Reference Manual

PMAC/PMAC2 Software Reference Manual
Table of Contents v
I902 Servo Clock Frequency Control {PMAC2 only} ............................................................................133
I903 Hardware Clock Control Channels 1-4 {PMAC2 only} .................................................................134
I904 PWM 1-4 Deadtime / PFM 1-4 Pulse Width Control {PMAC2 only}............................................136
I905 DAC 1-4 Strobe Word {PMAC2 only}...........................................................................................136
I906 PWM 5-8 Frequency Control {PMAC2 only} ...............................................................................137
I907 Hardware Clock Control Channels 5-8 {PMAC2 only} .................................................................137
I908 PWM 5-8 Deadtime / PFM 5-8 Pulse Width Control {PMAC2 only}............................................139
I909 DAC 5-8 Strobe Word {PMAC2 only}...........................................................................................139
Channel-Specific Gate Array I-Variables.........................................................................................................140
I9n0 Encoder/Timer n Decode Control {PMAC2 only} .........................................................................140
I9n1 Position Compare n Channel Select {PMAC2 only} ......................................................................141
I9n2 Encoder n Capture Control {PMAC2 only}....................................................................................142
I9n3 Capture n Flag Select Control {PMAC2 only} ...............................................................................143
I9n4 Encoder n Gated Index Select {PMAC2 only} ...............................................................................143
I9n5 Channel n Encoder Index Gate State/Demux Control {PMAC2 only}...........................................144
I9n6 Output n Mode Select {PMAC2 only}............................................................................................144
I9n7 Output n Invert Control {PMAC2 only} .........................................................................................145
I9n8 Output n PFM Direction Signal Invert Control {PMAC2 only} .....................................................145
I9n9 Channel n Hardware-1/T Control {PMAC2 only}..........................................................................146
PMAC2 DSPGATE2 I-Variables..........................................................................................................................146
I990 Handwheel 1 Decode Control {PMAC2 only} ...............................................................................146
I991 Handwheel 2 Decode Control {PMAC2 only} ...............................................................................147
I992 MaxPhase and PWM 1*-2* Frequency Control {PMAC2 only}....................................................148
I993 Hardware Clock Control Channels 1*-2* {PMAC2 only} .............................................................149
I994 PWM 1*-2* Deadtime / PFM 1* Pulse Width Control {PMAC2 only}.........................................151
I995 MACRO Ring Configuration/Status {PMAC2 only} .....................................................................152
I996 MACRO Node Activate Control {PMAC2 only}...........................................................................153
I997 Phase Clock Frequency Control {PMAC2 only} ............................................................................154
I998 Servo Clock Frequency Control {PMAC2 only} ............................................................................155
I999 (Reserved for Future Use) ...............................................................................................................156
MACRO Software Setup I-Variables....................................................................................................................156
I1000 MACRO Node Auxiliary Register Enable..................................................................................156
I1001 MACRO Ring Check Period.......................................................................................................157
I1002 MACRO Node Protocol Type Control........................................................................................157
I1003 MACRO Type 1 Master/Slave Communications Timeout .........................................................158
I1004 MACRO Ring Error Shutdown Count........................................................................................158
I1005 MACRO Ring Sync Packet Shutdown Count.............................................................................159
I1010 Resolver Excitation Phase Offset {Geo PMAC only} ................................................................159
I1011 Resolver Excitation Gain {Geo PMAC only}.............................................................................160
I1012 Resolver Excitation Frequency Divider {Geo PMAC only} ......................................................160
I1013 Motor Temperature Check Enable {Geo PMAC only} .............................................................160
I1015 SSI Clock Frequency Control {New, Geo PMAC only} ............................................................161
I1016 SSI Channel 1 Mode Control {Geo PMAC only} ......................................................................161
I1017 SSI Channel 1 Word Length Control {Geo PMAC only} .........................................................162
I1018 SSI Channel 2 Mode Control {Geo PMAC only} ......................................................................162
I1019 SSI Channel 2 Word Length Control {Geo PMAC only} .........................................................163
I1020 Lookahead Length {Option 6L firmware only}.........................................................................163
I1021 Lookahead State Control {Option 6L Firmware Only} ..............................................................165
PMAC ON-LINE COMMAND SPECIFICATION..............................................................................................166
<CONTROL-A> ...............................................................................................................................................166
<CONTROL-B> ...............................................................................................................................................166
<CONTROL-C>...............................................................................................................................................167
<CONTROL-D>...............................................................................................................................................167
<CONTROL-F> ...............................................................................................................................................168
<CONTROL-G>...............................................................................................................................................168