motion
(servo or stepper) channels. Each Servo IC provides the interface to four motion channels. There are
presently two types of Servo ICs, one supporting the older PMAC-style interface (analog amplifier
interface only), and the other supporting the newer PMAC2-style interface (analog or digital amplifier
interfaces).
(servo or stepper) channels. Each Servo IC provides the interface to four motion channels. There are
presently two types of Servo ICs, one supporting the older PMAC-style interface (analog amplifier
interface only), and the other supporting the newer PMAC2-style interface (analog or digital amplifier
interfaces).
Servo Channels: Servo channels are a hardware structure in Turbo PMAC systems, a set of interfaces
and registers in the Servo ICs and surrounding systems. A channel consists of the interface and registers
for a single amplifier, encoder, and set of flags. While these channels are usable by Turbo PMAC motors,
axes, and coordinate systems (which are software structures – see Key Software Components below) for
various purposes, they can exist independently of any of those structures.
and registers in the Servo ICs and surrounding systems. A channel consists of the interface and registers
for a single amplifier, encoder, and set of flags. While these channels are usable by Turbo PMAC motors,
axes, and coordinate systems (which are software structures – see Key Software Components below) for
various purposes, they can exist independently of any of those structures.
Reporting Servo ICs Present: Turbo PMAC variable I4900 reports how many Servo ICs are present,
and at which addresses. I4901 reports which type each Servo IC is. The following table shows which
Servo ICs can be present, their addresses, and the I-variables used to configure them:
and at which addresses. I4901 reports which type each Servo IC is. The following table shows which
Servo ICs can be present, their addresses, and the I-variables used to configure them:
Servo IC #
Base Address
I Variables
Servo IC #
Base Address
I Variables
0
$078000
I7000 – I7049
5
$079300
I7500 – I7549
1
$078100
I7100 – I7149
6
$07A200
I7600 – I7649
2
$078200
I7200 – I7249
7
$07A300
I7700 – I7749
3
$078300
I7300 – I7349
8
$07B200
I7800 – I7849
4
$079200
I7400 – I7449
9
$07B300
I7900 – I7949
Servo ICs 0 and 1 are on board a board-level Turbo PMAC or in a 3U-format stack. Servo ICs 2 through
9 are accessed through the expansion port, either the UMAC’s UBUS backplane expansion port, or a
board-level Turbo PMAC’s JEXP cable expansion port, on an Acc-24x axis board, or an Acc-51x
interpolator board.
9 are accessed through the expansion port, either the UMAC’s UBUS backplane expansion port, or a
board-level Turbo PMAC’s JEXP cable expansion port, on an Acc-24x axis board, or an Acc-51x
interpolator board.
PMAC-Style DSPGATE ASIC: The PMAC-style Servo IC is labeled the DSPGATE. It is a 4-channel
part with 32 memory-mapped registers. Each channel supports the following features:
part with 32 memory-mapped registers. Each channel supports the following features:
•
Serial output for 16-bit digital-to-analog converter
•
Input for digital quadrature or pulse-and-direction feedback with index
•
Four input flags (home, +/-limit, amp-fault) that can trigger hardware encoder capture
•
Amplifier-enable output
•
Hardware position-compare output
•
Input from 16-bit analog-to-digital converter (from accessory board)