User's Manual

Turbo PMAC User Manual
ii Table of Contents
Setting System Clock Frequencies ..........................................................................................................................24
Setting Turbo PMAC Phase and Servo Clock Frequencies ................................................................................25
Setting Turbo PMAC2 Phase and Servo Clock Frequencies ..............................................................................26
Setting I10 Servo Update Time Parameter .........................................................................................................28
Setting up a Turbo PMAC2 on the MACRO Ring..................................................................................................28
MACRO Ring Frequency Control Variables ......................................................................................................29
I7: Phase Cycle Extension ..................................................................................................................................29
I6840: MACRO IC 0 Master Configuration .......................................................................................................29
I6890/I6940/I6990: MACRO IC 1/2/3 Master Configuration ............................................................................30
I6841/I6891/I6941/I6991: MACRO IC 0/1/2/3 Node Activation Control...........................................................30
I70/I72/I74/I76: MACRO IC 0/1/2/3 Node Auxiliary Function Enable..............................................................31
I71/I73/I75/I77: MACRO IC 0/1/2/3 Node Protocol Type Control ....................................................................31
I78: MACRO Master/Slave Auxiliary Communications Timeout .......................................................................31
I79: MACRO Master/Master Auxiliary Communications Timeout.....................................................................32
I80, I81, I82: MACRO Ring Check Period and Limits .......................................................................................32
MACRO Node Addresses ....................................................................................................................................32
Resetting and Re-Initializing Turbo PMAC............................................................................................................35
Methods of Resetting...........................................................................................................................................35
Actions on a Normal Reset..................................................................................................................................35
Actions on Reset with Re-Initialization...............................................................................................................36
Actions on Reset for Firmware Reload...............................................................................................................36
Re-Initialization and Clear Command................................................................................................................37
TALKING TO TURBO PMAC ...............................................................................................................................39
Communications Ports ............................................................................................................................................39
Serial Communications Ports .............................................................................................................................39
Bus Communications Port ..................................................................................................................................42
Dual-Ported RAM...............................................................................................................................................44
Giving Commands to Turbo PMAC........................................................................................................................45
Turbo PMAC Processing of Commands .............................................................................................................45
Command Acknowledgement ..............................................................................................................................45
Data Response ....................................................................................................................................................45
Data Integrity......................................................................................................................................................46
Data Response Format .......................................................................................................................................46
On-Line (Immediate) Commands ...........................................................................................................................46
Types of On-Line Commands..............................................................................................................................46
Buffered (Program) Commands ..............................................................................................................................48
SETTING UP FEEDBACK AND MASTER POSITION SENSORS...................................................................49
Setting Up Quadrature Encoders.............................................................................................................................49
Signal Format .....................................................................................................................................................49
Hardware Setup ..................................................................................................................................................49
Turbo PMAC Hardware-Control Parameter Setup............................................................................................51
Conversion Table Processing Setup – Turbo PMAC Interface...........................................................................53
Conversion Table Processing Setup – MACRO Station Interface ......................................................................54
Scaling the Feedback Units ................................................................................................................................54
Setting Up Digital Hall Sensors ..............................................................................................................................54
Signal Format .....................................................................................................................................................54
Hardware Setup ..................................................................................................................................................55
Turbo PMAC Hardware-Control Parameter Setup............................................................................................55
Power-Up Phasing Usage...................................................................................................................................56
Conversion Table Processing Setup – Turbo PMAC Interface...........................................................................56
Conversion Table Processing Setup – MACRO Station Interface ......................................................................56
Scaling the Feedback Units ................................................................................................................................56
Setting up Sinusoidal Encoders...............................................................................................................................57
Hardware Setup ..................................................................................................................................................57
Turbo PMAC Hardware-Control Parameter Setup............................................................................................57