Delta Tau GEO BRICK LV User Manual
Turbo PMAC User Manual
Turbo PMAC Family Overview
11
Turbo PMAC variable I4902 reports how many MACRO ICs are present, and at which addresses. I4903
reports which type each MACRO IC is, a DSPGATE2 or a MACROGATE (see below). Variables I20 –
I23 specify the addresses of the four MACRO ICs that are automatically configured with I-variables. The
following table summarizes this configuration:
reports which type each MACRO IC is, a DSPGATE2 or a MACROGATE (see below). Variables I20 –
I23 specify the addresses of the four MACRO ICs that are automatically configured with I-variables. The
following table summarizes this configuration:
MACRO IC #
I Variables
Usual Base Address
Usual Type
0
I6800 – I6849
$078400
DSPGATE2
1
I6850 – I6899
$079400
MACROGATE
2
I6900 – I6949
$07A400
MACROGATE
3
I6950 – I6999
$07B400
MACROGATE
DSPGATE2 MACRO IC
The DSPGATE2 IC provides both MACRO-ring functions and general-purpose I/O functions. The I/O
functions are described in the next section. For the MACRO ring, the DSPGATE2 provides a 16-node bi-
directional interface. Of these nodes, eight can be used as servo nodes, each of which can transfer all of
the command and feedback data required for the servo and commutation of a motor. Six of the nodes can
be used for general-purpose I/O, each node supporting 72 bits of hard real-time I/O in each direction.
Two of the nodes are for non-real-time communications, including broadcast mode in which a master
controller can talk to all of its slave devices simultaneously.
The DSPGATE2 IC provides both MACRO-ring functions and general-purpose I/O functions. The I/O
functions are described in the next section. For the MACRO ring, the DSPGATE2 provides a 16-node bi-
directional interface. Of these nodes, eight can be used as servo nodes, each of which can transfer all of
the command and feedback data required for the servo and commutation of a motor. Six of the nodes can
be used for general-purpose I/O, each node supporting 72 bits of hard real-time I/O in each direction.
Two of the nodes are for non-real-time communications, including broadcast mode in which a master
controller can talk to all of its slave devices simultaneously.
Turbo PMAC2 Ultralite controllers come standard with a single DSPGATE2 IC, for a 16-node MACRO
interface. The UMAC Acc-5E also comes standard with a single DSPGATE2 IC.
interface. The UMAC Acc-5E also comes standard with a single DSPGATE2 IC.
MACROGATE MACRO IC
The MACROGATE IC provides the same 16-node MACRO-ring interface as does the DSPGATE2 IC,
but it does not have the I/O capability of a DSPGATE2. Subsequent optional MACRO ICs (Options 1U1,
1U2, and 1U3) on a Turbo PMAC2 Ultralite are MACROGATE ICs.
The MACROGATE IC provides the same 16-node MACRO-ring interface as does the DSPGATE2 IC,
but it does not have the I/O capability of a DSPGATE2. Subsequent optional MACRO ICs (Options 1U1,
1U2, and 1U3) on a Turbo PMAC2 Ultralite are MACROGATE ICs.
I/O ICs
The Turbo PMAC CPU accesses general-purpose digital I/O through a variety of I/O interface ICs. On
Turbo PMAC boards, these are modern equivalents of the classic 8255 IC design originally made by
Intel. These ICs are addressed by a Turbo PMAC CPU at Y:$078800 – Y:$078803.
Turbo PMAC boards, these are modern equivalents of the classic 8255 IC design originally made by
Intel. These ICs are addressed by a Turbo PMAC CPU at Y:$078800 – Y:$078803.
On Turbo PMAC2 boards, and UMAC I/O boards, these are Delta Tau-designed I/O ASICs, as described
below.
below.
DSPGATE2 I/O IC
The DSPGATE2 IC provides both MACRO-ring functions and general-purpose I/O functions. The
MACRO functions are described in the previous section. Each board-level Turbo PMAC2 board and the
UMAC’s Acc-5E board use the DSPGATE2 to support the non-servo I/O ports. These ports are:
The DSPGATE2 IC provides both MACRO-ring functions and general-purpose I/O functions. The
MACRO functions are described in the previous section. Each board-level Turbo PMAC2 board and the
UMAC’s Acc-5E board use the DSPGATE2 to support the non-servo I/O ports. These ports are:
•
The JTHW multiplexer port
•
The JIO general-purpose I/O port
•
The JDISP display port
•
The JHW handwheel port
The DSPGATE2 IC on a board-level Turbo PMAC2 is addressed at Y:$078400 – Y:$07843F. On a
UMAC Acc-5E board with the address DIP-switches in the default configuration, the DSPGATE2 IC is
addressed at this same location.
UMAC Acc-5E board with the address DIP-switches in the default configuration, the DSPGATE2 IC is
addressed at this same location.