Accessory 24E2A
UMAC SOFTWARE SETUP
Servo IC Configuration I-Variables
Turbo PMAC I-variables in the range I7000 – I7999 control the configuration of the Servo ICs. The
hundreds digit represents the number of the Servo IC (0 to 9) in the system. Servo ICs 0 and 1 are (or can
be) on board the Turbo PMAC board itself. Servo ICs 2 through 9 are (or can be) on external devices
such as the Acc-24E2.
Servo IC Numbering
The number m of the Servo IC on the Acc-24E2 board is dependent on the addressing of the board with
DIP switches S1-1, S1-3, and S1-4, which place the board as the first
through eight external devices:
First Acc-24E2 with Option 1: Servo IC 2 (channels 1-4) •
•
•
•
•
•
•
•
Second Acc-24E2 with Option 1 Servo IC 3 (channels 5-8)
Third Acc-24E2 with Option 1: Servo IC 4 (channels 9-12)
Fourth Acc-24E2 with Option 1 Servo IC 5 (channels 13-16)
Fifth Acc-24E2 with Option 1: Servo IC 6 (channels 17-20)
Sixth Acc-24E2 with Option 1 Servo IC 7 (channels 21-24)
Seventh Acc-24E2 with Option 1: Servo IC 8 (channels 25-28)
Eighth Acc-24E2 with Option 1 Servo IC 9 (channels 29-32)
The Standard Servo IC on an Acc-24E2 occupies Channels 1-2 on the board, using connectors associated
with channels 1 and 2. The Option 1 on an Acc-24E2 occupies Channels 3-4 on the board, using
connectors associated with channels 3 and 4.
Example: The Standard Servo IC on the first Acc-24E2 is Servo IC 2 to Turbo PMAC and is configured
by variables I7200 – I7299.
Servo Channel Numbering
Each Servo IC has four channels of servo interface circuitry. The tens digit n of the I-variable
configuring the IC represents the channel number on the IC (n = 1 to 4). For example, Channel 1 of the
Standard Servo IC on the first Acc-24E2 is configured by variables I7210 – I7219. These channel-
specific I-variables are represented generically as I7mn0 – I7mn9, where m represents the Servo IC
number (0-9) and n represents the IC channel number (1-4).
The Channels 1 – 4 on the Standard Servo IC of an Acc-24E2 correspond to Channels 1-4, respectively,
on the Acc-24E2 board itself.
I-variables in the I7000s for which the tens digit is 0 (Channel 0) affect all four channels of the PMAC2-
style Servo IC on the Acc-24E2. These multi-channel I-variables are represented generically as I7m00 –
I7m09.
Multi-Channel I-Variables
Several multi-channel I-variables must be set up for proper operation of the Acc-24E2 in a Turbo PMAC
system. The most important are:
I7m07: Servo IC m Phase/Servo Clock Direction
This variable should be set to 0 on the Acc-24E2A generating the clocks (E13 set 2-3) and set to 3 for the
Acc-24C2As to receive the clocks (E13 set 1-2).
UMAC Software Setup 21
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