User`s manual

1.0 - Introduction to PMAC
Page - 7
1.6 - PMAC Tasks
As an example, a 40 MHz PMAC could perform the following tasks with the estimated percentage of the total
computational power as indicated:
Lower Priority
Interrupted by Interrupted by Interrupted by
Higher Priority
Background Cycle Real-Time Interrupt Servo Cycle Phase Cycle
Time left over from other tasks Rate set by I8 in servo cycles Rate set by jumpers and Ix60 Rate set by jumpers
33 %
12 %
35 %
20 %
40 MHz PMAC
440 µsec per Servo Cycle
Real Time
Interrupt
Background
Cycle
8 Motors
Phase Cycle
8 Motors
Servo Cycle
Watchdog register
decrement
enabled PLCC0
enabled PLC0
2
nd
enabled PLCC
Last enabled PLCC
1
st
enabled PLCC
1
st
enabled PLC
Host command
res
p
onse
Safety checks and
Watchdog register set
2
nd
enabled PLCC
Last enabled PLCC
1
st
enabled PLCC
2
nd
enabled PLC
Host command
res
p
onse
Safety checks and
Watchdog register set
Last enabled PLC
Coordinate System &1
move planning
Coordinate System &2
move planning
Coordinate System &3
move planning
Coordinate System &4
move planning
Coordinate System &
5
move planning
Coordinate System &6
move planning
Coordinate System &7
move planning
Coordinate System &8
move planning
Commutation Update
Motor #2
Commutation Update
Motor #3
Commutation Update
Motor #4
Commutation Update
Motor #5
Commutation Update
Motor #6
Commutation Update
Motor #7
Commutation Update
Motor #8
Commutation Update
Motor #1
Servo Update Motor #2
Servo Update Motor #3
Servo Update Motor #4
Servo Update Motor #5
Servo Update Motor #6
Servo Update Motor #7
Servo Update Motor #8
Encoder Conversion Table
Execution
Servo Update Motor #1
Enabled data gathering
and reporting functions