Delta Tau 24E2A, User Manual

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Accessory 24E2A
ULTRALITE/MACRO STATION SETUP
The Acc-24E2 family of JEXP accessories also can be used with MACRO Station to breakout the
standard amplifier, flag, and encoder signals. The gate arrays on the Acc-24E2 family of accessories are
located in the traditional channel 9-16 locations of the PMAC2 memory map.
Note:
In order for the MACRO Station to set up its output and input channels
automatically, MACRO Station firmware 1.114 or greater must be used.
Currently there are three types of Acc-24Es to be used with the MACRO Station:
Acc-24E2
Direct PWM commutation outputs
Acc-24E2A
±
10V Outputs for torque, velocity and sinusoidal input amplifiers
Acc-24E2S Dedicated 4-channel stepper interface card
MACRO Station Gate Array Locations for Acc-24E2
Chan # 9 10 11 12 13 14 15 16
Hex
[$C040] [$C048] [$C050] [$C058] [$C060] [$C068] [$C070] [$C078]
Hardware Setup for MACRO Station Use
A few hardware selections must be set in order to use this accessory with the MACRO Station:
E5 Jumper 1-2 for MACRO or Turbo communications (603804-105 and above)
E16 Jumper 1-2 for Clock Settings
SW1 SW1-1 and SW1-2 ON for $C040, SW1-1 and SW1-2 OFF for $C060
SW1 SW1-3 through SW1-6 set to OFF
Software Setup for MACRO Station Use
There are several choices when it comes to the software setup for the MACRO Station. At the MACRO
Station the ring frequency must be set up with MSn,MI992. The Acc-24E2A will have its MaxPhase
Clock Frequency variables (MSn,MI900 and MSn,MI906) set to the same value as MSn,MI992 to ensure
synchronous data exchange. The Delta Tau Setup software for either the standard PMAC2 Ultralite or
Turbo PMAC2 Ultralite will set up all of these important MI-Variables at the MACRO Station.
The Acc-24E2A uses an 18-bit DAC and the DAC Strobe word (MSn,MI905 and MSn,MI909) must be
setup for 18-bits to ensure proper operation of the DACs. The released MACRO Station firmware
version 1.14 will set the DAC strobe variables automatically. In pre-release versions of the 1.14
firmware, the DAC strobe word must be set manually to $7FFFC0 for proper 18-bit DAC operation.
MS{anynode},MI992 Ring Frequency Control
MS{anynode},MI900 - Channels 1-4 Frequency Control
MS{anynode},MI905 - DAC 1-4 Strobe Word
MS{anynode},MI906 - Channels 5-8 Frequency Control
MS{anynode},MI909 - DAC 5-8 Strobe Word
Node-Specific Gate Array MI-Variables
MI-variables MI910 through MI919 on the MACRO station control the hardware setup of the hardware
interface channel on the station associated with a MACRO node. The matching of hardware interface
channels to MACRO nodes is determined by the setting of the SW1 rotary switch on the CPU/Interface
Board of the MACRO station.
These variables are accessed using the MS station auxiliary read and write commands. The number
immediately after the MS specifies the node number, and therefore the channel number mapped to that
node by the SW1 setting.
Ultralite/MACRO Station Setup 27