Delta Tau GEO BRICK LV 사용자 설명서
Turbo PMAC User Manual
Synchronizing Turbo PMAC to External Events
363
3. Compare output invert control bit: If this bit is set to 0, the off state is a low voltage out of the Servo
IC, and the on state is a high voltage. (Depending on the output driver circuitry, the actual output
from the card may be inverted from this.) If this bit is set to 1, the off state is a high voltage and the
on state is a low voltage. Note that this control bit can be used by itself to make the compare output a
general-purpose digital output, or in some cases, a software-driven interrupt to the host computer.
The single status bit is the position-compare flag, which shows the present state of the compare output
logic (and if the output is enabled, of the physical output). It is set to 1 if the compare output logic
state is on, and to a 0 if the output logic state is off.
from the card may be inverted from this.) If this bit is set to 1, the off state is a high voltage and the
on state is a low voltage. Note that this control bit can be used by itself to make the compare output a
general-purpose digital output, or in some cases, a software-driven interrupt to the host computer.
The single status bit is the position-compare flag, which shows the present state of the compare output
logic (and if the output is enabled, of the physical output). It is set to 1 if the compare output logic
state is on, and to a 0 if the output logic state is off.
There are no firmware functions for the automatic use of the position-compare circuitry. Your application
software must deal with the compare registers and control/status bits directly. Usually, these are accessed
with M-variables, and the file of suggested M-variables includes these definitions. For the first channel of
a Turbo PMAC (Servo IC 0 Channel 1), these definitions are:
software must deal with the compare registers and control/status bits directly. Usually, these are accessed
with M-variables, and the file of suggested M-variables includes these definitions. For the first channel of
a Turbo PMAC (Servo IC 0 Channel 1), these definitions are:
M101->X:$078001,0,24,S
; 24-bit position counter register
M103->X:$078003,0,24,S
; 24-bit position compare register
M111->X:$078000,11,1
; Compare flag latch control
M112->X:$078000,12,1
; Compare output enable control
M113->X:$078000,13,1
; Compare output invert control
M116->X:$078000,16,1
; Compare logic status
To preload a compare position, simply write a value to the compare register (e.g. M103=1250).
Example: We have an array of 50 points in P1 through P50 that represent the distances from a starting
position at which we want compare outputs. Program code (running just a single time) that could start
this process is:
Example: We have an array of 50 points in P1 through P50 that represent the distances from a starting
position at which we want compare outputs. Program code (running just a single time) that could start
this process is:
P100=1
; Select first point of array
P101=M101
; Read and store starting position
M103=P101+P(P100)
; Write first relative position to compare
M111=1
; Set for latched output
M112=1
; Enable compare output
Repeatedly executing program code (probably in a PLC 0 or PLCC 0) that could work through the array
is:
is:
WHILE (P100<51)
; Loop until 50 points completed
IF (M116=1)
; Reached last compare position?
P100=P100+1
; Select next point
M103=P101+P(P100)
; Write next relative position to compare
M111=0
; Clear output by making transparent
M111=1
; Set for latched output again
ENDIF
ENDWHILE
Setup on a PMAC2-Style Servo IC
Each encoder counter in PMAC2-style Servo IC has a position-compare function. Furthermore, the first
encoder counter (Channel 1) in each Servo IC can use the position-compare circuitry from any of the
other channels on the ASIC, so it can utilize up to four independent compare circuits.
encoder counter (Channel 1) in each Servo IC can use the position-compare circuitry from any of the
other channels on the ASIC, so it can utilize up to four independent compare circuits.
On the Turbo PMAC2-PC and the Turbo PMAC2-PCI, the compare outputs for Channel 1 and Channel 5
(if present) also can be used to interrupt the host computer over the backplane bus. Note that if the dual-
ported RAM ASCII communications interrupt function is enabled (I56=1 and I58=1), the compare output
for the board’s Channel 1 is used for this interrupt, and so cannot be used for true position compare
functions.
(if present) also can be used to interrupt the host computer over the backplane bus. Note that if the dual-
ported RAM ASCII communications interrupt function is enabled (I56=1 and I58=1), the compare output
for the board’s Channel 1 is used for this interrupt, and so cannot be used for true position compare
functions.