Handwheel Encoder Software Setup; Handwheel Pfm Software Setup; Handwheel Option-12 Dac Software Setup - Delta Tau Power PMAC Clipper User Manual

Power PMAC Clipper User Manual

Handwheel Encoder Software Setup

To enable the handwheel encoders in software set
counter is available in
Clipper[i].Chan[j].SerialEncDataA
to read this location with an
EncTable[x].Type=1
Clipper[i].Chan[j].SerialEncCmd=$400
direction of the encoder. Bit 31 of
flag. The sample clock for these encoders is controlled by
Sys.WpKey = $AAAAAAAA;
// Typical ECT setup for HW1
Gate3[0].Chan[0].SerialEncEna=0
EncTable[5].Type=1
EncTable[5].pEnc=Gate3[0].Chan[0].SerialEncDataA.a
EncTable[5].pEnc1=sys.pushm
EncTable[5].index1=0
EncTable[5].index2=0
EncTable[5].index3=0
EncTable[5].index4=0
EncTable[5].ScaleFactor=1/256
// Typical ECT setup for HW2
Gate3[0].Chan[1].SerialEncEna=0
EncTable[6].Type=1
EncTable[6].pEnc=Gate3[0].Chan[6].SerialEncDataA.a
EncTable[6].pEnc1=sys.pushm
EncTable[6].index1=0
EncTable[6].index2=0
EncTable[6].index3=0
EncTable[6].index4=0
EncTable[6].ScaleFactor=1/256
// Typical pointers for encoder count direction
PTR CountDirHW1->U.IO:$90005C.11.1
PTR CountDirHW2->U.IO:$9000DC.11.1
// Typical pointers for encoder count error
PTR CountErrHW1->U.IO:$90001C.11.1
PTR CountErrHW2->U.IO:$90009C.11.1

Handwheel PFM Software Setup

The handwheel pulse and direction connections are common to the Power Clippers channel's 1 and 2
pulse frequency modulation outputs (PFM) and would be setup according to the "Pulse Frequency
Modulation Output (Step and Direction)" section of this manual.

Handwheel Option-12 DAC Software Setup

The Option-12 DAC uses the pulse and direction output of channel 3. Set PWM mode on phase D of
channel 3 (set bit 3 to zero). Set the proper PWM clocks for channel 3 if not already done:
Sys.WpKey = $AAAAAAAA;
Clipper[0].PhaseFreq=10000; // 10KHz Phase
Clipper[0].PhaseClockDiv=0;
Clipper[0].ServoClockDiv=3; // 2.25KHz Servo
Clipper[0].AdcAmpStrobe=$fffffc
Clipper[0].Chan[2].PwmFreqMult=5 // 30KHz PWM
Sys.PhaseOverServoPeriod=1/( Clipper[0].ServoClockDiv+1)
Sys.ServoPeriod=1000*( Clipper[0].ServoClockDiv+1)/Clipper[0].PhaseFreq
Clipper[0].Chan[2].OutputMode= Clipper[0].Chan[2].OutputMode&( Clipper[0].Chan[2].OutputMode^8)
The DAC is available at the following register:
Gate3[0].Chan[2].Pwm[3].a
Connections and Software Setup
Clipper[i].Chan[j].SerialEncEna=0
. This has 8 bits of 1/T fractional counts. Use
EncTable[x].ScaleFactor=1/256
. Bit 11 of
Clipper[i].Chan[j].SerialEncCmd
Clipper[i].Chan[j].SerialEncDataB
// Clocks – Phase and Servo
, (j=1,2). The encoder
. To reset the counter set
is used to change the count
is the status of the encoder count error
.
Clipper[i].EncClockDiv
57