User's Manual

PMAC2 User Manual
Basic Motor Setup on PMAC2 9
The most important of these variables are I9n0 and I9n6. I9n0 specifies the encoder decode for channel n,
quadrature or pulse-and-direction, including the direction sense. I9n6 specifies which output signal
modes are used for Channel n: DAC for analog control, PWM (pulse width modulation) for direct power-
block control, and/or PFM (pulse frequency modulation) for stepper motor control. Refer to the
instructions for setup of the specific mode being used, below, or the I-variable specification in the
Software Reference for details.
PWM Frequency/
Deadtime Control
Output A
Command Value
DAC Frequency/
Strobe Control
PFM Frequency
Control
Output B
Command Value
Output C
Command Value
PWMATOP
PWMABOT
DAC
DACCLK
PWMBTOP
PWMBBOT
DAC
DACSTROB
PWMCTOP
PWMCBOT
PULSE
DIR
OUTPUT
SELECT
To encoder/Timer
input multiplexer
A,B C
24
Data
6
Address
Indicates that one register controls
all output channels on IC
*
*
*
*
DAC Shift
Register
Pulse Width
Modulator
DAC Shift
Register
Pulse Width
Modulator
Pulse Width
Modulator
Pulse Frequency
Modulator
Figure 4 PMAC2 Gate Array IC Output Channel
T
U
V
W
USER
-LIM
+LIM
HOME
INDEX
B
A
FAULT
Digital
Delay
Filter
Auxiliary Flags
(Subcount, Hall,
Fault Code)
Digital
Delay
Filter
Digital
Delay
Filter
D.D.F.
Capture Flags
Encoder Inputs
Hall
Sensor
Decode
Flag
Capture
Control
Index
Gating
MUX
Pulse Dir
(From Pulse
Generator)
Compare A
Position
Counter
(to 40MHz)
Timers
(to 40/120MHz)
Decode
Control
Compare B
Position
Compare
Auto-Increment
Channel
Status
Channel
Control
Flag Capture
Position
Phase Capture
Position
Servo Capture
Position
Time Between
Last 2 Counts
Time Since
Last Count
Q T
CTRL
CTRL
S
S
=?
=?
Servo
Clock
Phase
Clock
24
Data
6
Address
EQU
AENA
CTRL
CTRL
CTRL
Figure 5 PMAC2 Gate Array IC Encoder/Flag Channel