Delta Tau 5xx-603869-xUxx - Manual (Page 36)

Brick Motion Controller Hardware Reference Manual
28 System Wiring
hardware clock signals are SCLK (encoder sample clock), PFM_CLK (pulse frequency modulator clock),
DAC_CLK (digital-to-analog converter clock), and ADC_CLK (analog-to-digital converter clock).
Parameters to Set Up Per-Channel Hardware Signals
I70n6 is the output mode; “n” is the output channel number (i.e. for channel 1 the variable to set would be
I7016, I7026 for channel 2 etc.). On Pmac1 there is only one output and one output mode, DAC output.
On PMAC2 boards, each channel has 3 outputs, and there are 4 output modes. Since this is board was
designed to output filtered PWM signals we want to configure at least the first output as PWM. Therefore
the default value of 0 is the choice. For information on this variable, consult the Turbo Software
Reference Manual.
Ixx69 is the motor output command limit. The analog outputs on PMAC1 style boards and some PMAC2
accessories are 16-bit or 18-bit DACs, which map a numerical range of -32,768 to +32,767 into a voltage
range of -10V to +10V relative to analog ground (AGND). For our purposes of a filtered PWM output
this value still represents the maximum voltage output; however the ratio is slightly different. With a true
DAC, Ixx69=32767 allows a maximum voltage of 10V output. With the filtered PWM circuit, Ixx69 is a
function of I7000. A 10V signal in the output register is no longer 32767 as was in PMAC1, a 10V signal
is corresponds to a value equal to I7000. Anything over I7000 will just rail the DAC at 10V. For
example:
Desired Maximum Output Value = 6V
Ixx69 = 6/10 * I7000
Desired Maximum Output Value = 10V
Ixx69= I7000 + 10 ; add a little headroom to assure a full
10V