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Delta Tau 16-AXIS User's Manual

1. MACRO Location MIVariable Turbo Location M Var Description X 8049 0 24 8 M601 ENC6 24 bit counter position 5804 8 16 5 602 OUT6A command value DAC or PWM 5804 0 24 5 MS9 MI921 M603 ENC6 captured position 5804 8 16 5 604 OUT6B command value DAC or PWM 5804 8 16 5 MS9 MI922 78435 8 16 3 M605 ADC6A input value 5804 8 16 5 MS9 MI924 78436 8 16 3 M606 ADC6B input value 5804 8 16 5 607 OUT6C command value or PWM 5804 0 24 5 MS9 MI925 M608 ENC6 compare A position 5804 0 24 5 MS9 MI926 M609 ENC6 compare B position 5804 0 24 5 MS9 MI923 M610 ENC6 compare auto increment value X 804D 11 MS9 MI928 611 ENC6 compare initial state write enable 5804 12 MS9 MI929 M612 ENC6 compare initial state X 804D 14 Y S3449 14 M614 output status 8048 19 53449 19 M615 USER flag input status 58048 9 53449 9 616 ENC6 compare output value 58048 11 53449 11 M617 ENC6 capture flag X 8048 8 Y 3449 8 M618 ENC6 count error flag X 8048 14 M619 CHC6 input status X 8048 16 5003449 16 620 HMFL6 flag input status X 8048 17 5003449 17 M621 PLIM6 flag input status X 8048 18 Y 003449 18 M622 MLIM6 flag input status X 8048 15 5003449 15 M623 FAULTS flag input s
2. Ixx02 Value Register Ixx02 Value Register 1102 078422 MACRO IC 0 Node 0 Reg 2 11702 07A422 MACRO IC 2 Node 0 Reg 2 1202 078426 MACRO IC 0 Node 1 Reg 2 11802 07A426 MACRO IC 2 Node 1 Reg 2 1302 07842A MACRO IC 0 Node 4 Reg 2 11902 07A42A MACRO IC 2 Node 4 Reg 2 1402 07842E MACRO IC 0 Node 5 Reg 2 12002 07A42E MACRO IC 2 Node 5 Reg 2 1502 078432 MACRO IC 0 Node 8 Reg 2 12102 07A432 MACRO IC 2 Node 8 Reg 2 1602 078436 MACRO IC 0 Node 9 Reg 2 12202 07A436 MACRO IC 2 Node 9 Reg 2 702 07843A MACRO IC 0 Node 12 Reg 2 12302 07A43A MACRO IC 2 Node 12 Reg 2 I802 07843E MACRO IC 0 Node 13 Reg 2 12402 07A43E MACRO IC 2 Node 13 Reg 2 1902 079422 MACRO IC 1 Node 0 Reg 2 12502 07B422 MACRO IC 3 Node 0 Reg 2 11002 5079422 MACRO IC 1 Node 1 Reg 2 12602 07B426 MACRO IC 3 Node 1 Reg 2 11102 07942A MACRO IC 1 Node 4 Reg 2 12702 07B42A MACRO IC 3 Node 4 Reg 2 11202 07942E MACRO IC 1 Node 5 Reg 2 12802 07B42E MACRO IC 3 Node 5 Reg 2 11302 079432 MACRO IC 1 Node 8 Reg 2 12902 07B432 MACRO IC 3 Node 8 Reg 2 11402 079436 MACRO IC 1 Node 9 2 13002 07B436 MACRO IC 3 Node 9 Reg 2 11502 07943A MACRO IC 1 Node 12 Reg 2 13102 07B43A MACRO IC 3 Node 12 Reg 2 11602 07943E MACRO IC 1 Node 13 Reg 2 13202 07B43E MACRO IC 3
3. The matching of servo nodes to hardware channel numbers is determined by the setting of rotary switch SW1 MI17 Amplifier Fault Disable Control MI17 disables the display of the amplifier fault inputs It does not affect the AMP fault being transferred to the PMAC Ix25 must be used to disable the PMAC AMP fault bit If a bit of M117 is set to the default of 0 the display of the amplifier fault input for the channel connected to that node is enabled If the bit is set to 1 the display of the amplifier fault input is disabled MI18 Amplifier Fault Polarity Control MI18 determines the polarity of the amplifier fault inputs If a bit of MI18 is set to the default of 0 the amplifier fault input for the channel connected to that node is considered low true which means that a logical 0 read on this channel s fault bit is considered a fault condition regardless of the input voltage to create this state If the bit is set to 1 the amplifier fault input is considered high true which means that a logical 1 read on this channel s fault bit is considered a fault condition 46 16 Axis MACRO CPU Software Setup 16 MACRO CPU User Manual Typically on the MACRO Station accessories the fault bit is brought in through an AC Opto component for which current flowing in either direction creates a logical 0 In the default setup of MI18 this state is considered an amplifier fault Note that if nothing is
4. 16 Axis MACRO CPU User Manual Servo IC 1 Registers for Channel 4 usually for Motor 8 MACRO Location MIVariable Turbo Location M Var Description 58059 0 24 5 801 ENC8 24 bit counter position 805 8 16 5 M802 OUTS8A command value DAC or PWM 5805 0 24 5 MS13 MI921 M803 ENCS captured position 5805 8 16 5 804 00188 command value DAC or PWM 8050 8 16 3 MS13 MI922 57843 8 16 5 805 ADC8A input value 805 8 16 5 MS13 MI924 57843 8 16 5 M806 ADCSB input value 805 8 16 5 807 OUTS8C command value or PWM Y S805F 0 24 s MS13 MI925 M808 ENC8 compare A position 805 0 24 5 MS13 MI926 M809 ENC8 compare B position 5805 0 24 5 MS13 MI923 M810 ENC8 compare auto increment value X 805D 11 MS13 MI928 M811 ENC8 compare initial state write enable X 805D 12 MS13 MI929 M812 ENCS compare initial state X 805D 14 500344 14 814 AENAS output status 58058 19 500344 19 M815 USERS flag input status 58058 9 Y 00344D 9 M816 ENCS compare output value 58058 11 500344 11 M817 ENC8 capture flag X 8058 8 Y 00344D 8 M818 8 count error flag 58058 14 819 8 input status X 8058 16 500344 16 M820 HMFLS flag input status X
5. 65 Veloctty Torque 65 Phase Current Sinewave __ _______ __ _ _ _ 65 Phase Voltage Direct PWM Mode 65 MACRO EQUIVALENT SERVO IC MEMORY LOCATIONS 67 NODE TRANSFER ADDRESSES CHART A 83 16 Axis MACRO CPU Node 4 enne 83 Turbo PMAC2 Node Addresses civic etre repere HU ener ete i REPE e tre eR HER RS 84 Table of Contents iii 16 Axis MACRO CPU User Manual Table of Contents 16 MACRO CPU User Manual INTRODUCTION The 16 Axis MACRO CPU provides a remote interface for encoders flags direct PWM digital drives analog drives and or digital I O for a Turbo PMAC2 with MACRO interface It communicates with the Turbo PMAC2 solely through the MACRO ring but interfaces to standard drives encoders flags and Opto 22 style I O through on board connectors It is designed to run up to sixteen motors With the fiber optic MACRO interface the 16 Axis MACRO CPU can be up to three kilometers two miles away from the Turbo PMAC2 controller or any other station on the ring With
