Delta Tau GEO BRICK LV User Manual
Turbo PMAC User Manual
Turbo PMAC Family Overview
13
Key Software Components
In any application, the Turbo PMAC will have software components provided both by Delta Tau and by
the user. The Delta Tau software components are known as the firmware (software embedded in the
hardware). These are not application-specific. The user software components – primarily motion
programs and PLC programs – are application-specific.
the user. The Delta Tau software components are known as the firmware (software embedded in the
hardware). These are not application-specific. The user software components – primarily motion
programs and PLC programs – are application-specific.
Operational Firmware
The operational firmware of the Turbo PMAC serves as both the operating system for the controller and
as the PMAC-language interpreter. As an operating system, it provides a hard-real-time multi-tasking
environment with extremely fast task switching, providing a very high level of determinism for the high-
priority tasks such as servo-loop closure. It also handles the sequencing of operations within motion
programs automatically, so this sequencing of move-by-move operations does not have to be handled by
the user.
as the PMAC-language interpreter. As an operating system, it provides a hard-real-time multi-tasking
environment with extremely fast task switching, providing a very high level of determinism for the high-
priority tasks such as servo-loop closure. It also handles the sequencing of operations within motion
programs automatically, so this sequencing of move-by-move operations does not have to be handled by
the user.
Typically, the operational firmware is updated once or twice a year to add new features and to fix
problems. Field upgrades of the firmware are easy to perform. Simply power up the Turbo PMAC with
the firmware reload jumper installed, and then launch the PMAC Executive program on the PC. The
Executive program will notice automatically that the Turbo PMAC is ready to install new firmware and
query for the file to be downloaded. It will download the new firmware automatically from the specified
file into the Turbo PMAC.
problems. Field upgrades of the firmware are easy to perform. Simply power up the Turbo PMAC with
the firmware reload jumper installed, and then launch the PMAC Executive program on the PC. The
Executive program will notice automatically that the Turbo PMAC is ready to install new firmware and
query for the file to be downloaded. It will download the new firmware automatically from the specified
file into the Turbo PMAC.
Bootstrap Firmware
The operation of the bootstrap firmware is invisible to virtually all Turbo PMAC users. Its function is
very similar to that of a PC’s BIOS, providing a link between the hardware and the operating system, and
permitting the operating system to load. While Delta Tau may upgrade the bootstrap firmware from time
to time (and each new hardware configuration of the CPU may require a different variation of the
bootstrap firmware), Delta Tau does not support the field upgrade of the bootstrap firmware.
very similar to that of a PC’s BIOS, providing a link between the hardware and the operating system, and
permitting the operating system to load. While Delta Tau may upgrade the bootstrap firmware from time
to time (and each new hardware configuration of the CPU may require a different variation of the
bootstrap firmware), Delta Tau does not support the field upgrade of the bootstrap firmware.
In normal operation, the bootstrap firmware operates invisibly underneath the operational firmware,
automatically loading the operational firmware on top of it at each power-up/reset. However, if the Turbo
PMAC is powered up or reset with the firmware-reload jumper on, the operational firmware will not be
loaded from flash memory, and the host computer can communicate directly with the bootstrap firmware
(through the main serial port or a bus that uses the CPU’s host port only). If the operational firmware has
not been loaded, Turbo PMAC’s response to the ?, ??, or ??? status query command is BOOTSTRAP
PROM.
automatically loading the operational firmware on top of it at each power-up/reset. However, if the Turbo
PMAC is powered up or reset with the firmware-reload jumper on, the operational firmware will not be
loaded from flash memory, and the host computer can communicate directly with the bootstrap firmware
(through the main serial port or a bus that uses the CPU’s host port only). If the operational firmware has
not been loaded, Turbo PMAC’s response to the ?, ??, or ??? status query command is BOOTSTRAP
PROM.
Motors, Axes, and Coordinate Systems
Motors, axes, and coordinate systems are software structures in a Turbo PMAC system. While they
usually utilize hardware channels to interface to the outside world, it is possible to use them as virtual
structures, just for their computational features.
usually utilize hardware channels to interface to the outside world, it is possible to use them as virtual
structures, just for their computational features.
Motors
A motor in Turbo PMAC consists of the software structures necessary for basic moves, commanded-
position interpolation, servo-loop closure, commutation, and current-loop closure. Every Turbo PMAC
has the capability for executing the algorithms for 32 motors, even if only a few servo channels are
provided. These motors are specified by number (1 through 32), and their attributes are specified in terms
of raw “counts”, milliseconds, and related units.
position interpolation, servo-loop closure, commutation, and current-loop closure. Every Turbo PMAC
has the capability for executing the algorithms for 32 motors, even if only a few servo channels are
provided. These motors are specified by number (1 through 32), and their attributes are specified in terms
of raw “counts”, milliseconds, and related units.
A Turbo PMAC motor accesses hardware-channel functions for its various input and output needs
through setup I-variables that contain the address of the register to be used. This mapping functionality
provides great power and flexibility in a simple manner.
through setup I-variables that contain the address of the register to be used. This mapping functionality
provides great power and flexibility in a simple manner.