User's Manual

Turbo PMAC User Manual
Turbo PMAC Family Overview 9
A
B
C
ENCODER 1
ENCODER 2
ENCODER 3
ENCODER 4
ENCODER
CONTROL
4
ENCODER
INPUTS
A
NALOG
CONTROL
24-BIT
DATA BUS
16-BIT
A
DDRESS BUS
DSP-GATE
ENCODER
SAMPLE
SERVO PHASE
SELECTABLE-FREQUENCY CLOCK INPUTS
SERIAL
DATA OUT
SERIAL
DATA IN
CLOCK
MUX
CONTROL
MUX
DAC 1
DAC 2
DAC 3
DAC 4
1
2
3
4
PMAC
CUSTOM
A
DC
16 BIT
4
A
NALOG
INPUTS
4
A
NALOG
OUTPUTS.
16 BIT
RESOLUTION
LD
LD
LD
LD
A
DC SHIFT REGISTERS (4)
DAC SHIFT REGISTERS (4)
A
B
C
A
B
C
A
B
C
A
ENA 1-4
EQU 1-4
OPTO
ISOLATION
FLAG
CONTROL
HOME 1-
+LIMIT 1-
4
-LIMIT 1-
4
FAULT 1-
4
INPUT
FLAGS
OUTPUT
FLAGS
A
CCESSORY BOARD
The PMAC-style DSPGATE IC is provided on the following Turbo PMAC products:
• Turbo PMAC PC
• Turbo PMAC VME
• Turbo PMAC PCI
• Turbo PMAC PCI Lite
• Acc-24P ISA-Format Axis-Expansion Board
• Acc-51P ISA-Format Interpolator Board
PMAC2-Style DSPGATE1 ASIC: The PMAC2-style Servo IC is labeled the DSPGATE1. It is a 4-
channel part with 64 memory-mapped registers. Each channel supports the following features:
• Three output command signal sets, configurable as either:
• Two serial data streams to digital-to-analog converters of up to 18 bits, and one pulse-and-
direction pair, or
• Three pulse-width-modulated (PWM) top and bottom pairs
• Input for digital quadrature with index, pulse-and-direction, or MLDT feedback
• Four input flags (home, +/-limit, user) that can trigger hardware encoder capture
• Amplifier-fault input
• Four supplemental input flags (T, U, V, W) for hall commutation sensors, sub-count data, fault codes,
or general use
• Amplifier-enable output
• Hardware position-compare output
• Input from two analog-to-digital converters of up to 18 bits (from amplifier or accessory board)