6. 14 Turbo PMAC2 Software Setup for MACRO Station 16 Axis MACRO CPU User Manual Each MACRO IC acting as a master on the ring whether on the same card or different cards must have its own master number and acts as a separate master station for the purposes of the ring protocol This master number forms half of the address byte with each packet sent by the PMAC2 over the MACRO ring The master number can be the same number as the MACRO IC number e g MACRO IC 0 has master number 0 MACRO IC 1 has master number 1 and so on and if there is only one Turbo PMAC2 in the ring this will probably be the case However this is not required The MACRO IC that is the ring controller must have master number 0 170 172 174 176 MACRO IC 0 1 2 3 Node Auxiliary Function Enable 170 172 174 and 176 are 16 bit I Variables bits 0 15 in which each bit controls the enabling or disabling of the auxiliary flag function for the MACRO node number matching the bit number for MACRO ICs 0 1 2 and 3 respectively A bit value of 1 enables the auxiliary flag function a bit value of 0 disables it If the function is enabled PMAC copies information automatically between the MACRO interface flag register and RAM register 00344n 00345n 00346n and 00347n where n is the IC s node number 0 15 for MACRO ICs 0 1 2 and 3 respectively Note Turbo PMAC MACRO node numbers as opposed to individual MACRO IC node numbers go from 0 to 63 with boar
7. 5003440 14 114 AENA output status 58000 19 Y 003440 19 115 USERI flag input status X 8000 9 5003440 9 116 compare output value 58000 11 5003440 11 M117 capture flag X 8000 8 003440 8 M118 ENCI count error flag X 8000 14 M119 CHC input status X 8000 16 Y 003440 16 M120 HMFLI flag input status X 8000 17 5003440 17 M121 flag input status X 8000 18 Y 003440 18 M122 MLIMI flag input status X 8000 15 Y 003440 15 M123 FAULTI flag input status X 8000 20 Y 003440 20 M124 Channel 1 W flag input status X 8000 21 5003440 21 125 Channel 1 V flag input status X 8000 22 Y 003440 22 M126 Channel 1 U flag input status X 8000 23 Y 003440 23 127 Channel 1 T flag input status X 8000 20 4 5003440 20 4 128 Channel 1 TUVW inputs as 4 bit value Suggested MM Variables 10 gt 58001 0 24 5 24 bit counter position 11 gt 58002 8 16 5 OUT1A command value 12 gt 58003 8 16 5 OUTIB command value 13 gt 58004 8 16 5 command value MACRO Equivalent Servo IC Memory Locations 67 16 Axis MACRO CPU User Manual Servo IC 0 Registers for MACRO Channel 2 usually for Motor 2 MACRO Location MIVariable Tur
8. 16 8 0 8 7 Generally with these boards it is possible to put only one board at any given address The 14 board always occupies the low byte only of the data bus so it is possible to put Acc 9E 10E 11E or 12E boards at the same address in the middle or high bytes 8 Hardware Setup 16 MACRO CPU User Manual Auto Configuration and Identification of UMAC Pack Boards The 16 Axis MACRO CPU identifies all the UMAC Servo IC type boards in the Ubus backplane automatically From this list it then attaches them to the two MACRO ICs Each MACRO IC will support and configure eight servo channels and six encoder feedback channels BITn Fault Status Description MI4 15 Detected Ubus Encoder IC 7 Attached to MACRO IC 0 and 1 2 channels each 16 Detected Ubus Encoder 6 Attached to MACRO IC 1 4 encoder channels 17 Detected Ubus Encoder 5 Attached to MACRO IC 0 4 encoder channels 18 Detected Ubus Servo IC 4 Attached to MACRO IC 1 4 full servo channels 19 Detected Ubus Servo IC 3 Attached to MACRO IC 1 4 full servo channels 20 Detected Ubus Servo IC 2 Attached to MACRO IC 0 4 full servo channels 21 Detected Ubus Servo IC 1 Attached to MACRO IC 0 4 full servo channels 22 Detected CPU MACRO IC 1 8 0 0 23 Detected CPU MACRO IC 0 C080 Wiring into the MACRO Station The connections detailed in the Hardware Reference
9. Signed Acc 8D Opt 7 Resolver Digital Converter 730000 00xxxx F30000 80xxxx 07 87 Acc 8D Opt 9 Yaskawa Absolute Encoder Converter 720000 71xxxx F20000 1 72 F2xxxx Acc 49 Sanyo 26 bit Absolute Encoder Converter 740000 32 40000 B2xxxx Acc 28B E Analog Digital Converter 740000 3 1xxxx 1 6 36 59 A D Converter low 12 bits 740000 0Cxxxx F40000 8Cxxxx 1 6 36 59 A D Converter high 12 bits 740000 33xxxx F40000 B3xxxx MACRO Station MLDT Input 740000 17 MACRO Station Parallel Input from 24 bit word 740000 08 F40000 88xxxx 2 Acc 3E 14E Parallel Input from two consecutive lower bytes 740000 2Bxxxx F40000 SABxxxx Acc 3E 14E Parallel Input from two consecutive middle bytes 740000 2Cxxxx 40000 SACxxxx Acc 3E 14E Parallel Input from two consecutive upper bytes 740000 2Dxxxx F40000 SADxxxx Acc 3E 14E Parallel Input from two consecutive lower bytes 740000 2Exxxx F40000 SAExxxx Acc 3E 14E Parallel Input from two consecutive middle bytes 740000 2 F40000 Acc 3E 14E Parallel Input from two consecutive upper bytes 740000 30xxxx F40000 BOxxxx 24 Turbo PMAC2 Software Setup for MACRO Station 16 MACRO CPU User Manual When Turbo PMAC2 s Ixx10 and Ixx95 are set to get absolute position over
10. The following tables show the locations of the individual flags in these registers Motor Command Flags Y 0034xn for MACRO IC x 4 Node Bit Function Notes 0 Position Capture Prepare Flag Must be set to to prepare for hardware capture over ring to 0 when done 1 7 Not Used 8 10 Reserved for Future Use 11 Position Capture Enable Flag Must be set to 1 to prepare for hardware capture over ring to 0 when done 12 Node Position Reset Flag 13 Reserved for Future Use 14 Amplifier Enabled Command to Station 15 23 Reserved for Future Use Motor Status Flags X 0034xn for MACRO IC x 4 Node Bit Function Notes 0 7 Not Used 8 10 Reserved for Future Use 11 Position Captured Flag Latched from selected flag 12 Power On Reset or Node Reset Occurred 13 Ring Break Detected Elsewhere 14 Amplifier Enabled Status from Station 15 Amplifier Node Shutdown Fault 1 is treated as shutdown if Ix25 bit 23 1 0 if Ix25 bit 23 0 16 Home Flag HOME Input Value 17 Positive Limit Flag PLIM Value 18 Negative Limit Flag MLIM Value 19 User Flag USER Input Value 20 Flag W Input Value 21 Flag V Input Value 22 Flag U Input Value 23 Flag T Input Value Ixx70 Ixx71 Commutation Cycle Size If the Turbo PMAC2 is performing commutation for Motor xx providing either two phase current commands sine wave output or
11. 003508 Conversion Table Line 7 12003 003528 Conversion Table Line 39 1503 00350A Conversion Table Line 9 12103 00352A Conversion Table Line 41 1603 00350C Conversion Table Line 11 12203 00352C Conversion Table Line 43 1703 00350E Conversion Table Line 13 12303 00352E Conversion Table Line 45 1803 003510 Conversion Table Line 15 12403 003530 Conversion Table Line 47 1903 003512 Conversion Table Line 17 12503 003532 Conversion Table Line 49 11003 003514 Conversion Table Line 19 12603 003534 Conversion Table Line 51 11103 003516 Conversion Table Line 21 12703 003536 Conversion Table Line 53 11203 003518 Conversion Table Line 23 12803 003538 Conversion Table Line 55 11303 00351 Conversion Table Line 25 12903 00353A Conversion Table Line 57 11403 00351C Conversion Table Line 27 13003 00353C Conversion Table Line 59 11503 00351E Conversion Table Line 29 13103 00353E Conversion Table Line 61 11603 003520 Conversion Table Line 31 13203 003540 Conversion Table Line 63 Turbo PMAC2 Software Setup for MACRO Station 23 16 Axis MACRO CPU User Manual Ixx10 Ixx95 Absolute Position Address and Format Ixx10 and Ixx95 permit an automatic read of an absolute position sensor at power on reset and or on a subsequent or command If Ixx10 is set to 0 the power on reset position for the motor will be considered to be 0 regardless of the type of sensor use
