To get a PMAC card, first we have to look at his hardware composition (DSP) and the various interfaces (I/O, serial, etc.) provided, and then start to do the preparation (set the jumper), and finally the installation (Socket PCI and adapter board).
Hardware composition and interface PMaC is based on the Motorola DSP servo control card, different types of PMAC can control the maximum number of axis channels, DSP models are not the same. There is a special servo chip to complete the work of the encoder feedback calculation, PMAC is the most prone to bad place is this group of chips, the actual deployment to do a good grounding protection and high-voltage protection, must not hot Plug and unplug. My lab is using the Turbo PMAC PCI1, and I use this as an example, others such as UMAC, Clipper and other series should be similar, please study on your own. If a common interface is marked:
Jexpis to install expansion Board expansion port, such as the common increase the number of channels (the default is 8 channels) card and so on, this is the official website expansion card optional link.
JMACH1 and JMACH2The control signal output channel corresponding to 1-4-axis and 5-8-axis is respectively connected with the adapter plate.
Joptois a 8 output and 8 input channel port, the general IO signal output uses it. PMAC has a variety of ways to connect to the host computer (PC), which uses
PCIinterface, different models also have VME, USB and other ways.
Other interfaces are not detailed, please consult the manual.
Ready to work in, I marked the location of the jumper, which includes two kinds: jumper cap (red) jumper and no jumper are used. Jumpers are equivalent to the software setup options we use, and by setting different jumpers to configure different hardware features, this is determined by the usage requirements, and the general default jumper is to meet common requirements. Common jumpers are as follows: 1. Power supply jumpers are generally used by default as follows: E85, E87, E88 select Off,e89 jumper Select on
E90 jumper Selection 1-2
E100 jumper Selection 1-2
2. Motor control jumper
e17a, e17b, e17c, e17d jumper Select off (Control servo motor Select off, control voice coil motor/Linear motor Select on)
3. Interrupt jumper interrupt is the mechanism of the next-computer (PMAC) communication to the host computer, where we need to configure interrupt-triggered channels and variables via jumpers.
Consult the hardware manual e54-e65 for setting interrupts, here is a little unclear, I'll explain, for example,E54：
The default jumper is not available, once the jumper is found, the jumper cap is connected, allowing
EQU8The channel will send an interrupt request to the up-level machine to complete the upward communication, which is
IR7, the higher the level, the more the first response, the PMAC user can use aIR5, IR6, IR7Three interrupt levels, IR1-IR4 should be reserved by PMAC itself. So here EQU8 is what channel, and then check the manual, you can see EQU8 is jequ interface of a channel, such as
Jequ here can be understood to allow external triggering to generate interrupts, externally triggering up-bit communication. In addition, here comes the knowledge behind, consult the PMAC software manual, see
Can be in the PMaC lower machine program, throughset the value of M812 or M813 to simulate an external trigger, thus completing the next computer programming to the host computer interrupt request. Here for the time being not understand does not matter, later will also talk about, here is for coherence, put this knowledge together. 4. Parameter setting jumper This is also a problem that is often encountered,E51When the jumper is connected, it resets the PMAC card, which we do not need, note the check, the default is not connected, but the agent is often connected to the jumper during repair.
Installation PMaC installation is relatively simple, different interface and PC directly connected to the line, need to pay attention to the Jmach interface wiring, Jmach contains the power supply, driver, encoder, limit a variety of signals, need to divert it, preferably using the adapter board, is the 60-pin line separation, The simplest is to use the official acc-8d and ACC-8DCE adapter boards, respectively, such as:
The former directly divides the lines into individual terminal blocks, which are divided into several wiring db heads.
Other more powerful adapter boards, please look in the Extension board link above. Of course, you can also check the manual to understand the signal meaning of each needle, self-designed adapter board, such as the Turbo PMAC PCI manual on the meaning of each needle is as follows:
So basically the introduction of the PMAC hardware is so much. Again, this partmainly for the development of PMAC software written by the people, if the design of the entire control system designers need to further understand all aspects of knowledge and access to hardware manuals.
Original, reprint please indicate from http://blog.csdn.net/wenzhou1219
3.PMAC Hardware-Composition and interface and installation
