Delta Tau PMAC2A-PC/104 Manual de usuario descargar pdf (Pagina 22)

Hardware Reference Manual

Software Setup

SOFTWARE SETUP (non-Turbo PMAC2A-PC104)

Note:

The PMAC2A PC/104 requires the use of V1.17 or newer firmware. There are

few differences between the previous V1.16H firmware and the V1.17 firmware

other than the addition of internal support for the Flex CPU design.

Communications

Delta Tau provides software tools that allow communicating with of the PMAC2A PC/104 board by

either its standard RS-232 port or the optional USB or Ethernet ports. PEWIN is the most important in

the series of software accessories, and it allows configuring and programming the PMAC for any

particular application.

PMAC I-Variables

PMAC has a large set of Initialization parameters (I-variables) that determine the "personality" of the card

for a specific application. Many of these are used to configure a motor properly. Once set up, these

variables may be stored in non-volatile EAROM memory (using the SAVE command) so the card is

always configured properly (PMAC loads the EAROM I-variable values into RAM on power-up).

Filtered DAC Outputs Configuration

The following I-variables must be set properly to use 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

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

I907 = 1746 ; ADC frequency

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

Using Flag I/O as General-Purpose I/O

Either the user flags or other not assigned axes flag on the base board can be used as general-purpose I/O

for up to 20 inputs and 4 outputs at 5-24Vdc levels. The indicated suggested M-variables definitions,

which are defined in the PMAC2 Software reference, allows accessing each particular line according to

the following table:

Channel Number

Flag Type

#5 #6 #7 #8

HOME

5-24 VDC Input M520 M620 M720 M820

PLIM

5-24 VDC Input M521 M621 M721 M821

MLIM

5-24 VDC Input M522 M622 M722 M822

USER

5-24 VDC Input M515 M615 M715 M815

AENA

5-24 VDC Output M514 M614 M714 M814

Note:

When using these lines as regular I/O points the appropriate setting of the Ix25

variable must be used to enable or disable the safety flags feature.

1 2 ... 17 18 19 20 21 22 23 24 25 26 27 ... 54 55

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Delta Tau PMAC2A-PC/104 Manual de usuario Pagina 22

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