Reference Manual

16-Axis MACRO CPU Software Reference Manual
16-Axis MACRO Station MI-Variable Reference 37
Generally, MI906 is set to the same value as MI992. If a different PWM frequency is desired for
channels 5 to 8, MI906 should be set so that it is an odd-integer multiple (e.g. 3x, 5x, 7x) of MI992, or
that MI992 is an odd-integer multiple of MI906. This will keep the PWM hardware on channels 5-8 in
synchronization with the software algorithms driven by the PHASE clock.
To set MI906 for a desired PWM frequency, the following formula can be used:
MI906 = (117,964.8 kHz / [4*PWM Freq (kHz)]) - 1 (rounded down)
Example:
A 30 kHz PWM frequency is desired for Channels 5-8:
MI906 = (117,964.8 / [4 * 30]) - 1 = 982
See Also:
MI900, MI992
MS{anynode},MI907 Hardware Clock Control Channels 5-8
Range: 0 - 4095
Units: MI907 = Encoder SCLK Divider
+ 8 * PFM_CLK Divider
+ 64 * DAC_CLK Divider
+ 512 * ADC_CLK Divider
where:
Encoder SCLK Frequency = 39.3216 MHz / (2 ^ Encoder SCLK Divider)
PFM_CLK Frequency = 39.3216 MHz / (2 ^ PFM_CLK Divider)
DAC_CLK Frequency = 39.3216 MHz / (2 ^ DAC_CLK Divider)
ADC_CLK Frequency = 39.3216 MHz / (2 ^ ADC_CLK Divider)
Default: 2258 = 2 + (8 * 2) + (64 * 3) + (512 * 4)
Encoder SCLK Frequency = 39.3216 MHz / (2 ^ 2) = 9.8304 MHz
PFM_CLK Frequency = 39.3216 MHz / (2 ^ 2) = 9.8304 MHz
DAC_CLK Frequency = 39.3216 MHz / (2 ^ 3) = 4.9152 MHz
ADC_CLK Frequency = 39.3216 MHz / (2 ^ 4) = 2.4576 MHz
MI907 controls the frequency of four hardware clock frequencies for the second group of four machine
interface channels on the 16-Axis MACRO Station (channels 5-8). It is a 12-bit variable consisting of
four independent 3-bit controls, one for each of the clocks. Each of these clock frequencies can be
divided down from a starting 39.3216 MHz frequency by powers of 2, from 1 to 128 times. This means
that the possible frequency settings for each of these clocks are:
Frequency Divide by Divider N in
1/2^N
39.3216 MHz 1 0
19.6608 MHz 2 1
9.8304 MHz 4 2
4.9152 MHz 8 3
2.4576 MHz 16 4
1.2288 MHz 32 5
611.44 kHz 64 6
305.72 kHz 128 7
Very few 16-Axis MACRO Station users will be required to change the setting of MI907 from the default
value