12. 07A43C X 07A43D X 07A43E X 07A43F IC3 0 Axis 25 48 Y 07B420 Y 07B421 Y 07B422 Y 07B423 84 Node Transfer Addresses Chart 16 MACRO CPU User Manual 1C3 1 Axis 26 49 Y 07B424 Y 07B425 Y 07B426 Y 07B427 IC3 2 50 X 07B420 X 07B421 X 07B422 X 07B423 IC3 3 51 X 07B424 X 07B425 X 07B426 X 07B427 IC3 4 Axis 27 52 Y 07B428 Y 07B429 Y 07B42A Y 07B42B 1C3 5 Axis 28 53 Y 07B42C Y 07B42D Y 07B42E Y 07B42F IC3 6 54 X 07B428 X 07B429 X 07B42A X 07B42B 1C3 7 55 X 07B42C X 07B42D X 07B42E X 07B42F IC3 8 Axis 29 56 Y 07B430 Y 07B431 Y 07B432 Y 07B433 IC3 9 Axis 30 57 Y 07B434 Y 07B435 Y 07B436 Y 07B437 1C3 10 58 07 430 X 07B431 X 07B432 X 07B433 IC3 11 59 X 07B434 X 07B435 X 07B436 X 07B437 1C3 12 Axis 31 60 Y 07B438 Y 07B439 Y 07B43A Y 07B43B 1C3 13 Axis 32 61 07 43 Y 07B43D Y 07B43E Y 07B43F 1C3 14 Master Master 62 X 07B438 X 07B439 X 07B43A X 07B43B IC3 15 Master Slave 63 X 07B43C X 07B43D X 07B43E X 07B43F Node Transfer Addresses Chart 85
13. 16 Axis MACRO CPU Software Setup 39 16 Axis MACRO CPU User Manual Single Channel Servo Interface Channel Setup The hardware of the machine interface channels on the 16 Axis MACRO CPU can be configured in software to interface to many different types of devices To perform this configuration set Station MI Variables that are specific to the MACRO node that is mapped to the machine interface channel by the setting of the SW1 rotary switch on the Station Each of these nodes has its own set of MI variables in the MI910 MI930 range for this hardware setup of the machine interface channel mapped to the node These MI Variables are set by the MS node MIxxx xxx 910 to 939 command from PMAC where node must represent the number of the specific MACRO node not the number of the any active node on the station as for all of the other Station MI variables The following table shows the physical location of each machine interface channel that could be on a 16 Axis MACRO CPU Machine Interface Channel Backplane Axis Board Used Location On Board 1 Acc 24E2x w S1 1 2 ON First channel 2 Acc 24E2x w S1 1 2 ON Second channel 3 24 2 w S1 1 2 ON Third channel 4 24 2 w S1 1 2 ON Fourth channel 5 Acc 24E2x w S1 1 2 OFF First channel 6 Acc 24E2x w S1 1 2 OFF Second channel 7 Acc 24E2x w S1 1 2 OFF Third channel 8 Acc 24E2x w S1 1 2 OFF Fourth channel 9 First cha
14. MACRO Location MIVariable Turbo Location M Description Var X 8019 0 24 S 401 ENC4 24 bit counter position 5801 8 16 5 402 OUT4A command value DAC or PWM X 801B 0 24 S MS5 MI921 M403 ENC4 captured position 5801 8 16 5 404 OUT4B command value DAC or PWM 5801 8 16 5 55 922 57842 8 16 5 405 ADC4A input value 5801 8 16 5 MS5 MI924 57842 8 16 5 M406 ADC4B input value 5801 8 16 5 407 OUT4C command value or PWM 5801 0 24 5 MS5 MI925 M408 ENC4 compare A position 5801 0 24 5 MS5 MI926 409 compare position 5801 0 24 s MS5 MI923 M410 ENC4 compare auto increment value X 801D 11 MS5 MI928 M411 compare initial state write enable X 801D 12 MS5 MI929 412 ENC4 compare initial state 8010 14 Y S3445 14 M414 AENA4 output status X S8018 19 53445 19 M415 USERA flag input status X 8018 9 53445 9 416 compare output value X 8018 11 53445 11 417 ENC4 capture flag X 8018 8 53445 8 418 ENC4 count error flag X 8018 14 M419 CHC4 input status X 8018 16 5003445 16 420 HMFL4 flag input status X 8018 17 Y 003445 17 M421 PLIMA flag input status X 8018 18 5003445 18 422 MLIMA flag input status X 8018 15 5003445 15 423 FAULT4 flag input status 58018 20 Y 003445 20 M424 Channel 4 W flag input status 58018 21 Y 003
15. MS0 MI22 E98011E9CO0A8 Signed upper 24 bits data from Station address X 8011 to X C0A8 node6 MS0 MI23 E98019E9COAC Signed upper 24 bits data from Station address X 8019 to X COAC node7 MSSAVEO Save these changes to the MACRO Sation 55550 Reset the MACRO Station for changes to take affect 60 How to use the 16 Axis MACRO CPU 16 MACRO CPU User Manual Ultralite Setup Ultralite 8 Axis Turbo Ultralite 8 Axis Description 1996 SOFB3FF 16841 SOFB3FF Enable nodes 0 1 2 3 4 5 6 7 8 9 12 amp 13 at Ultralite M980 gt X SCOAO0 0 24 8s M980 gt X 78420 0 24 s Up Down Counter 1 981 gt 5 0 4 0 24 5 981 gt 578424 0 24 5 Up Down Counter 2 M982 gt X CO0A8 0 24 s M982 gt X 78428 0 24 s Up Down Counter 3 M983 gt X SCOAC 0 24 5 M983 gt X 7842C 0 24 s Up Down Counter 4 Now the M Variables in the PLC or motion programs can be used for data acquisition purposes Example Write to DACnB on Servo IC Card Transfer DAC1B DAC2B DAC3B and DAC4B to the Ultralite using the MACRO Data Transfer Assume MACRO Station 0 Assume Acc 24E2A from channels 1 2 3 4 Since the ADC data is 16 bit data the most efficient method of transfer is through the MACRO 16 bit data registers from nodes 2 and 3 MACRO Station Setup MACRO Commands Notes MS0 MI19 4 Transfer data once
16. servo cycles The time interval set by 180 must be large enough that 182 real time interrupts in PMAC can always execute within the time interval or false ring errors will be detected Remember that long motion program calculations can cause skips in the real time interrupt Typically values of I80 setting a time interval of about 20 milliseconds are used 180 can be set according to the formula 180 Desired cycle time msec Servo update frequency kHz For example with the default servo update frequency of 2 26 kHz to get a ring check cycle interval of 20 msec 80 would be set to 20 2 26 45 MACRO Node Addresses The MACRO ring operates by copying registers at high speed across the ring Therefore each Turbo PMAC2 master controller on the ring communicates with its slave stations by reading from and writing to registers in its own address space MACRO hardware handles the data transfers across the ring automatically Starting in Turbo firmware version 1 936 the base addresses of the up to four MACRO ICs must be specified in 120 123 for MACRO IC 0 3 respectively Before this the base addresses were fixed at 078400 079400 07A400 and 07B400 respectively Only UMAC Turbo systems can support any other configuration but only rarely will another configuration be used The following tables give the addresses of the MACRO ring registers for Turbo PMAC2 controllers Note that it is possible although unlikely to have o
