Converter (DAC) Subsystem
The command link from
the XMP controller to analog input servo drive is the DAC. (In
contrast, stepper drives receive commands from the XMP controller
via transceivers; DACs are not used for steppers.) The XMP controller
can have up to two DACs per axis. DACs are separated into primary
and auxiliary DACs. One channel is used for standard servo control
("primary") and the other channel is an auxiliary, OR both channels
are used for sinusoidal commutation.
Using the firmware's
default settings, motors are mapped to DACs according to the table
below. The firmware provides for a fully configured, 16-motor
controller (consisting of a linked main and expansion board) by
mapping all 16 motors to 32 DACs (16 primary, plus 16 auxiliary).
If a controller consists only of one main board (8 motors), the
expansion hardware to support the additional motor-DAC mappings
(motors 8-15, DACs 8-15, and AuxDacs 8-15) does not exist, and
the firmware ignores them.