Delta Tau ACC-24E2S, Руководство пользователя

Страница: 17 / 45

Accessory 24E2S
UMAC Software Setup 14
UMAC SOFTWARE SETUP
System Configuration I-Variables
Starting in Turbo PMAC firmware version V1.934, the Turbo PMAC determines automatically which
Servo and MACRO ICs are present on power-up/reset and enables the I-variables for these ICs.
In previous versions, I65 had to be set manually to tell the Turbo PMAC which ICs were present so that
the proper I-variables could be enabled. In V1.934 and newer versions, Turbo PMAC reports which ICs
are present in read-only variable I4900. If using a Turbo PMAC with firmware 1.933 and below, refer to
the Turbo PMAC Software Reference Manual for a detailed description of these system configuration I-
variables.
Servo IC Configuration I-Variables
Turbo PMAC I-variables in the range I7000 – I7999 control the configuration of the Servo ICs. The
hundreds digit represents the number of the Servo IC (0 to 9) in the system. Servo ICs 0 and 1 are (or can
be) on board the Turbo PMAC board itself. Servo ICs 2 through 9 are (or can be) on external devices
such as the Acc-24E2.
Servo IC Numbering
The number m of the Servo IC on the Acc-24E2 board is dependent on the addressing of the board with
DIP switches S1-1, S1-3, and S1-4, which place the board as the first
through eighth external devices:

First Acc-24E2 with option 1: Servo IC 2 (channels 1-4)

Second Acc-24E2 with option 1 Servo IC 3 (channels 5-8)

Third Acc-24E2 with option 1: Servo IC 4 (channels 9-12)

Fourth Acc-24E2 with option 1 Servo IC 5 (channels 13-16)

Fifth Acc-24E2 with option 1: Servo IC 6 (channels 17-20)

Sixth Acc-24E2 with option 1 Servo IC 7 (channels 21-24)

Seventh Acc-24E2 with option 1: Servo IC 8 (channels 25-28)

Eighth Acc-24E2 with option 1 Servo IC 9 (channels 29-32)
The Standard Servo IC on an Acc-24E2 occupies Channels 1 through 4 on the board.
Example: The Standard Servo IC on the first Acc-24E2 is Servo IC 2 to Turbo PMAC and is configured
by variables I7200 – I7299.
Servo Channel Numbering
Each Servo IC has four channels of servo interface circuitry. The tens digit n of the I-variable configuring
the IC represents the channel number on the IC (n = 1 to 4). For example, Channel 1 of the Standard Servo
IC on the first Acc-24E2 is configured by variables I7210 – I7219. These channel-specific I-variables are
represented generically as I7mn0 – I7mn9, where m represents the Servo IC number (0 – 9) and n
represents the IC channel number (1 – 4).
The Channels 1 – 4 on the Standard Servo IC of an Acc-24E2 correspond to Channels 1 – 4, respectively,
on the Acc-24E2 board itself. The Channels 1 – 4 on the Option 1 Servo IC on an Acc-24E2 correspond
to Channels 5 – 8, respectively, on the Acc-24E2 board.
I-variables in the I7000s for which the tens digit is 0 (Channel 0) affect all four channels of the PMAC2-
style Servo IC on the Acc-24E2. These multi-channel I-variables are represented generically as I7m00 –
I7m09.