Delta Tau Turbo PMAC Clipper, Hardware Reference Manual

Page: 60 / 84

Turbo PMAC Clipper Hardware Reference Manual
Drive – Motor Setup 60
Setup of a Fifth Motor Using Opt-12 on the Clipper Board
The DSPGATE2A supplemental channels are set with I6800-6807. Set these to the same values as
specified for the filtered PWM outputs (leave I6804-I6807 at default).
Example Turbo PMAC script code for motor 5:
I6800 = 1001 ; PWM frequency 29.4kHz, PWM 1-4
I6801 = 5
; Phase Clock 9.8kHz
I6802 = 3 ; Servo frequency 2.45kHz
I6803 = 1746 ; ADC frequency
I6816 = 0
; Output mode: PWM, I68n6
I569 = 1001 ; Channel 5 DAC limit 10Vdc, Ixx69
The encoder decode I-variables are I68n0-68n9 (n = supplementary channels 1 and 2). Set these for your
encoders as normal. Note there are no direct inputs for flags so capture I-variables are not used. The
Output Command Registers (Ixx02) now must point to the DSPGATE2A 3
rd
Channel Outputs at $78414
and $7841C first and second supplemental registers respectively. The addresses of the DSPGATE2A
Counters/Timers used in the encoder conversion table are $78410 and $78418 first and second
supplementary registers respectively. When using the OPT-12 filtered PWM DAC on the hand-wheel port
use the second output at $7841C. The encoder counter registers are at:
Mxx->X:$78411,0,24,s // first counter register
Mxx->X:$78419,0,24,s // second counter register
Flags access through JOPTO port.
The OPT-12 channel may also access its machine I/O such as the overtravels, home, and fault flags for
one motor only. This is done through the JOPTO I/O lines (J9), by changing their function so that they
would act as Home / Pos / Neg / User flags for only the first channel of the two supplemental channels;
there are no flags for the second channel since these pins of the general I/O port of the PMAC2 gate2 are
not brought out in this board. The following example sets up the OPT-12 for two motors (#9 and #10) of
pulse and direction control with full machine I/O on motor #9.
Wiring example:
Flag Inputs Port Pin
HMFL1 J9 17
PLIM1 J9 19
MLIM1 J9 21
USER1 J9 23
HMFL(17)
PLIM(19)
MLIM(21)
USER(23)
GND(18)
GND(20)
GND(22)
GND(24)
NO or NC
NC only
NC only
NO or NC
Command Output Port Pin
PUL1+ J10 11
PUL1- J10 12
DIR1+ J10 13
DIR1- J10 14
Jumpers Settings
E16 Install
E17 Remove