Delta Tau GEO BRICK LV User Manual
Turbo PMAC User Manual
28
Turbo PMAC System Configuration and Auto Configuration
At the default value of 3 (divide by 4) and the default phase clock frequency of 9.04 kHz, this sets a servo
clock frequency of 2.26 kHz (442 µsec period). The following diagram shows the relationship between
the PWM counter, whose frequency is set by the I7m00/I6800 Max Count parameter, the resulting
MaxPhase clock signal, and the Phase and Servo clock signals that are derived from MaxPhase.
clock frequency of 2.26 kHz (442 µsec period). The following diagram shows the relationship between
the PWM counter, whose frequency is set by the I7m00/I6800 Max Count parameter, the resulting
MaxPhase clock signal, and the Phase and Servo clock signals that are derived from MaxPhase.
PMAC2 Clock Signal Example
PWM
Counter
+ Max
Count
Count
- Max
Count
t
Max
Phase
Phase
Servo
Setting I10 Servo Update Time Parameter
On any Turbo PMAC system, set the I10 servo update time parameter to match the servo frequency
selected. I10 is used by the interpolation algorithms to decide how far to increment position each servo
cycle and it must be set correctly to get trajectories at the proper speed. I10 is scaled such that a value of
2
selected. I10 is used by the interpolation algorithms to decide how far to increment position each servo
cycle and it must be set correctly to get trajectories at the proper speed. I10 is scaled such that a value of
2
23
(8,388,608) matches a servo update type of 1 millisecond (1 kHz servo clock frequency).
The equation for setting I10 as a function of the servo update period is:
)
kHz
(
eFreq
ServoUpdat
608
,
388
,
8
sec)
m
(
ePeriod
ServoUpdat
*
608
,
388
,
8
10
I
=
=
The default value for I10 of 3,713,707 matches the default servo period of 442 µsec, so if you keep this
default period, you will not have to change I10. Refer to the description of I10 in the Software Reference
manual for detailed instructions on the setting of I10. To get a new value of I10 to take effect, issue a
%100 command for each coordinate system used or a SAVE command and reset the Turbo PMAC.
default period, you will not have to change I10. Refer to the description of I10 in the Software Reference
manual for detailed instructions on the setting of I10. To get a new value of I10 to take effect, issue a
%100 command for each coordinate system used or a SAVE command and reset the Turbo PMAC.
Setting up a Turbo PMAC2 on the MACRO Ring
Turbo PMAC2 controllers can command axes and I/O over the MACRO ring. Most commonly, this is
done with an Ultralite board-level Turbo PMAC2 controller that is installed as an expansion card in the
host computer, communicating to MACRO Stations, MACRO-based drives, and/or MACRO peripheral
devices over the MACRO ring. However, it is also possible for a UMAC Turbo with the Acc-5E
MACRO interface, or a QMAC with the MACRO-interface option installed, to command devices over
the MACRO ring.
done with an Ultralite board-level Turbo PMAC2 controller that is installed as an expansion card in the
host computer, communicating to MACRO Stations, MACRO-based drives, and/or MACRO peripheral
devices over the MACRO ring. However, it is also possible for a UMAC Turbo with the Acc-5E
MACRO interface, or a QMAC with the MACRO-interface option installed, to command devices over
the MACRO ring.
Several variables must be set up properly for proper ring operation. Usually, this is done automatically
through use of the Turbo Setup program on a PC. The following instructions permit direct manual setting
of these variables.
through use of the Turbo Setup program on a PC. The following instructions permit direct manual setting
of these variables.