Delta Tau GEO MACRO DRIVE User Manual download pdf (Page 161)

Geo MACRO Drive User and Reference Manual

Geo Macro Drive MI-Variable Reference 149

2 = Do not invert Outputs A & B; Invert Output C

3 = Invert Outputs A & B; Invert Output C

Default: 0

MI917 controls the polarity of the command output signals for Channel n. The default non-inverted

outputs are high true. For PWM signals on Outputs A, B, and C, this means that the transistor-on signal

is high. Delta Tau PWM-input amplifiers, and most other PWM-input amplifiers, expect this non-

inverted output format. For such a 3-phase motor drive, MI917 should be set to 0.

For PFM signals on Output C, non-inverted means that the pulse-on signal is high (direction polarity is

controlled by MI918). During a change of direction, the direction bit will change synchronously with the

leading edge of the pulse, which in the non-inverted form is the rising edge. If the drive requires a set-up

time on the direction line before the rising edge of the pulse, the pulse output can be inverted so that the

rising edge is the trailing edge, and the pulse width (established by MI904 or MI908) is the set-up time.

For DAC signals on Outputs A and B, non-inverted means that a 1 value to the DAC is high. DACs used

on Delta Tau accessory boards, as well as all other known DACs always expect non-inverted inputs, so

MI917 should always be set to 0 or 2 when using DACs on Channel n.

MS{node},MI918 Output n PFM Direction Signal Invert Control

Range: 0 - 1

Units: none

0 = Do not invert direction signal (+ = low; - = high)

1 = Invert direction signal (- = low; + = high)

Default: 0

MI918 controls the polarity of the direction output signal in the pulse-and-direction format for Channel n.

It is only active if MI916 has been set to 2 or 3 to use Output C as a pulse-frequency-modulated (PFM)

output.

If MI918 is set to the default value of 0, a positive direction command provides a low output; if MI918 is

set to 1, a positive direction command provides a high output.

MS{node},MI919 Hardware 1/T

Range: 0 - 1

Units: 0 = Do not use hardware 1/T

1 = Use hardware 1/T

Default: 0

MI919 controls whether the hardware-1/T functionality is enabled for Channel n of a PMAC2-style Servo

IC m. If MI919 is set to the default value of 0, the hardware-1/T functionality is disabled, permitting the

use of the software-1/T position extension that is calculated by default with encoder conversion method

$0. If MI919 is set to 1, the hardware-1/T functionality is enabled (if present on the IC), and the

software-1/T cannot be used.

The hardware-1/T functionality is present only on Revision D and newer of the PMAC2-style

DSPGATE1 IC, released at the beginning of the year 2002. Setting MI919 to 1 on an older revision IC

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Delta Tau GEO MACRO DRIVE User Manual Page 161