Delta Tau PMAC2A-PC/104 Manual descargar pdf (Pagina 30)

PMAC2A-PC104 Hardware Manual

PMAC2A-PC/104 Software Setup

I54 Baud Rate I54 Baud Rate

0 600 8 9600

1 900 9 14,400

2 1200 10 19,200

3 1800 11 28,800

4 2400 12 38,400

5 3600 13 57,600

6 4800 14 76,800

7 7200 15 115,200

For a saved value of 0 for I46, the serial baud rate is determined by the combination of I54 and the CPU

frequency as shown in the following table.

I54

Baud Rate for

40 MHz CPU

Baud Rate for

60 MHz CPU

Baud Rate for

80 MHz CPU

0 600 DISABLED 1200

1 900* (-0.05%) 900 1800* (-0.1%)

2 1200 1200 2400

3 1800* (-0.1%) 1800 3600* (-0.19%)

4 2400 2400 4800

5 3600* (-0.19%) 3600 7200* (-0.38%)

6 4800 4800 9600

7 7200* (-0.38%) 7200 14,400*(-0.75%)

8 9600 9600 19,200

9 14,400*(-0.75%) 14,400 28,800*(-1.5%)

10 19,200 19,200 38,400

11 28,800*(-1.5%) 28,800 57,600*(-3.0%)

12 38,400 38,400 76,800

13 57,600*(-3.0%) 57,600 115,200*(-6.0%)

14 76,800 76,800 153,600

15 DISABLED 115,200 DISABLED

* Not an exact baud rate

Filtered DAC Outputs Configuration

The following I-variables has to be properly set for using the digital-to-analog (filtered DAC) outputs:

I900 = 1001 ; PWM frequency 29.4kHz, PWM 1-4

I901 = 2 ; Phase Clock 19.6kHz

I902 = 3 ; Servo frequency 4.9kHz

I903 = 1746 ; ADC frequency

I905 = 5 ; DAC strobe word

I906 = 1001 ; PWM frequency 29.4kHz, PWM 5-8

I907 = 1746 ; ADC frequency

I9n0 = 7 ; Encoder Decode control

I9n6 = 0 ; Output mode: PWM

Ix69 = 1001 ; DAC limit 10Vdc

I10 = 1710933 ; Servo interrupt time

n = channel number from 1 to 8

x = motor number from 1 to 8

1 2 ... 25 26 27 28 29 30 31 32 33 34 35 ... 71 72

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Delta Tau PMAC2A-PC/104 Manual Pagina 30

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