TurboPMAC自己编写伺服算法.pdfVIP

Turbo PMAC User Manual User-Written Servo Algorithms Turbo PMAC supports the installation and automatic execution of “user-written” servo algorithms. These can be used if the standard PID and ESA filters are not suitable to get the required servo performance. Alternately, they can be used for non-servo purposes, with the algorithm guaranteed to execute at the servo update rate. This can be valuable for fast updates of I/O. There are two methods for creating these user-written servo algorithms. The first is a compiled method called Open Servo, using Turbo PMAC’s high-level language, compiled by the PEWIN32 PRO Executive program. The second is an assembled method using a Motorola cross-assembler for the DSP56300 family. The compiled method is easier to use and more flexible, permitting the use of floating-point mathematics. The assembled method generates code that is far more efficient and more compact. Both methods are discussed below. Only a single user-written servo algorithm may be installed in a Turbo PMAC. This algorithm can be executed by any motor on the Turbo PMAC. If you desire that different motors execute different user- written servo algorithms, this must be accomplished by branching within a single algorithm. Open Servo Compiled Algorithms Turbo PMAC’s Open Servo feature permits writing a custom algorithm in a high-level language that will execute on Turbo PMAC’s high-priority servo interrupt. This algorithm can be used either for actual servo control functions, or for other tasks that must execute at a very high priority, such as very high- frequency I/O, special pre-processing of feedback data, or special post-processing of servo commands. Open Servo algorithms are compiled into DSP machine code in the host computer before being downloaded into Turbo PMAC’s active memory. They may be retained in Turbo PMAC’