17. which specifies the polarity of the amplifier node fault bit into the Turbo PMAC2 must be set to match the polarity defined in the Station with the appropriate bit of MII8 If the bit n of MI18 and bit 23 of Ixx24 are set to 0 a low true fault logical 0 means fault regardless of the input voltage is specified If the bit n of MII8 and bit 23 or Ixx24 are set to 1 a high true fault logical 1 means fault is specified If no other bits of Ixx24 are set the value of Ixx24 is 040001 or 840001 040001 is the default value for Ixx24 on Turbo PMAC2 Ultralite boards Refer to the detailed description of Ixx24 in the Turbo PMAC Software Reference for descriptions of the other bits When Bit 18 of Ixx24 is set to 1 and bit n of 11000 is set to 1 then the Motor xx flag information is copied automatically between the holding registers at 00344n 00345n 00346n or 00347n and the MACRO interface registers for node n of MACRO IC 0 1 2 or 3 respectively on the Turbo PMAC2 The command flags such as amplifier enable are held in the Y register of 0034xn The feedback flags such as overtravel limits and amplifier fault are held in the X registers of 0034xn Monitoring of flag values should use these holding registers in RAM not the actual MACRO node registers Turbo PMAC2 Software Setup for MACRO Station 25 16 Axis MACRO CPU User Manual
18. 0 13183 07B438 MACRO IC 3 Node 12 Reg 0 11683 07943 MACROIC 1 Node 13 Reg 0 13283 07B43C MACRO IC 3 Node 13 Reg 0 Because these are all Y addresses bit 1 of Ixx01 must be set to 1 With bit 0 of Ixx01 set to 1 to enable commutation the net value of Ixx01 is 3 Turbo PMAC2 Software Setup for MACRO Station 29 16 Axis MACRO CPU User Manual 30 Turbo PMAC2 Software Setup for MACRO Station 16 MACRO CPU User Manual SOFTWARE SETUP The software configuration of the 16 Axis MACRO CPU is accomplished through the setup of the Station s own variables These MI MACRO Initialization variables on the station permit configuration of the station for a particular application Note The 16 Axis MACRO CPU s initialization variables can be referred to as either MI Variables or I Variables This manual uses the MI Variable terminology to distinguish them from the PMAC s own I Variables Typically the MI Variable setup for a 16 Axis MACRO CPU is accomplished through a special program such as Turbo Setup which hides the actual PMAC commands However these variables may be written to and read from in other applications using special PMAC commands Station Variable Read Write Commands The most common PMAC commands used for setup are the basic on line MI Variable read and write commands The syntax for the read command is MS node MI variable where node can be
19. 079427 2 X 079420 X 079421 X 079422 X 079423 3 X 079424 X 079425 X 079426 X 079427 4 Y 079428 Y 079429 07942 Y 07942B 5 Y 07942C Y 07942D Y 07942E Y 07942F 6 X 079428 X 079429 07942 07942 7 07942 X 07942D 07942 07942 8 Y 079430 Y 079431 Y 079432 Y 079433 9 Y 079434 Y 079435 Y 079436 Y 079437 10 X 079430 X 079431 X 079432 X 079433 11 X 079434 X 079435 X 079436 X 079437 12 Y 079438 Y 079439 Y 07943A Y 07943B 13 Y 07943C Y 07943D Y 07943E Y 07943F 14 X 079438 X 079439 X 07943A X 07943B 15 X 07943C X 07943D X 07943E X 07943F Register Addresses for MACRO 2 with 122 07A400 default Turbo PMAC2 Addresses MACRO IC 2 Node Reg 0 Reg 1 Reg 2 Reg 3 0 07 420 Y 07A421 Y 07A422 Y 07A423 1 07 424 07 425 07 426 07 427 2 X 07A420 X 07A421 X 07A422 X 07A423 3 X 07A424 X 07A425 X 07A426 X 07A427 4 07 428 07 429 07 42 07 42 5 07 42 Y 07A42D Y 07A42bE Y 07A42F 6 X 07A428 X 07A429 X 07A42A X 07A42B 7 X 07A42C X 07A42D X 07A42E X 07A42F 8 07 430 07 431 07 432 07 433 9 07 434 07 435 Y 07A436 Y 07A437 10 X 07A430 X 07A431 X 07A432 X 07A433 11 07 434 07 435 07 436 07 437 12 07 438 07 439 Y 07A43A 07 43 13 07 43 Y 07A43D Y 07A43E Y 07A43F 14 X 07A438 X 07A439 X 07A43A X 07A43B 15 X 07A43C X 07A43D X 07A
20. 16 5 906 ADCS9B input value 59004 8 16 5 907 command value or PWM 9007 0 24 5 MS16 MI925 M908 ENC9 compare A position 9007 0 24 5 MS16 MI926 M909 ENC9 compare B position 59006 0 24 5 516 923 910 ENC9 compare auto increment value 59005 11 MS16 MI928 M911 ENC9 compare initial state write enable X 9005 12 MS16 MI929 M912 ENC9 compare initial state X 9005 14 003450 14 M914 AENA9 output status X 9000 19 Y 003450 19 M915 USER flag input status X 9000 9 5003450 9 916 ENC9 compare output value 9000 11 Y 003450 11 M917 ENC9 capture flag X 9000 8 003450 8 M918 ENC count error flag 59000 14 919 CHC9 input status 9000 16 Y 003450 16 M920 HMFL49 flag input status X 9000 17 5003450 17 M921 PLIMO flag input status 59000 18 5003450 18 M922 MLIM flag input status 9000 15 Y 003450 15 M923 FAULT flag input status 59000 20 Y 003450 20 M924 Channel 9 W flag input status X 9000 21 5003450 21 925 Channel 9 V flag input status X 9000 22 5003450 22 926 Channel 9 U flag input status X 9000 23 Y 003450 23 M927 Channel T flag input status X 9000 20 4 5003450 20 4 928 Channel 9 TUVW inputs as 4 bit value Suggested MM Variables 90 gt 59001 0 24 5 9 24 bit counter position 91 gt 59002 8 16 5 92 gt 59003 8 16 5 93 gt 5900
21. 200205 000 ANAI06 200206 000FFF ANAII4 200206 000 ANAIO7 200207 000FFF 5 8200207 000 The following table shows the conversion table MI variable values for the first and second lines MI variables of these entries for MACRO IC 1 Analog Entry First MI Entry Second MI Analog Entry First MI Entry Second MI Input Pin Variable Value Variable Value Input Pin Variable Value Variable Value ANAIO0 200208 000FFF ANAIOS 200208 FFF000 ANAIO1 200209 000FFF ANAIO9 200209 FFF000 ANAIO2 20020A 000FFF 20020A FFF000 ANAIO3 20020B 000FFF 20020B FFF000 ANAIO4 20020C 000FFF 2 20020C FFF000 ANAIO5 20020D 000FFF 20020D FFF000 20020 000FFF 20020 000 ANAIO7 20020F 000FFF 5 20020F 000 If the 30 filtered parallel method is used instead of 20 it is 3 line entry instead of a 2 line entry third line of the entry contains the maximum change in the input value that the table will let through in one ring cycle This provides a filter that is a protection against noise This value should be set to a value slightly greater than the maximum true velocity expected The units are bits of the ADC per ring cycle Note Station Variable MI988 controls whether the A D converters are expecting inputs
