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Turbo PMAC User Manual
Setting Up Feedback and Master Position Sensors
53
Turbo PMAC Servo IC SCLK Frequency Control
On a Turbo PMAC board, or an Acc-24x with PMAC-style Servo ICs (Acc-24P or 24V), the SCLK
frequency is set by the configuration of jumpers E34 – E38. Only one of these jumpers may be on in any
given configuration. This SCLK frequency is common to all Servo ICs and channels on the board.
On a Turbo PMAC board, or an Acc-24x with PMAC-style Servo ICs (Acc-24P or 24V), the SCLK
frequency is set by the configuration of jumpers E34 – E38. Only one of these jumpers may be on in any
given configuration. This SCLK frequency is common to all Servo ICs and channels on the board.
Turbo PMAC2 Servo IC SCLK Frequency Control
On a Turbo PMAC2 board, or an accessory board with PMAC2-style Servo ICs or MACRO ICs (e.g.
Acc-24P2, 24E2, 24E2A, 24E2S, 24C2, 24C2A, 5E), the SCLK frequency is set by an I-variable for the
Servo IC. This variable sets the frequency for all channels in the IC, but each IC has an independent
setting. Consult the description of the variable in the Software Reference manual for details.
On a Turbo PMAC2 board, or an accessory board with PMAC2-style Servo ICs or MACRO ICs (e.g.
Acc-24P2, 24E2, 24E2A, 24E2S, 24C2, 24C2A, 5E), the SCLK frequency is set by an I-variable for the
Servo IC. This variable sets the frequency for all channels in the IC, but each IC has an independent
setting. Consult the description of the variable in the Software Reference manual for details.
For a PMAC2-style Servo IC m, IC variable I7m03 determines the SCLK frequency. This variable also
determines three other clock frequencies for the IC. If the IC is on a MACRO Station, MI903 or MI907
determines the SCLK frequency.
determines three other clock frequencies for the IC. If the IC is on a MACRO Station, MI903 or MI907
determines the SCLK frequency.
For a MACRO IC on a Turbo PMAC2 board or UMAC Acc-5E board (for the handwheel encoders),
I6803 determines the SCLK frequency in the same manner for both channels on the IC. If the IC is in a
MACRO Station with an Acc-1E stack 2-axis board, MI993 determines the SCLK frequency.
I6803 determines the SCLK frequency in the same manner for both channels on the IC. If the IC is in a
MACRO Station with an Acc-1E stack 2-axis board, MI993 determines the SCLK frequency.
All of these variables work in the same manner. The other three clock frequencies that each controls are
virtually never changed, so the following table may be useful for setting the SCLK frequency with the
others left at the default frequency:
virtually never changed, so the following table may be useful for setting the SCLK frequency with the
others left at the default frequency:
Variable Value
SCLK Frequency
Variable Value
SCLK Frequency
2256
39.32 MHz
2260
2.46 MHz
2257
19.66 MHz
2261
1.23 MHz
2258* 9.83
MHz* 2262 612
kHz
2259 4.92
MHz 2263
306
kHz
*Default
Encoder Decode Control: I7mn0, I68n0, MI910
The decoding of the encoder signal, both as to resolution and direction, is determined by a channel-
specific I-variable. For Servo ICs of both PMAC-style and PMAC2-style, this is I7mn0 (for Servo IC m
Channel n). For MACRO IC 0 Channel n* on a Turbo PMAC (a “handwheel” port encoder), this is
I68n0. For encoder channels on a MACRO Station, this is node-specific variable MI910.
specific I-variable. For Servo ICs of both PMAC-style and PMAC2-style, this is I7mn0 (for Servo IC m
Channel n). For MACRO IC 0 Channel n* on a Turbo PMAC (a “handwheel” port encoder), this is
I68n0. For encoder channels on a MACRO Station, this is node-specific variable MI910.
This variable is set for “times-4” decode, which derives four counts per signal cycle, one for each signal
edge. This requires a variable value of 3 or 7. The difference between these two values is the direction
sense – which direction of motion causes the counter to count up. Remember that for a feedback encoder,
the encoder’s direction sense must match the servo-loop output’s direction sense – a positive servo output
must cause the counter to count in the positive direction – otherwise a dangerous runaway condition will
occur when the servo loop is closed.
edge. This requires a variable value of 3 or 7. The difference between these two values is the direction
sense – which direction of motion causes the counter to count up. Remember that for a feedback encoder,
the encoder’s direction sense must match the servo-loop output’s direction sense – a positive servo output
must cause the counter to count in the positive direction – otherwise a dangerous runaway condition will
occur when the servo loop is closed.
Conversion Table Processing Setup – Turbo PMAC Interface
Digital quadrature encoders are processed in the conversion table with the “1/T extension” method
(method digit $0), which uses timers associated with the counter to compute fractional count information
that enhances smoothness of motion. The source address specified is that of the base address of the
channel (e.g. $78200 for Servo IC 0 Channel 1); Turbo PMAC will use several registers of that channel to
assemble the enhanced position information automatically.
(method digit $0), which uses timers associated with the counter to compute fractional count information
that enhances smoothness of motion. The source address specified is that of the base address of the
channel (e.g. $78200 for Servo IC 0 Channel 1); Turbo PMAC will use several registers of that channel to
assemble the enhanced position information automatically.
It is also possible to disable the 1/T extension (method digit $C) in the table processing. For details of
setting up the encoder conversion table to process quadrature encoders, consult the Setting up the Encoder
Conversion Table section and the specification for variables I8000 – I8191 in the Software Reference
Manual.
setting up the encoder conversion table to process quadrature encoders, consult the Setting up the Encoder
Conversion Table section and the specification for variables I8000 – I8191 in the Software Reference
Manual.