產(chǎn)品delta tau pmac運(yùn)動(dòng)控制器

1、Power PMAC Data StructuresJanuary 2012Power PMAC Data StructuresMain provided method of organizing Power PMAC informationBoth hardware (I/O) and software (memory) registersIncludes saved setup elements (like old I-variables)Includes unsaved control elementsIncludes read-only status elementsMostly re

2、places I & M-variable use of PMAC/Turbo PMACPre-defined by Delta TauUser cannot create own data structures/elements in Script environmentNo need to know numerical addresses of structure elementsMostly replaces “memory & I/O map” of PMAC/Turbo PMACAccessible through on-line commands, Script and C pro

3、gramsIDE has “intellisense” database of structure namesAutomatically presents possible “completions” as you typeCan select from list to finish nameF1 function key “help” provides full manual descriptionScript Environment AccessFrom both on-line commands and buffered program commandsStructure and ele

4、ment names are not case sensitiveNo need to “include” any header files for accessNo need to declare these pre-defined elementsScript environment automatically performs type-matchingNo need to worry about element data length or formatPower PMAC prevents user changes to “write-protected” elementsError

5、 returned for on-line command attemptBuffered program attempt results in “no-op” (no error reported, no abort)Power PMAC prevents out-of-range values from being assignedError returned for on-line command attemptBuffered program attempt results in “no-op” (no error reported, no abort)Classes of Data

6、Structure ElementsSaved setup elementsHave factory default values set on re-initialization ($*) command, or on power-up/reset with a fault or configuration changeLast-saved values copied from flash memory on normal power-up or resetPresent active values copied to flash memory on a save commandNon-sa

7、ved control elementsHave default values (usually 0) set on power-up, reset, re-initializationUser can set values at any time in applicationNot affected by save commandStatus elementsValues automatically set by Power PMACMost are write-protected in Script environmentSome permit user writing for speci

8、al operationsEach class of element has a separate chapter in Software ReferenceImportant Data StructuresSys.Global “system” elementsMotorx.Motor elements, indexed by Motor #Motorx.Servo.Motor servo algorithm elementsCoordx.Coordinate-system elements, indexed by CS #EncTablen.Encoder table elements,

9、indexed by entry #CompTablem.Comp table elements, indexed by table #Gate1i.DSPGATE1 Servo IC elements, by IC #Gate1i.Chanj.DSPGATE1 channel elements, by channel #Gate2i.DSPGATE2 MACRO IC elements, by IC #Gate2i.Chanj.DSPGATE2 channel elements, by channel #Gate3i.DSPGATE3 Servo IC elements, by IC #Ga

10、te3i.Chanj.DSPGATE3 channel elements, by channel #GateIoi.IOGATE I/O IC elements, by IC #Gather.Data gathering elementsMacro.MACRO ring elementsSpecifying Data Structure IndicesIndex is in square brackets, not in parenthesesIndex must be integer constant or local L-variableNo expressions, no fractio

11、nsIf calculating index value, must do this in separate program command that assigns value to L-variable, e.g.L0=Ldata.Motor;MotorL0.JogSpeed=100;Indices always start at 0Motorx. index value matches Motor number (#x)Coordx. index value matches C.S. number (&x)ASIC index value matches ASIC number (but

12、 ASIC numbering scheme different from Turbo PMAC)ASIC channel index (0 3) is one less than ASIC channel number (1 4)Constant index values can range from 0 to Sys.MaxItems - 1Variables used for index can range from L0 to L(1022 Sys.MaxItems)Specifying the Address of an ElementThe “.a” suffix added to

13、 the end of an element name specifies the “address of” the elementGenerally do not need to know the numerical value of this addressActual numerical value can vary with system type and compilationCan get numerical value by querying element name.aA “p” at the beginning of an element name specifies “po

14、inter to”These elements are set to an address valueWhen queried, Power PMAC reports back element name with “.a” suffix (if the address is that of a known element)Examples:Motor1.pDac=Gate14.Chan0.Pwm0.a/ Set motor output pointerMotor2.pDac/ Query motor output pointerGate14.Chan1.Pwm0.a/ Power PMAC r

15、esponseGate14.Chan0.Pwm0.a/ Query element address$d5700008/ Power PMAC responseC Access to Data StructuresMust include header file in C compilation build: #include Must access software elements with pshm-data structure elementC functions have pshm declared automaticallyIndependent C applications mus

16、t declare: e.g. struct SHM *pshm;Sys structure name is implicit: e.g. pshm-ServoPeriod (for Sys.ServoPeriod)Other structure names must be used: e.g. pshm-Motor1.JogSpeedMust respect variable type of each element according to C rulesElement names in C are case-sensitiveNo write-protection or out-of-r

17、ange/saturation protectionSome “internal use” elements not accessible (in lieu of write protection)For hardware elements, only “full-word” (32-bit) structure elements can be accessed from C programFull-word elements often contain multiple partial-word elementse.g. Gate1i.PwmCtrl contains Gate1i.PwmP

18、eriod and Gate1i.PwmDeadTimeMust mask (and maybe shift) to isolate “partial-word” elementScript full-word element of same name may be less than 32 bitse.g. in script, Gate1i.PwmCtrl is 24 bits (high 24 of 32)C Access to Hardware Data StructuresHardware (I/O) data structures not part of “pshm” shared memoryTwo methods of C access to hardware data structures1st ( mended) method: define you