22. 3 4 ON ON ON Encoder 4 Acc 24E2x w Fourth channel 308018 1 1 3 4 ON ON Encoder 5 24 2 w First channel 308040 1 1 3 4 OFF ON ON Encoder 6 Acc 24E2x w Second channel 308048 1 1 3 4 OFF ON ON Encoder 7 Acc 24E2x w Third channel 308050 1 1 3 4 OFF ON ON Encoder 8 Acc 24E2x w Fourth channel 308058 1 1 3 4 OFF ON ON The second line of the entry contains a bits used mask a 24 bit value that contains a 1 in each bit that is to be used from the register In this type of feedback all 24 bits of the source register can be used so this line MI Variable can be FFFFFF The third line of the entry contains the maximum change in the input value that the table will let through in one ring cycle This provides a filter that is a protection against missing or added echo pulses This value should be set to a value slightly greater than the maximum true velocity expected The units are bits of the timer per ring cycle where one bit of the timer represents 0 0009 inches or 0 024 mm at the 120 MHz timer frequency 12 Bit A D Converter Feedback If an analog input processed through the Acc 36E or Acc 59E backplane A D boards is used for servo feedback then the 20 parallel feedback format is used The actual ADC inputs are all read through 16 Axis MACRO CPU I O register in a multiplexed format The Station firmware de multiplexes them automatically into separate internal memory regist
23. 8 Reg 0 1602 8078434 MACRO IC 0 Node 9 Reg 0 12202 5074434 MACRO IC 2 Node 9 Reg 0 1702 078438 MACRO IC 0 Node 12 Reg 0 12302 07A438 MACRO IC 2 Node 12 Reg 0 1802 07843C MACRO IC 0 Node 13 Reg 0 12402 07A43C MACRO IC 2 Node 13 Reg 0 1902 8079420 MACRO IC 1 Node 0 Reg 0 12502 07B420 MACRO IC 3 Node 0 Reg 0 11002 079424 MACRO IC 1 Node 1 Reg 0 12602 07B424 MACRO IC 3 Node Reg 0 I1102 5079428 MACRO IC 1 Node 4 Reg 0 12702 07B428 MACRO IC 3 Node 4 Reg 0 11202 07942C MACRO IC 1 Node 5 Reg 0 12802 07B42C MACRO IC 3 Node 5 Reg 0 11302 079430 MACRO IC 1 Node 8 Reg 0 12902 07B430 MACRO IC 3 Node 8 Reg 0 11402 079434 MACRO IC 1 Node 9 Reg 0 13002 07B434 MACRO IC 3 Node 9 Reg 0 11502 5079438 MACRO IC 1 Node 12 Reg 0 13102 07B438 MACRO IC 3 Node 12 Reg 0 11602 07943C MACRO IC 1 Node 13 Reg 0 13202 07B43C MACRO IC 3 Node 13 Reg 0 If Motor xx is used to produce a pulse and direction output on the MACRO Station to control a traditional stepper drive or a stepper replacement servo drive the command output should be written to Register 2 of the servo node 22 Turbo PMAC2 Software Setup for MACRO Station 16 MACRO CPU User Manual In this mode the proper values of Ixx02 are
24. 8057 0 24 s MS12 MI926 M709 ENC7 compare B position 58056 0 24 5 MS12 MI923 M710 ENC7 compare auto increment value X 8055 11 MS12 MI928 M711 ENC7 compare initial state write enable 58055 12 MS12 MI929 M712 compare initial state 8055 14 00344 14 M714 AENA7 output status X 8050 19 Y 00344C 19 M715 USER flag input status X 8050 9 500344 9 716 compare output value 58050 11 Y 00344C 11 M717 ENCT capture flag 58050 8 500344 8 718 count error flag 58050 14 M719 CHC7 input status X 8050 16 Y 00344C 16 720 HMFL7 flag input status X 8050 17 Y 00344C 17 M721 PLIM7 flag input status X 8050 18 Y 00344C 18 M722 MLIM7 flag input status X 8050 15 500344 15 M723 FAULT7 flag input status 58050 20 00344 20 M724 Channel 7 W flag input status X 8050 21 00344 21 M725 Channel 7 V flag input status X 8050 22 Y 00344C 22 M726 Channel 7 U flag input status 58050 23 00344 23 M727 Channel 7 T flag input status X 8050 20 4 Y 00344C 20 4 M728 Channel 7 TUVW inputs as 4 bit value Suggested MM Variables 70 gt 58051 0 24 5 24 bit counter position MM71 gt Y 8052 8 16 s MM72 gt Y 8053 8 16 s MM73 gt Y 8054 8 16 s OUT7A command value OUT7B command value OUT7C command value MACRO Equivalent Servo IC Memory Locations 73
25. 8058 17 Y 00344D 17 M821 PLIMS flag input status X 8058 18 500344 18 822 MLIMS flag input status X 8058 15 500344 15 M823 FAULTS flag input status X 8058 20 Y 00344D 20 M824 Channel 8 W flag input status 58058 21 Y 00344D 21 M825 Channel 8 V flag input status 58058 22 Y 00344D 22 M826 Channel 8 U flag input status X 8058 23 Y 00344D 23 M827 Channel 8 T flag input status X 8058 20 4 Y 00344D 20 4 M828 Channel 8 TUVW inputs as 4 bit value Suggested MM Variables 80 gt 58059 0 24 5 ENC8 24 bit counter position 81 gt 805 8 16 5 82 gt 5805 8 16 5 83 gt 5805 8 16 5 OUT8A command value OUT8B command value OUT8C command value 74 MACRO Equivalent Servo IC Memory Locations 16 MACRO CPU User Manual Servo IC 4 Registers for Channel 1 usually for Motor 9 MACRO Location MIVariable Turbo Location M Var Description 59001 0 24 5 901 ENC9 24 bit counter position 59002 8 16 5 902 OUT9A command value DAC or PWM 59003 0 24 5 MS16 MI921 M903 ENC captured position 59003 8 16 5 904 00198 command value DAC or PWM 59005 8 16 5 MS16 MI922 579421 8 16 5 905 ADC9A input value 59006 8 16 5 MS16 MI924 579422 8
26. 99 can be used to look at any MACRO Station memory location This can be useful especially when trying to test the hardware at the MACRO Station MI198 contains the register to be read and the information in MI198 can be read by querying MI199 Users of the older MACROS 602804 CPU might be familiar with this method of simple non synchronous data transfer Since the 16 Axis MACRO CPU supports MM Variable reads and writes using the MM variables might be easier and more flexible than using of MI198 and 99 MSn MII98 is a 24 bit register where the lower 16 bits have the address and the upper eight bits contain the number of bits and tell us whether it is an X or Y memory address MSn MII99 will respond back with the value in MSO MI198 How to use the 16 Axis MACRO CPU 61 16 Axis MACRO CPU User Manual Example Read Using MI198 and MI199 Direct Hall Effect Read Read the T U V W inputs directly at the gate array on the Acc 24E2 for channel 1 This data is found on bits 20 23 of X 8000 at the MACRO Station 50 1198 5 88000 read X 8000 0 24 50 1199 Request Data 000000AFDB87 TUVW SA 1010 binary from bits 20 23 To write this data to a PMAC variable P M or Q use an MSRn MI199 pmac variable on line or buffer command MSRO MI199 P1000 writes the value of X C000 0 24 to P1000 Then use P1000 to query the TUVW signals from the MACRO Station Example Read Using MI198 and MI199 Actual DAC Read Read th
