User's Manual

PMAC2 User Manual
8 Basic Motor Setup on PMAC2
I901 (I997 for an Ultralite) controls the phase clock frequency for the card, the rate at which commutation
and current-loop updates are done, by specifying the divide-down from MaxPhase.
I902 (I998 for an Ultralite) controls the servo clock frequency for the card, the rate at which command
position interpolation and the position/velocity servo algorithms are executed.
I903 controls the hardware clock frequencies for channels 1-4; I907 controls the hardware clock
frequencies for channels 5-8; I993 controls the hardware clock frequencies for supplementary channels 1*
and 2* (the only channels on an Ultralite). Usually, these do not need to be changed from the default.
I904 controls the PWM deadtime and PFM pulse width for channels 1-4; I908 does the same for channels
5-8; I994 does the same for supplementary channels 1* and 2* (the only channels on an Ultralite).
I905 controls the DAC strobe signal for channels 1-4; I909 does the same for channels 5-8.
Servo
Clock Control
Phase
Clock Control
Int/Ext Phase Clock
ADC
Clock Control
DAC
Clock Control
PFM
Clock Control
Encoder Sample
Clock Control
Int/Ext Servo Clock
PWM
Max Count
PWM Dead Time/
PFM Pulse Width
1
3
1
2
n
1
2
n
1
2
n
1
2
n
1
n+1
1
n+1
n=0-7
n=0-7
n=0-7
n=0-7
n=0-15
n=0-15
24
Data
6
Address
x6 Phase
Locked Loop
20 MHz
PWM Up/Down
Counter
120 MHz
SIGN
DIR
External
Phase
External
Serv
o
16
8
16
PWM Count
MAX PHASE
DT/PW
SCLK
PFMCLK
DACCLK
ADCCLK
PHASE
SERVO
40 MHz
Figure 3 PMAC2 Gate Array IC Clock Control
Parameters to Set up Per-Channel Hardware Signals
Each machine interface channel n on the PMAC2 has several setup I-variables to configure the outputs
and the feedback for that channel. These variables form part of the control word for the channel in the
DSPGATE1 ASIC.
The ten’s digit of the I-variable specifies which channel is being controlled; for example I910 controls the
encoder decode for Channel 1. The generic reference for the variable uses the letter n for the channel
digit; I9n0 refers generally to the encoder decode variable for Channel n, where n = 1 to 8. Usually a
given Channel n is used for the PMAC2 Motor x of the same number (i.e. n = x), but this does not have to
be the case. (These variables are not active on Ultralite versions of PMAC2, because the Ultralite boards
have a MACRO ring interface instead of the local machine interface channels.)