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Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Global I-Variables
199
SCLK: The encoder sample clock signal SCLK controls how often the MACRO IC’s digital hardware
looks at the encoder and flag inputs. The MACRO IC can take at most one count per SCLK cycle, so the
SCLK frequency is the absolute maximum encoder count frequency. SCLK also controls the signal
propagation through the digital delay filters for the encoders and flags; the lower the SCLK frequency, the
greater the noise pulse that can be filtered out. The SCLK frequency should optimally be set to the lowest
value that can accept encoder counts at the maximum possible rate.
looks at the encoder and flag inputs. The MACRO IC can take at most one count per SCLK cycle, so the
SCLK frequency is the absolute maximum encoder count frequency. SCLK also controls the signal
propagation through the digital delay filters for the encoders and flags; the lower the SCLK frequency, the
greater the noise pulse that can be filtered out. The SCLK frequency should optimally be set to the lowest
value that can accept encoder counts at the maximum possible rate.
PFM_CLK: The pulse-frequency-modulation clock PFM_CLK controls the PFM circuitry that is
commonly used for stepper drives. The maximum pulse frequency possible is 1/4 of the PFM_CLK
frequency. The PFM_CLK frequency should optimally be set to the lowest value that can generate pulses
at the maximum frequency required.
commonly used for stepper drives. The maximum pulse frequency possible is 1/4 of the PFM_CLK
frequency. The PFM_CLK frequency should optimally be set to the lowest value that can generate pulses
at the maximum frequency required.
DAC_CLK: The DAC_CLK controls the serial data frequency into D/A converters. If these converters
are on Delta Tau-provided accessories, the DAC_CLK setting should be left at the default value.
are on Delta Tau-provided accessories, the DAC_CLK setting should be left at the default value.
ADC_CLK: The ADC_CLK controls the serial data frequency from A/D converters. If these converters
are on Delta Tau-provided accessories, the ADC_CLK setting should be left at the default value.
are on Delta Tau-provided accessories, the ADC_CLK setting should be left at the default value.
Note:
By default, the DAC and ADC circuits of a MACRO IC are not used on a Turbo
PMAC2. The DAC and ADC lines are the alternate uses of pins on the
Multiplexer and I/O ports, respectively.
PMAC2. The DAC and ADC lines are the alternate uses of pins on the
Multiplexer and I/O ports, respectively.
To determine the clock frequencies set by a given value of I6803 (etc.), use the following procedure:
1. Divide I6803 by 512 and round down to the nearest integer. This value N1 is the ADC_CLK divider.
2. Multiply N1 by 512 and subtract the product from I6803 to get I6803'. Divide I6803' by 64 and
round down to the nearest integer. This value N2 is the DAC_CLK divider.
3. Multiply N2 by 64 and subtract the product from I6803' to get I6803''. Divide I6803'' by 8 and round
down to the nearest integer. This value N3 is the PFM_CLK divider.
4. Multiply N3 by 8 and subtract the product from I6803''. The resulting value N4 is the SCLK divider.
Examples:
The maximum encoder count frequency in the application is 800 kHz, so the 1.2288 MHz SCLK
frequency is chosen. A pulse train up to 500 kHz needs to be generated, so the 2.4576 MHz PFM_CLK
frequency is chosen. The default serial DACs and ADCs provided by Delta Tau are used, so the default
DAC_CLK frequency of 4.9152 MHz and the default ADC_CLK frequency of 2.4576 MHz are chosen.
From the table:
The maximum encoder count frequency in the application is 800 kHz, so the 1.2288 MHz SCLK
frequency is chosen. A pulse train up to 500 kHz needs to be generated, so the 2.4576 MHz PFM_CLK
frequency is chosen. The default serial DACs and ADCs provided by Delta Tau are used, so the default
DAC_CLK frequency of 4.9152 MHz and the default ADC_CLK frequency of 2.4576 MHz are chosen.
From the table:
SCLK Divider N: 5
PFM_CLK Divider N: 4
DAC_CLK Divider N: 3
ADC_CLK Divider N: 4
I6803 = 5 + (8 * 4) + (64 * 3) + (512 * 4) = 5 + 32 + 192 + 2048 = 2277
I6803 has been set to 3429. What clock frequencies does this set?
N1 = INT (3429/512) = 6
ADC_CLK = 611.44 kHz
I6803' = 3429 - (512*6) = 357
N2 = INT (357/64) = 5
DAC_CLK = 1.2288 MHz
I6803'' = 357 - (64*5) = 37
N3 = INT (37/8) = 4
PFM_CLK = 2.4576 MHz
N4 = 37 - (8*4) = 5
SCLK = 1.2288 MHz
See Also:
I-variables I7m03, I7m53
I-variables I7m03, I7m53