27. Acc 24E2x Second channel 008048 1 1 3 4 OFF ON ON Encoder7 Acc 24E2x Third channel 008050 1 1 3 4 OFF ON ON Encoder8 Acc 24E2x Fourth channel 008058 1 1 3 4 OFF ON ON 16 Axis MACRO CPU Software Setup 16 MACRO CPU User Manual The following table shows the conversion table MI Variable values for this type of feedback with channels in the UMAC MACRO pack configuration for MACRO IC 1 Encoder Which Backplane Location Conversion Table MI Axis Board Used On Board Variable Value Encoder 1 Acc 24E2x First channel 009000 1 1 3 4 OFF ON Encoder 2 Acc 24E2x Second channel 009008 1 1 3 4 ON OFF Encoder 3 Acc 24E2x Third channel 009010 1 1 3 4 ON OFF ON Encoder 4 Acc 24E2x Fourth channel 009018 1 1 3 4 ON OFF ON Encoder 5 Acc 24E2x First channel 009040 1 1 3 4 OFF OFF ON Encoder 6 Acc 24E2x Second channel 009048 1 1 3 4 OFF OFF ON Encoder 7 Acc 24E2x Third channel 009050 1 1 3 4 OFF OFF ON Encoder 8 Acc 24E2x Fourth channel 009058 1 1 3 4 OFF OFF ON If not using the 1 T extension of the encoder value the first hex digit of the MI Variable value should be changed from 0 to C This setting is recommended when using the simulated feedback from a pulse and direction output Analog Encoder Feedback If an analog sine wave encoder is processed through an A
28. Axis MACRO CPU can be used to display messages at the station with the use of a 40x2 character display By default the unit will not write to this port To use the port set MI13 to 1 for an LCD style display Acc 12A or set MI13 to 2 for a vacuum fluorescent style display Acc 12C Setting MII3 to zero default will disable the port The display buffer is located in the 16 Axis MACRO CPU memory at 00210 0025 Display 80 Character Output buffer The easiest way to work with this feature is to use MM Variables to point to the locations at the MACRO CPU Write to these locations using MS commands use the MACRO PLCCs or download the values directly while in MACRO ASCII mode The display characters are written using standard 8 bit ASCH codes How to use the 16 Axis MACRO CPU 57 16 Axis MACRO CPU User Manual MACRO ASCII Communication Mode MACRO ASCII Communication Mode allows direct access to the MACRO Device This mode of communication allows our Master controller to setup all MACRO devices in the ring one at a time using the Ring Order Method One other benefit to this method of communications is that it allows direct communication to the MACRO device without having to issue MS commands as in the traditional PEWIN Terminal window Usually the MACRO ASCII Communication Mode is the mode that is used to set up the MM variable definitions set MP variables and down load the MACRO PLCC programs At a minimum
29. MACRO it executes station auxiliary read command MS node MI920 to request the absolute position from the 16 Axis MACRO CPU The station then references its own MI11x value to determine the type format and address of the data to be read The data is returned to Turbo PMAC2 with up to 42 bits of data sign extended to 46 bits Note that the Turbo PMAC s Ixx95 and the Station s MI11x must agree as to whether the data is signed or unsigned Bit 48 is a Ready Busy handshake bit and Bit 47 is a pass fail status bit If Bit 47 is set the upper 24 bits of the 48 bits returned are an error word and are stored in X 00320E of the PMAC PMAC2 Ixx25 Ixx24 Flag Address and Mode If the auxiliary functions for Node n of MACRO IC 0 1 2 or 3 have been enabled by setting Bit of 170 172 174 or 176 respectively to 1 the flag information in Register 3 for the node is copied automatically to and from PMAC RAM register 00347n 00357n 00367n or 00377n respectively In this case Ixx25 should specify the address of the RAM copy not the actual MACRO interface register The following table lists the default values for Ixx25 on a Turbo PMAC2 Ultralite which shows the address of the RAM copy register for each MACRO servo node Ixx25 Value Register Ixx25 Value Register I125 003440 MACRO Flag Register Set 0 I1725 003460 MACRO Flag Register Set 32 1225 003441 MACRO Flag Register Set 1 11825 003461 MACRO Flag Register Set 33 13
30. MI922 579435 8 16 5 M1405 ADCIAA input value 5904 8 16 5 MS25 MI924 579436 8 16 5 M1406 ADC14B input value 5904 8 16 5 M1407 OUT14C command value PWM 5904 0 24 5 MS25 MI925 M1408 ENC14 compare A position X S904F 0 24 s MS25 MI926 M1409 ENC14 compare B position 5904 0 24 5 MS25 MI923 M1410 ENC14 compare auto increment value X 904D 11 MS25 MI928 M1411 ENC14 compare initial state write enable X 904D 12 MS25 MI929 M1412 ENC14 compare initial state X 904D 14 Y 003549 14 M1414 14 output status 59048 19 5003549 19 1415 USERIA flag input status X 9048 9 5003549 9 1416 4 compare output value 59048 11 5003549 11 1417 ENC14 capture flag 59048 8 5003549 8 1418 4 count error flag 59048 14 M1419 CHCIA input status X 9048 16 5003549 16 1420 14 flag input status 59048 17 E 5003549 17 M1421 PLIMIA flag input status X 9048 18 5003549 18 M1422 MLIMIA flag input status 59048 15 5003549 15 M1423 FAULT14 flag input status X 9048 20 Y S003549 20 M1424 Channel 14 W flag input status X S9048 21 003549 21 M1425 Channel 14 V flag input status X 9048 22 Y 003549 22 M1426 Channel 14 U flag input status X 9048 23 a 5003549 23 1427 Channel 14 flag input status 59048 20 4 5003549 20 4 M1428 Channel 14 TUVW inputs 4 bit
31. Node Transfer Addresses Transfer Addresses ICO 0 Axis 1 0 Y 078420 Y 078421 Y 078422 Y 078423 ICO 1 Axis 2 1 Y 078424 078425 078426 Y 078427 ICO 2 2 X 078420 X 078421 X 078422 X 078423 ICO 3 3 078424 X 078425 X 078426 X 078427 ICO 4 Axis 3 4 Y 078428 Y 078429 Y 07842A Y 07842B ICO 5 Axis 4 5 Y 07842C Y 07842D Y 07842E Y 07842F ICO 6 6 078428 078429 X 07842A X 07842B ICO 7 7 X 07842C X 07842D X 07842E X 07842F ICO 8 Axis 5 8 Y 078430 Y 078431 Y 078432 Y 078433 ICO 9 Axis 6 9 Y 078434 Y 078435 078436 Y 078437 ICO 10 10 X 078430 X 07843 1 X 078432 X 078433 ICO 11 11 X 078434 X 078435 X 078436 X 078437 ICO 12 Axis7 12 Y 078438 Y 078439 Y 07843A Y 07843B ICO 13 Axis 8 13 Y 07843C Y 07843D Y 07843E Y 07843F ICO 14 Master Master 14 X 078438 X 078439 X 07843A X 07843B ICO 15 Master Slave 15 X 07843C X 07843D X 07843E X 07843F IC1 0 Axis 9 16 Y 079420 Y 079421 Y 079422 Y 079423 IC1 1 Axis 10 17 079424 Y 079425 079426 Y 079427 IC1 2 18 079420 X 079421 X 079422 X 079423 IC1 3 19 079424 X 079425 X 079426 X 079427 IC1 4 Axis 11 20 Y 079428 Y 079429 Y 07942A Y 07942B IC1 5 Axis 12 21 Y 07942C Y 07942D Y 07942E Y 07942F IC1 6 22 079428 X 079429 X 07942A X 07942B IC1 7 23 X 07942C X 07942D
