Reference Manual

PMAC 2 Software Reference
28 PMAC I-Variable Specifiation
DWELL1000
RETURN
With I9=2:
I125 .................. ; Request address I-variable value
$C000................ ; PMAC reports just value, in hexadecimal
With I9=3:
I125 .................. ; Request address I-variable value
I125=$C000 ; PMAC reports whole statement, in hexadecimal
See Also
Talking to PMAC
On-line commands I{constant}, M{constant}->, LIST
I-Variables I19-I44, I47, Ix02-Ix05, Ix25, Ix83, Ix93
I10 Servo Interrupt Time
Range
0 .. 8,388,607
Units
1 / 8,388,608 msec
Default
3,713,707
Remarks
I10 tells PMAC how much time there is between servo interrupts (which is controlled by
hardware circuitry), so that the interpolation software knows how much time to increment
each servo interrupt.
The fundamental equation for I10 is:
sec)m(ServoTime*608,388,8
)kHz(encyServoFrequ
608,388,8
10I ==
On PMAC(1), the servo interrupt time is determined by the settings of hardware jumpers
E98, E29-E33, and E3-E6. The proper value of I10 can be determined from the settings of
these jumpers by the formula:
rFactorServoJumpe*rFactorPhaseJumpe*orJumperFact98E*107,23210I =
where the factors can be taken from the following:
E98 Setting
1-2 2-3
E98JumperFactor
1 2
Phase Jumper ON
E29 E30 E31 E32 E33
PhaseJumperFactor
16 8 4 2 1
)6E*8()5E*4()4E*2(3E1rFactorServoJumpe
+
+
+
+
=
in which En = 0 if the jumper is ON, and En = 1 if the jumper is OFF.
On PMAC2, the servo interrupt time is determined on PMAC2 Ultralite boards by
MACRO IC I-variables I992, I997, and I998; on non-Ultralite boards by Servo IC I-
variables I900, I901, and I902; The proper setting of I10 can be determined from Servo IC
variables by the formula:
()()()
1902I1901I3900I*2
9
640
10I +++=
The proper setting of I10 can be determined from MACRO IC variables by the formula: