User's Manual

Turbo PMAC User Manual
64 Setting Up Feedback and Master Position Sensors
PFM Pulse Output Addresses (Y-registers)
IC# - Chan# 0 - 1 0 - 2 0 - 3 0 - 4 1 - 1 1 - 2 1 - 3 1 - 4
Mxx07->Y:
$078004 $07800C $078014 $07801C $078104 $07810C $078114 $07811C
IC# - Chan# 2 - 1 2 - 2 2 - 3 2 - 4 3 - 1 3 - 2 3 - 3 3 - 4
Mxx07->Y:
$078204 $07820C $078214 $07821C $078304 $07830C $078314 $07831C
IC# - Chan# 4 - 1 4 - 2 4 - 3 4 - 4 5 - 1 5 - 2 5 - 3 5 - 4
Mxx07->Y:
$079204 $07920C $079214 $07921C $079304 $07930C $079314 $07931C
IC# - Chan# 6 - 1 6 - 2 6 - 3 6 - 4 7 - 1 7 - 2 7 - 3 7 - 4
Mxx07->Y:
$07A204 $07A20C $07A214 $07A21C $07A304 $07A30C $07A314 $07A31C
IC# - Chan# 8 - 1 8 - 2 8 - 3 8 - 4 9 - 1 9 - 2 9 - 3 9 - 4
Mxx07->Y:
$07B204 $07B20C $07B214 $07B21C $07B304 $07B30C $07B314 $07B31C
IC# - Chan# M0 – 1* M0 – 2*
Mxx07->Y:
$078414 $07841C
Servo ICs 0 and 1 are on the Turbo PMAC2 itself or on Acc-2E 3U-format stack boards.
Servo ICs 2 – 9 are on Acc-24x2 boards.
On dual-IC boards, IC channels 1 – 4 for odd-numbered Servo ICs are board channels 5 – 8.
MACRO IC channels are on the handwheel port
A sample M-variable definition is:
M107->Y:$078004,8,16,S ; Servo IC 0 Chan 1 PFM (C) cmd val
Note:
The PFM command registers are actually 24-bit registers; the suggested definitions
just use the high 16 bits, providing enough resolution for our purposes here. If you
use the register as a 24-bit value, e.g. M107->Y:$078004,0,24,S, it takes
numerical values 256 times higher than the equations shown here. When using the
MACRO Station, MI926 is a 24-bit, not 16-bit value.
The frequency of the pulse output should produce a period just slightly longer than the longest expected
response time for the echo pulse. For MLDTs, the response time is approximately 0.35 µsec/mm (9
µsec/inch). On an MLDT 1500 mm (~60 in) long, the longest response time is approximately 540 µsec; a
recommended period between pulse outputs for this device is 600 µsec, for a frequency of 1667 Hz.
To produce the desired pulse output frequency from a Turbo PMAC IC, the following formula can be
used (assuming a 16-bit M-variable definition):
)kHz(Freq_PFMCLK
536,65
07Mxx
)kHz(OutputFreq =
or:
)kHz(Freq_PFMCLK
)kHz(OutputFreq
*536,6507Mxx =
To produce a pulse output frequency of 1.667 kHz with the default PFMCLK frequency of 9.83 MHz, we
calculate:
11
830,9
667.1
*536,6507Mxx ≅=
To write this value to the register, a power-on PLC routine is suggested; this can also be done with on-
line commands from the host computer. Turbo PMAC firmware will not write this value to the register
automatically.
To produce the desired pulse output frequency from a channel on the MACRO Station, the following
formula can be used for node-specific 24-bit variable MI926:
)kHz(Freq_PFMCLK
216,777,16
926MI
)kHz(OutputFreq =