32. Node 13 Reg 2 Ixx03 Ixx04 Feedback Address Ixx03 and Ixx04 specify the addresses of the registers that Turbo PMAC2 reads to get its position loop and velocity loop feedback values respectively Usually this is a result register in the encoder conversion table Unless the motor uses dual feedback the values of Ixx03 and Ixx04 are the same which means the same sensor is used for both position loop and velocity loop feedback Note The automatic servo node functions of a MACRO Station do not support dual feedback in a single node For dual feedback either a second servo node must be used or one of the feedback values usually the velocity loop feedback position must be sent back to the Turbo PMAC2 as an I O value These variables should contain the address of the last line of the entry in the conversion table With either of the conversion tables suggested above this would be the second line of each entry lines 1 3 5 7 etc of the conversion table The default values for the Turbo PMAC2 Ultralite boards listed below contain the addresses of these registers Ixx03 Value Register Ixx03 Value Register 1103 003502 Conversion Table Line 1 11703 003522 Conversion Table Line 33 1203 003504 Conversion Table Line 3 11803 003524 Conversion Table Line 35 1303 003506 Conversion Table Line 5 11903 003526 Conversion Table Line 37 1403
33. O 11 X C0B4 X C0B5 X COB6 X C0B7 I O 12 Y COB8 Y COB9 Y COBA Y COBB Servo 13 Y COBC Y COBD Y COBE Y COBF Servo 14 X COB8 X COB9 X COBA X COBB Master Master Communication 15 X COBC X COBD X COBE X COBF Master Slave Communication Node 24 bit Node 16 bit upper 16 bits Node Type Node Transfer Addresses Transfer Addresses 16 Y COEO Y COEI Y COE2 Y COE3 Servo 17 0 4 Y COES Y COE6 Y COE7 Servo 18 X COEO X COEI X COE2 X COE3 I O 19 X COEA 0 5 X COE6 X COE7 I O 20 Y COES8 Y COEO9 Y COEA Y COEB Servo 21 Y COEC Y COED Y COEE Y COEF Servo 22 X COE8 X COE9 X COEA X COEB IO 23 X COEC X COED X COEE X COEF IO 24 Y COFO Y COFI Y COF2 Y COF3 Servo 25 Y COF4 Y COFS Y COF6 Y COF7 Servo 26 X COFO X COF1 X COF2 X COF3 IO 27 X COFA X COFS X COF6 X COF7 28 8 9 Servo 29 Y COFC Y COFD Y COFE Y COFF Servo 30 X COF8 X COF9 X COFA X COFB Master Master Communication 31 X COFC X COFD X COFE X COFF Master Slave Communication Node Transfer Addresses Chart 83 16 Axis MACRO CPU User Manual Turbo PMAC2 Node Addresses MACRO Axis IO User Node 24 bit Node 16 bit upper 16 bits IC Node
34. PMAC2 firmware provides automatic support for up to four MACRO ICs at one time known as MACRO ICs 0 1 2 and 3 Prior to firmware revision V1 936 each of these four ICs had a fixed base address 078400 for MACRO IC 0 079400 for MACRO IC 1 07A400 for MACRO IC 2 and 07B400 for MACRO IC 3 Turbo PMAC2 boards without a built in MACRO interface support only MACRO IC 0 at the fixed address of 078400 Turbo PMAC2 Ultralite boards can also support MACRO ICs 1 2 and 3 if the appropriate options are ordered e Option 101 MACRO IC 1 at 079400 e Option 1U2 MACRO IC 2 at 07A400 e Option 1U3 MACRO IC 3 at 07B400 The introduction of the UMAC Turbo 3U Turbo PMAC2 allowed more possibilities for addressing MACRO ICs which requires a more flexible firmware structure Therefore starting in Turbo PMAC2 firmware revision V 1 936 variables 120 121 122 and 123 are used to specify the base addresses of MACRO ICs 0 1 2 and 3 respectively Usually these will be at the default values of 078400 079400 07A400 and 07B400 but other values are possible in a UMAC Turbo system with multiple 5 MACRO interface boards MACRO Ring Update Frequency Setup The discussions of MACRO node addresses below all assume that I20 I21 I22 and 23 are set to their factory default values All stations on the MACRO ring must be set to the same ring update frequency The ring update frequency is controlled fundamentally by the ring controller or
35. Setup for 16 Axis System One concept that is not obvious to the first time user of the 16 Axis MACRO CPU is the node activation setup for the MACRO for axes 9 16 MACRO ICO for Axes 1 8 node activation can be setup with SW1 Typically SW1 is set to 7 and this will activate nodes 0 1 4 5 8 9 12 and 13 For the 16 Axis MACRO CPU channels 9 16 can be setup only through the MI996 since it is associated with MACRO Initially MI996 for MACRO can be set up by writing to 0 996 because node 0 will be active based on SW set to 7 For this example the clock variables communication variables and the node activation variables will be set up at both the MACRO CPU and the Master Controller Turbo Ultralite Ultralite Clock Setup Variables 1680026527 default setup for 9 034 KHz Max Phase 1680120 Default setup for 9 034 Khz Phase and Ring Cycle 1680223 default setup for 2 258 KHz Servo Clock Ultralite Node Activation 16840 54030 16841 0FF333 Master0 Activate nodes 0 1 4 5 8 9 12 13 16890 90 16891 51 333 Masterl Activate nodes 16 17 20 21 24 25 28 29 16940 10 16941 S2f8000 16990 10 16991 53 8000 170 53333 Activate Control Status Flag Transfer for 171 3333 nodes 0 1 4 5 8 9 12 13 172 53333 Activate Control Status Flag Transfer for 173 3333 nodes 16 17 20 21 24 25 28 29 178 32 Set Timeout for MacroI O to 32 servo cycles 179 32 MACRO CPU Node Activation Set SW
36. X 9008 11 5003541 11 1017 ENCIO capture flag X 9008 8 5003541 8 1018 ENCIO count error flag X 9008 14 M1019 CHCIO input status X 9008 16 5003541 16 1020 flag input status 59008 17 E 5003541 17 M1021 PLIM1O flag input status X 9008 18 Y 003541 18 M1022 MLIMIO flag input status X 9008 15 5003541 15 M1023 FAULT1O flag input status X 9008 20 Y 003541 20 M1024 Channel 10 W flag input status 59008 21 5003541 21 1025 Channel 10 flag input status X 59008 22 Y 003541 22 M1026 Channel 10 U flag input status X 9008 23 a Y 003541 23 M1027 Channel 10 T flag input status X 9008 20 4 Y S003541 20 4 M1028 Channel 10 TUVW inputs as 4 bit value Suggested MM Variables 100 gt 59009 0 24 5 ENC1O 24 bit counter position MM101 gt Y 900A 8 16 s 102 gt 9008 8 16 103 gt 900 8 16 OUT10A command value OUT10B command value OUT10C command value 76 MACRO Equivalent Servo IC Memory Locations 16 MACRO CPU User Manual Servo IC 4 Registers for Channel 3 usually for Motor 11 MACRO Location MIVariable Turbo Location M Var Description 59011 0 24 5 1101 24 bit counter position 59012 8 16 5 M1102 OUT1
37. are used for this example 50 119 1 transfer every ring cycle MSO MI20 3 activate MI21 and MI22 for data transfer MS0 MI21 DCCOA16DC094 Copy node2 X C0A1 8 16 s into 5 094 8 16 5 MS0 MI21 DCCOA26DCO9C Copy node2 5 042 8 16 5 into 5 09 8 16 5 MS0 MI975 4 Activate Node2 after save and restart Change the output mode to PFM for Supplemental Channels 1 and 2 MS0 MI198 97C095 set MI198 5 095 23 MS0 MI199 1 write 1 to bit 23 of X C095 23 for PFM mode MS0 MI198 97C09D set MI198 5 09 23 MS0 MI199 1 write 1 to bit 23 of X C09D 23 for PFM mode or use the optional PLC to do this at power up to automatically put into PFM mode Open Clear ms0 mil98 97c095 set X C095 23 equal to 1 for mode 5111 100 8388608 While 5111 gt 0 endwhile 50 1199 1 5111 100 8388608 While 5111 gt 0 endwhile 50 1198 597 09 set 5 09 23 equal to 1 for mode 5111 100 8388608 While 5111 gt 0 endwhile ms0 mil99 1 5111 100 8388608 While 5111 gt 0 endwhile Disable Close Set M variable to the two 16 bit registers used at Ultralite M3000 gt X 78421 8 16 s Point to 1 16 bit node register of M3001 gt X 78422 8 16 s Point to 2 16 bit node register of Node2 After it is downloaded to the system write directly to the PFM output using M3000 and M3001 Using the JDISP Port The JDISP port on the 16
