Delta Tau PMAC2A-PC/104 manual Filtered DAC Outputs Configuration, I54 Baud Rate for

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PMAC2A PC104 Hardware Reference Manual

If the CPU’s operational frequency has been determined by (a non-zero setting of) I46, the serial communications baud rate is determined at power-up/reset by variable I54 alone according to the following table:

I54	Baud Rate	I54	Baud Rate
0	600	8	9600
1	900	9	14,400
2	1200	10	19,200
3	1800	11	28,800
4	2400	12	38,400
5	3600	13	57,600
6	4800	14	76,800
7	7200	15	115,200

For a saved value of 0 for I46, the serial baud rate is determined by the combination of I54 and the CPU frequency as shown in the following table.

	I54	Baud Rate for	Baud Rate for	Baud Rate for
	I54	40 MHz CPU	60 MHz CPU	80 MHz CPU
		40 MHz CPU	60 MHz CPU	80 MHz CPU
	0	600	Disabled	1200
	1	900* (-0.05%)	900	1800* (-0.1%)
	2	1200	1200	2400
	3	1800* (-0.1%)	1800	3600* (-0.19%)
	4	2400	2400	4800
	5	3600* (-0.19%)	3600	7200* (-0.38%)
	6	4800	4800	9600
	7	7200* (-0.38%)	7200	14,400*(-0.75%)
	8	9600	9600	19,200
	9	14,400*(-0.75%)	14,400	28,800*(-1.5%)
	10	19,200	19,200	38,400
	11	28,800*(-1.5%)	28,800	57,600*(-3.0%)
	12	38,400	38,400	76,800
	13	57,600*(-3.0%)	57,600	115,200*(-6.0%)
	14	76,800	76,800	153,600
	15	Disabled	115,200	Disabled

* Not an exact baud rate

Filtered DAC Outputs Configuration

The following I-variables must be set properly to use the digital-to-analog (filtered DAC) outputs:

I900	=	1001	; PWM frequency 29.4kHz, PWM 1-4
I901	=	2	; Phase Clock 19.6kHz
I902	=	3	; Servo frequency 4.9kHz
I903	=	1746	; ADC frequency
I906	=	1001	; PWM frequency 29.4kHz, PWM 5-8
I907	=	1746	; ADC frequency
I9n6	=	0	; Output mode: PWM
Ix69	=	1001	; DAC limit 10Vdc
I10	=	1710933	; Servo interrupt time

