User's Manual

Turbo PMAC User Manual
Table of Contents i
Table of Contents
USING THIS MANUAL .............................................................................................................................................1
What is in this Manual ..............................................................................................................................................1
Other Manuals to Use................................................................................................................................................1
Turbo PMAC Software Reference Manual ...........................................................................................................1
Hardware Reference Manuals ..............................................................................................................................1
UMAC Quick Reference Guide.............................................................................................................................1
PMAC Executive Program Manual ......................................................................................................................1
Software Development Package Manuals.............................................................................................................2
TURBO PMAC FAMILY OVERVIEW ...................................................................................................................3
Turbo PMAC vs. Non-Turbo PMAC ........................................................................................................................3
Turbo PMAC vs. Turbo PMAC2 ..............................................................................................................................3
Turbo PMAC is a Computer .....................................................................................................................................3
What Turbo PMAC Does..........................................................................................................................................4
Executing Motion Programs.................................................................................................................................4
Executing PLC Programs .....................................................................................................................................4
Servo Loop Update ...............................................................................................................................................4
Commutation Update............................................................................................................................................4
Housekeeping........................................................................................................................................................4
Communicating with the Host...............................................................................................................................4
Task Priorities.......................................................................................................................................................5
Key Hardware Components ......................................................................................................................................5
CPU Section..........................................................................................................................................................5
Machine Interface ICs...........................................................................................................................................8
Communications Ports........................................................................................................................................12
Key Software Components......................................................................................................................................13
Operational Firmware........................................................................................................................................13
Bootstrap Firmware............................................................................................................................................13
Motors, Axes, and Coordinate Systems...............................................................................................................13
User Programs....................................................................................................................................................14
Turbo PMAC Configurations..................................................................................................................................15
Board-Level Designs...........................................................................................................................................15
UMAC Rack-Mounted Designs...........................................................................................................................15
QMAC Boxed Design..........................................................................................................................................16
TURBO PMAC/PMAC2 SYSTEM CONFIGURATION AND AUTO-CONFIGURATION ............................17
CPU Clock Frequency.............................................................................................................................................17
Turbo PMAC2 System Clock Source .....................................................................................................................18
Default Clock Source ..........................................................................................................................................18
IC Clock Generation Facilities ...........................................................................................................................18
Typical Clock-Source ICs ...................................................................................................................................19
External Clock Sources.......................................................................................................................................19
Distribution of Clock Signals..............................................................................................................................19
Missing Clock Signals.........................................................................................................................................20
Re-Initialization Actions .....................................................................................................................................20
User-Customized Clock-Source Specification ....................................................................................................21
Normal Reset Actions..........................................................................................................................................22
MACRO IC Selection .............................................................................................................................................22
Dual-Ported RAM IC Selection ..............................................................................................................................23
System Configuration Status Reporting ..................................................................................................................23
Servo IC Configuration.......................................................................................................................................23
MACRO IC Configuration ..................................................................................................................................23
DPRAM IC Configuration ..................................................................................................................................24
CPU Section Configuration ................................................................................................................................24
UBUS Accessory Board Identification................................................................................................................24