Kod: Zaznacz cały

The most complex solution is to close the loop on the step motor and the design of the G101 has taken that into consideration. Doing so :roll:  turns a step motor into a high pole-count AC servo motor and all sorts of performance advantages occur then. The motor can accelerate / decelerate at the maximum available torque rate, low speed and mid-band resonances are suppressed and the servo ‘stiffness’ becomes equal to ¼ the encoder line-count

Kod: Zaznacz cały

"White Heat" is the code name for a dedicated sequencer (or "coprocessor") which runs within the FPGA. This is a true processor, including conditional branch, arithmetic and logical operations. Owing to limited amounts of memory in the FPGA, a White Heat program is limited to 1024 instructions. It is a Harvard architecture processor, therefore there is a separate program and data address space. The data space is divided into two sub-spaces: working set and shared memory MCU interface. There is another address space which is used to access the other hardware within the FPGA (peripherals).
White Heat is described in detail in its own chapter, on page 25. It is fully programmable without requiring a rebuild of the FPGA configuration, however the reference design from Geckodrive includes a default White Heat program within the FPGA reference configuration, so there is no need for the MPU to deal with White Heat. The following section makes some reference to White Heat, since it is used to mediate between the MCU and the general purpose digital and analog I/O.