Delta Tau GEO BRICK LV User Manual
Turbo PMAC User Manual
64
Setting Up Feedback and Master Position Sensors
PFM Pulse Output Addresses (Y-registers)
IC# - Chan#
0 - 1
0 - 2
0 - 3
0 - 4
1 - 1
1 - 2
1 - 3
1 - 4
Mxx07->Y:
$078004 $07800C $078014 $07801C $078104 $07810C $078114 $07811C
IC# - Chan#
2 - 1
2 - 2
2 - 3
2 - 4
3 - 1
3 - 2
3 - 3
3 - 4
Mxx07->Y:
$078204 $07820C $078214 $07821C $078304 $07830C $078314 $07831C
IC# - Chan#
4 - 1
4 - 2
4 - 3
4 - 4
5 - 1
5 - 2
5 - 3
5 - 4
Mxx07->Y:
$079204 $07920C $079214 $07921C $079304 $07930C $079314 $07931C
IC# - Chan#
6 - 1
6 - 2
6 - 3
6 - 4
7 - 1
7 - 2
7 - 3
7 - 4
Mxx07->Y:
$07A204 $07A20C $07A214 $07A21C $07A304 $07A30C $07A314 $07A31C
IC# - Chan#
8 - 1
8 - 2
8 - 3
8 - 4
9 - 1
9 - 2
9 - 3
9 - 4
Mxx07->Y:
$07B204 $07B20C $07B214 $07B21C $07B304 $07B30C $07B314 $07B31C
IC# - Chan#
M0 – 1* M0 – 2*
Mxx07->Y:
$078414
$07841C
Servo ICs 0 and 1 are on the Turbo PMAC2 itself or on Acc-2E 3U-format stack boards.
Servo ICs 2 – 9 are on Acc-24x2 boards.
On dual-IC boards, IC channels 1 – 4 for odd-numbered Servo ICs are board channels 5 – 8.
MACRO IC channels are on the handwheel port
Servo ICs 2 – 9 are on Acc-24x2 boards.
On dual-IC boards, IC channels 1 – 4 for odd-numbered Servo ICs are board channels 5 – 8.
MACRO IC channels are on the handwheel port
A sample M-variable definition is:
M107->Y:$078004,8,16,S
; Servo IC 0 Chan 1 PFM (C) cmd val
Note:
The PFM command registers are actually 24-bit registers; the suggested definitions
just use the high 16 bits, providing enough resolution for our purposes here. If you
use the register as a 24-bit value, e.g. M107->Y:$078004,0,24,S, it takes
numerical values 256 times higher than the equations shown here. When using the
MACRO Station, MI926 is a 24-bit, not 16-bit value.
just use the high 16 bits, providing enough resolution for our purposes here. If you
use the register as a 24-bit value, e.g. M107->Y:$078004,0,24,S, it takes
numerical values 256 times higher than the equations shown here. When using the
MACRO Station, MI926 is a 24-bit, not 16-bit value.
The frequency of the pulse output should produce a period just slightly longer than the longest expected
response time for the echo pulse. For MLDTs, the response time is approximately 0.35
response time for the echo pulse. For MLDTs, the response time is approximately 0.35
µsec/mm (9
µsec/inch). On an MLDT 1500 mm (~60 in) long, the longest response time is approximately 540 µsec; a
recommended period between pulse outputs for this device is 600
recommended period between pulse outputs for this device is 600
µsec, for a frequency of 1667 Hz.
To produce the desired pulse output frequency from a Turbo PMAC IC, the following formula can be
used (assuming a 16-bit M-variable definition):
used (assuming a 16-bit M-variable definition):
)
kHz
(
Freq
_
PFMCLK
536
,
65
07
Mxx
)
kHz
(
OutputFreq
=
or:
)
kHz
(
Freq
_
PFMCLK
)
kHz
(
OutputFreq
*
536
,
65
07
Mxx
=
To produce a pulse output frequency of 1.667 kHz with the default PFMCLK frequency of 9.83 MHz, we
calculate:
calculate:
11
830
,
9
667
.
1
*
536
,
65
07
Mxx
≅
=
To write this value to the register, a power-on PLC routine is suggested; this can also be done with on-
line commands from the host computer. Turbo PMAC firmware will not write this value to the register
automatically.
To produce the desired pulse output frequency from a channel on the MACRO Station, the following
formula can be used for node-specific 24-bit variable MI926:
line commands from the host computer. Turbo PMAC firmware will not write this value to the register
automatically.
To produce the desired pulse output frequency from a channel on the MACRO Station, the following
formula can be used for node-specific 24-bit variable MI926:
)
kHz
(
Freq
_
PFMCLK
216
,
777
,
16
926
MI
)
kHz
(
OutputFreq
=