Delta Tau GEO BRICK LV User Manual
Turbo PMAC User Manual
20
Turbo PMAC System Configuration and Auto Configuration
UMAC Systems
In UMAC systems (including Compact UMAC), the phase and servo clocks are shared across the UBUS
backplane board among the different 3U-format cards inserted into that backplane. Each card has buffer
ICs for these signals as they interface to the backplane. On cards that are potential sources of the phase
and servo clock signals, such as the Acc-24E/C axis boards or the Acc-5E MACRO board, these buffers
can be configured as either inputs or outputs.
backplane board among the different 3U-format cards inserted into that backplane. Each card has buffer
ICs for these signals as they interface to the backplane. On cards that are potential sources of the phase
and servo clock signals, such as the Acc-24E/C axis boards or the Acc-5E MACRO board, these buffers
can be configured as either inputs or outputs.
On each UMAC board that could be a clock source, there is a jumper that controls the configuration of the
clock-direction buffers. In one setting, the board can only input the clock signals. This setting is required
for the UMAC MACRO, in which the clock signals always come from the MACRO interface board. It is
permissible, but not recommended, for boards in UMAC Turbo systems that will be not be generating
their own phase and servo clock signals. This setting is not permissible for the UMAC board that is
generating the system phase and servo clocks.
clock-direction buffers. In one setting, the board can only input the clock signals. This setting is required
for the UMAC MACRO, in which the clock signals always come from the MACRO interface board. It is
permissible, but not recommended, for boards in UMAC Turbo systems that will be not be generating
their own phase and servo clock signals. This setting is not permissible for the UMAC board that is
generating the system phase and servo clocks.
In the other setting, the direction of the clock-signal buffers can be reversed by the Turbo CPU. This
setting is required for the board that is generating the system clocks; it is recommended for the other
boards as well (so the source can be changed without moving any buffers). At power-up/reset, the CPU
will configure the buffers the board containing the Servo IC or MACRO IC that is specified by I19 to
generate the system clocks as outputs to the UBUS backplane; it will configure the buffers on all other
boards to be inputs from the UBUS backplane.
setting is required for the board that is generating the system clocks; it is recommended for the other
boards as well (so the source can be changed without moving any buffers). At power-up/reset, the CPU
will configure the buffers the board containing the Servo IC or MACRO IC that is specified by I19 to
generate the system clocks as outputs to the UBUS backplane; it will configure the buffers on all other
boards to be inputs from the UBUS backplane.
Missing Clock Signals
If the phase and/or servo clock signals are not present, this is a serious failure, and the Turbo PMAC
system will not be able to operate properly. This section explains how Turbo PMAC systems respond to
such a failure.
system will not be able to operate properly. This section explains how Turbo PMAC systems respond to
such a failure.
Board-Level Turbo PMACs
On board-level Turbo PMACs, if the CPU does not receive the phase and servo clock signals at any time,
the watchdog timer will immediately trip and shut down the system completely. If this happens
immediately at power-up/reset due to improper configuration of the clock-source setup, install the re-
initialization jumper and power up the system again to restore a valid clock source from one of the on-
board Servo ICs or MACRO ICs.
the watchdog timer will immediately trip and shut down the system completely. If this happens
immediately at power-up/reset due to improper configuration of the clock-source setup, install the re-
initialization jumper and power up the system again to restore a valid clock source from one of the on-
board Servo ICs or MACRO ICs.
UMAC Systems
In a UMAC system (including Compact UMAC), if the CPU does not receive any phase or servo clock
signals over the UBUS backplane immediately after configuring the clock source, it will go into a special
mode in which it generates its own phase and servo clocks at the factory default frequencies of 9.03 kHz
and 2.26 kHz, respectively. In this case, it sets the global status bit No hardware clocks found at
X:$000006 bit 3 to 1.
signals over the UBUS backplane immediately after configuring the clock source, it will go into a special
mode in which it generates its own phase and servo clocks at the factory default frequencies of 9.03 kHz
and 2.26 kHz, respectively. In this case, it sets the global status bit No hardware clocks found at
X:$000006 bit 3 to 1.
This mode is intended to keep the system alive to permit the user to set up the clock configuration
information properly for their setup. It is not intended for the UMAC to be able to do actual control in
this mode. In firmware revisions V1.940 and newer, no motor can be enabled if this error bit is set, with
the Turbo PMAC reporting an ERR018 to an enabling command if I6 is set to 1 or 3.
If the UMAC CPU stops receiving the phase or servo clock signals after this time, the watchdog timer
will trip and immediately shut down the system completely.
information properly for their setup. It is not intended for the UMAC to be able to do actual control in
this mode. In firmware revisions V1.940 and newer, no motor can be enabled if this error bit is set, with
the Turbo PMAC reporting an ERR018 to an enabling command if I6 is set to 1 or 3.
If the UMAC CPU stops receiving the phase or servo clock signals after this time, the watchdog timer
will trip and immediately shut down the system completely.
Re-Initialization Actions
On re-initialization of a Turbo PMAC2 ($$$*** command, or power-on/reset with re-initialization
jumper E3 ON), the CPU searches all possible locations of Servo ICs and MACRO ICs to see which are
present. If the system is not set up for an external clock source, it then makes a decision as to which of
these ICs it will use to generate the system’s phase and servo clocks, using the first IC that it finds in the
following list:
jumper E3 ON), the CPU searches all possible locations of Servo ICs and MACRO ICs to see which are
present. If the system is not set up for an external clock source, it then makes a decision as to which of
these ICs it will use to generate the system’s phase and servo clocks, using the first IC that it finds in the
following list: