Delta Tau PMAC MINI PCI User Manual download pdf (Page 25)

PMAC-Mini PCI Hardware Reference Manual

E-Point Jumper Descriptions 19

E3 - E6: Servo Clock Frequency Control

The servo clock (which determines how often the servo loop is closed) is derived from the phase clock

(see E29 - E33A and E98) through a divide-by-N counter. Jumpers E3 through E6 control this dividing

function.

E3 E4 E5 E6 Servo Clock Frequency

Default and Physical Layout

E3 E4 E5 E6

ON ON ON ON = Phase Clock Divided by 1

OFF ON ON ON = Phase Clock Divided by 2

ON OFF ON ON = Phase Clock Divided by 3

OFF OFF ON ON = Phase Clock Divided by 4 Only E5 and E6 On

ON OFF ON ON = Phase Clock Divided by 5

OFF ON OFF ON = Phase Clock Divided by 6

ON OFF OFF ON = Phase Clock Divided by 7

OFF OFF OFF ON = Phase Clock Divided by 8

ON ON ON OFF = Phase Clock Divided by 9

OFF ON ON OFF = Phase Clock Divided by 10

ON OFF ON OFF = Phase Clock Divided by 11

OFF OFF ON OFF = Phase Clock Divided by 12

ON ON OFF OFF = Phase Clock Divided by 13

OFF ON OFF OFF = Phase Clock Divided by 14

ON OFF OFF OFF = Phase Clock Divided by 15

OFF OFF OFF OFF = Phase Clock Divided by 16

The setting of I-Variable I10 should be adjusted to match the servo interrupt cycle time set by E98, E3–E6, E29–

E33 and the master clock frequency. I10 holds the length of a servo interrupt cycle, scaled so that 8,388,608

equals one millisecond. Since I10 has a maximum value of 8,388,607, the servo interrupt cycle time should

always be less than a millisecond (unless the basic unit of time on PMAC should be something other than a

millisecond. To have a servo sample time for a motor greater than one millisecond, the sampling may be slowed

in software for that motor with variable Ix60.

Approximate servo frequency may be measured by typing successive RX0 commands in a PMAC terminal

window to read the servo cycle counter with the carriage return characters for the two commands hit exactly ten

seconds apart. To obtain the servo frequency in kHz, take the difference of the two responses and divide by

10,000.

E7: Machine Input Sourcing/Sinking Control

E-Point and

Physical Layout

Location Description Default

Jump pin 1 to 2 to apply +5V to input

reference resistor sip pack. This will bias MI1

to MI8 inputs to +5V for off state; input must

then be grounded for on state.

Jump pin 2 to 3 to apply GND to input

reference resistor sip pack. This will bias MI1

to MI8 inputs to GND for off state; input must

then be pulled up for on state (+5V to +24V)

1-2 Jumper installed

1 2 ... 20 21 22 23 24 25 26 27 28 29 30 ... 50 51

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Delta Tau PMAC MINI PCI User Manual Page 25

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