n = channel number from 1 to 8 x = motor number from 1 to 8

24	Software Setup

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Contents PMAC2A-PC/104 Copyright Information Delta Tau Data Systems, Inc. Technical SupportTable of Contents Software Setup Base Board Connector Pinouts PMAC2A PC104 Hardware Reference Manual Table of Contents Board Configuration IntroductionAcc-1P Option 1 I/O Ports Option 12 Analog-to-Digital ConvertersAcc-1P Axis Expansion Piggyback Board Acc-1P Option 2 Analog-to-Digital ConvertersAcc-2P Option 1B Ethernet Interface Acc-2P Communications BoardAcc-2P Option 1A USB Interface Acc-2P Option 2 Dpram CircuitryPMAC2A PC104 Hardware Reference Manual Introduction Base Board Hardware Setup Clock Configuration JumpersBoard Reset Jumpers Resistor Packs Configuration CPU Jumper ConfigurationConfiguration Jumpers Communication JumpersDevice Resistor Pack Pack Size PMAC2A PC104 Hardware Reference Manual ACC-1P Hardware Setup Reserved Configuration JumpersE0 Reserved for future use Handwheel Encoder Termination Resistors ACC-2P Hardware Setup Jthw Connector DATx SELxJopt Connector E10 MOx MIx Lines Differential or Single-Ended Handwheel Encoder Selection DAC Outputs Power Supply Power SuppliesDigital Power Supply Machine ConnectionsOvertravel Limits and Home Switches Motor Signals ConnectionsPulse and Direction Stepper Drivers DAC Output SignalsAmplifier Enable Signal AENAx/DIRn ExampleAmplifier Fault Signal Fault Acc-1P General-Purpose Digital Inputs and Outputs J7 PortAcc-2P General-Purpose Digital Inputs and Outputs Jopt Port Acc-1P Thumbwheel Multiplexer Port J2 PortAcc-2P Thumbwheel Multiplexer Port Jthw Port Acc-1P or Acc-2P Handwheel Port JHW / PD Port Optional Analog InputsCompare Equal Outputs Serial Port JRS232 Port Acc-2P Ethernet RJ45 Connector J10 PortAcc-2P USB Connector J1 Port PC DB-9Machine Connections Example Using Analog ±10V Amplifier PMAC2A PC104 Hardware Reference Manual PMAC2A PC104 Hardware Reference Manual Machine Connections Communications Software SetupOperational Frequency and Baud Rate Setup Pmac I-VariablesFiltered DAC Outputs Configuration I54 Baud RateI54 Baud Rate for Acc-1P with Jumper E6 on Position Using Flag I/O as General-Purpose I/OGeneral-Purpose Digital Inputs and Outputs Flag Type Channel NumberAcc-2P with Jumper E5 in Position Open PLC1 ClearThumbwheel Port Digital Inputs and Outputs Acc-1P with Jumper E6 in PositionAnalog Inputs Setup Baseboard Analog InputsAcc-1P Analog Inputs Board Dimensions Base Board Hardware Reference SummaryFeature Feature LocationBoard Layout Connectors and Indicators Page ACC-1P Hardware Reference Summary TB1 JMACH1 J2 Thumbwheel Multiplexer Port Jthw Port J7 General-Purpose Digital Inputs and Outputs Jopt PortJ8 Handwheel / Pulse and Direction Port JHW / PD Port Page ACC-2P Hardware Reference Summary TB1 Jthw Jopt J1 USB Communications Port J8 Handwheel/Pulse and Direction Port JHW / PD PortJ10 Ethernet Communications Port Page E3 Normal/Re-Initializing Power-Up/Reset E0 Forced Reset ControlE1 Servo and Phase Clock Direction Control Base Board E-POINT Jumper DescriptionsE10 E12 Power-Up State Jumpers E8 Phase Clock Lines Output EnableE9 Servo Clock Lines Output Enable Description DefaultE16 ADC Inputs Enable E13 Power-Up/Reset Load SourceE14 Watchdog Disable Jumper E15A, B, C Flash Memory Bank SelectPoint and Physical Location Description Default Layout E18 E19 PC/104 Bus AddressE0 Reserved for Future Use E1 E2 Machine Output Supply Voltage ConfigureACC-1P E-POINT Jumper Descriptions E3 E4 JHW, PD Function SelectE5 Servo Gate Address Select E6 I/O Gate Address SelectE7 Machine Input Source/Sink Control E5 I/O Gate Address Select E1 USB/Ethernet Micro-Controller Firmware Reload EnableACC-2P E-POINT Jumper Descriptions E6 Communications Port SelectPoint and Physical Location Description Default E7- E10 Ports Direction ControlJ4 JRS232 Serial Port Connector Base Board Connector PinoutsTB1 Jpwr Power Supply Pin# Symbol Function DescriptionJ3 JMACH1 Machine Port Connector J3 JMACH1 50-Pin Header J4 JMACH2 Machine Port Baseboard Connector ACC-1P Connector Pinouts J2 Jthw Multiplexer Port Connector Pin# SymbolJ3 JMACH1 Machine Port Connector Pin Header J3 JMACH1 50-Pin-Header Connector 34-Pin Header FLG78VJ7 Jopto I/O Port Connector J8 JHW Handwheel Encoder Connector Page ACC-2P Connector Pinouts Pin # Symbol FunctionJ1 USB Universal Serial Bus Port Optional Pin Connector J7 Jopt I/O Port Connector J10 Ethernet Port Optional Pin # Function