Delta Tau Turbo PMAC Clipper, Hardware Reference Manual

Page: 57 / 84

Turbo PMAC Clipper Hardware Reference Manual
Drive – Motor Setup 57
M407->Y:$7801C,8,16,S ; Channel 4, Min=0, Max= Calculated I469
// Channels 5-8 Suggested M-Variables, PFM command output
M507->Y:$78104,8,16,S ; Channel 5, Min=0, Max= Calculated I569
(First Acc-1P)
M607->Y:$7810C,8,16,S ; Channel 6, Min=0, Max= Calculated I669 (First Acc-1P)
M707->Y:$78114,8,16,S ; Channel 7, Min=0, Max= Calculated I769 (First Acc-1P)
M807->Y:$7811C,8,16,S ; Channel 8, Min=0, Max= Calculated I869 (First Acc-1P)
// Channels 9-12 Suggested M-Variables, PFM command output
M907->Y:$78204,8,16,S ; Channel 9, Min=0, Max= Calculated I969
(Second Acc-1P)
M1007->Y:$7820C,8,16,S ; Channel 10, Min=0, Max= Calculated I1069 (Second Acc-1P)
M1107->Y:$78214,8,16,S ; Channel 11, Min=0, Max= Calculated I1169 (Second Acc-1P)
M1207->Y:$7821C,8,16,S ; Channel 12, Min=0, Max= Calculated I1269 (Second Acc-1P)
Writing directly to the suggested M-variable(s) values proportional to Ixx69 produces corresponding
frequencies:
Suggested
M-Variable
Output Frequency
PFM [KHz]
0 0
1213 11
2427 22
Issuing Open-Loop Commands
Activating the motor channel should be sufficient at this point to allow open loop commands. Note that an
open loop command of zero magnitude (#nO0) will result in a zero frequency output, and an open loop
command of 100 (#nO100) will result in the maximum calculated frequency output.
I100,4,100=1 ; Channels 1-4 active
I500,4,100=1 ; Channels 5-8 active (First Acc-1P)
I900,4,100=1 ; Channels 9-12 active (Second Acc-1P)
Going back to the setup example, these are some open loop commands resulting frequencies:
Open Loop
Command
Output Frequency
PFM [KHz]
0 0
50 11
100 22
Issuing Closed-Loop Commands
Issuing closed-loop commands requires activating the channel, setting the flag control, assigning the
position and velocity pointers, and implementing PID gains.
Activating channels, Ixx00
I100,4,100=1 ; Channels 1-4 active
I500,4,100=1 ; Channels 5-8 active (First Acc-1P)
I900,4,100=1 ; Channels 9-12 active (Second Acc-1P)
Assigning position and velocity pointers, Ixx03 and Ixx04
I103=$3501 I104=$3501 ; Channel 1 position and velocity pointers
I203=$3502 I204=$3502 ; Channel 2 position and velocity pointers
I303=$3503 I304=$3503 ; Channel 3 position and velocity pointers
I403=$3504 I404=$3504 ; Channel 4 position and velocity pointers
I503=$3505 I504=$3505
; Channel 5 position and velocity pointers (First Acc-1P)