38. auto increment value X 8045 11 MS8 MI928 511 5 compare initial state write enable 58045 12 MS8 MI929 E M512 ENC5 compare initial state X 8045 14 003448 14 M514 AENAS output status 58040 19 Y 003448 19 M515 USERS flag input status X 8040 9 5003448 9 516 5 compare output value 58040 11 5003448 11 M517 ENCS capture flag X 8040 8 Y 003448 8 M518 ENCS count error flag X 8040 14 M519 5 input status X 8040 16 5003448 16 M520 HMEL flag input status X 8040 17 5003448 17 M521 PLIMS flag input status 8040 18 5003448 18 522 5 flag input status X 8040 15 5003448 15 M523 FAULTS flag input status 58040 20 5003448 20 M524 Channel 5 W flag input status 58040 21 5003448 21 525 Channel 5 V flag input status X 8040 22 Y 003448 22 M526 Channel 5 U flag input status X 8040 23 Y 003448 23 M527 Channel 5 T flag input status X 8040 20 4 5003448 20 4 528 Channel 5 TUVW inputs as 4 bit value Suggested MM Variables 50 gt 58041 0 24 5 5 24 bit counter position 51 gt 58042 8 16 5 52 gt 58043 8 16 5 53 gt 58044 8 16 5 OUT5A command value OUT5B command value OUT5C command value MACRO Equivalent Servo IC Memory Locations 71 16 Axis MACRO CPU User Manual Servo IC 1 Registers for Channel 2 usually for Motor 6
39. connected to such an amplifier fault input the matching bit of MI18 must be set to 0 in order for the Station to consider the channel not to be in a fault condition Bit 23 of Ix25 on a PMAC2 or Bit 23 of Ixx24 on a Turbo PMAC2 for the motor assigned to this node which controls the amplifier fault polarity at the controller must be the same value as the matching bit of 8 The Station will pass back the amplifier fault bit to the PMAC2 in the same polarity it receives it and any MACRO fault passed back using this same bit will be of the same polarity Servo Address Variable Setup There are a few MI Variables for each motor node Because the motor nodes are not consecutively numbered 0 1 4 5 8 9 12 13 these variables specify the node not by its number but by its order e g Node 0 is the first motor node The following table provides an easy reference Node Number n 0 1 4 5 8 9 12 C 13 D Node Order x 1 2 3 4 5 6 7 8 The last digit of the MI Variable number is represented generally by x where x represents the order of the motor node the xth motor node In most cases x will also represent the Machine Interface Channel used on the 16 Axis MACRO CPU and the Motor number on PMAC MI10x Position Feedback Address After the initial processing of the feedback in the Station s encoder conversion table the data is copied to the feedback register of a motor node Station MI
40. from a PMAC variable to a Station MI Variable writing to the Station is the MSW command The syntax for the command is MSW node MI variable PMAC Variable where node can be the number of any active node on the Station usually that of the lowest active node for most of the MI Variables or the number of the individual node for one of the node specific MI Variables MI910 MI939 variable is the number of the Station MI Variable 0 1023 to which the value is copied PMAC Variable is the name of the variable on PMAC e g P10 from which the value is copied Example MSWO MI992 1992 Copy from PMAC 1992 to Station with active node 0 992 MSW1 MI925 P103 Copy from PMAC P103 to Station Node 1 MI925 Ring Control Setup Variables Ring Update Frequency MI992 and MI997 for the 16 Axis MACRO CPU control the phase frequency on the Station which is the frequency at which the Station expects the ring to be updated The actual ring update frequency is determined by the ring controller master For best operation the 16 Axis MACRO CPU should be set to the same frequency The values for MI992 and MI997 should be set the same for MACRO IC 0 and 1 MI992 determines the MaxPhase clock frequency from which the phase clock frequency is derived The equation is MaxPhase Frequency kHz 117 964 8 2 MI992 3 MI997 determines how the phase clock frequency is divided down from MaxPhase The equation is Phase Frequenc
41. gt 578422 8 16 5 DAC2A 2nd 16 bit word node 2 M982 X C0A3 8 16 s 982 gt 578423 8 16 5 DAC3A 3rd 16 bit word node 2 M983 X C0A5 8 16 s M983 gt X 78425 8 16 s DACAA Ist 16 bit word node 3 Now the M Variables in the PLC or motion programs can be used for data acquisition purposes Example Monitor Up Down Counter from Servo IC Card This example shows how to monitor the up down counter of the Servo IC on the Acc 24E2x family of cards Monitoring this data is a method also used to verify the operation of the encoder because it does not rely on the PMAC to process the encoder data and display in the Position Window of the Pewin Pro Program Transfer Counter1 Counter2 Counter3 and Counter4 to the Ultralite using the MACRO Data Transfer Assume MACRO Station 0 Assume Acc 24E2A from channels 1 2 3 and 4 Since the counter data is 24 bit data the most efficient method of transfer is through the MACRO 24 bit data registers from nodes 2 3 6 7 MACRO Station Setup MACRO Commands Notes MS0 MI19 4 Transfer data once every four phase clocks servo default 50 1975 5 Activate first I O nodes 2 and 3 at Station MS0 MI20 SF Transfer MI21 MI22 MI23 and MI24 50 21 5 98001 9 0 0 Signed upper 24 bits data from Station address X 8001 to X COAO node2 MSO MI21 SE98009E9COA4 Signed upper 24 bits data from Station address X 8009 to X C0A4 node3
42. if 1187 1188 two Servo ICs 1 0 11 15 Equivalent to a MACRO IC 1 The 48 bit MI181 MII88 variables are created from MI179 and MI180 These variables bind each of the Servo channels four channels per IC to a MACRO Servo Node The Y MI18n portion has the Servo channel base address and the 8 portion has the MACRO Servo Node flag word address These MI181 MI188 are 48 bit status only variables and read only so this binding cannot be changed and is done for each power on The following describes the Servo ICs being addressed in normal address settings MACRO Node Address for the X 1181 188 Command Status Flag COE3 MI181 COE7 MI182 COEB MI183 COEF MI184 COF3 185 COF7 MI186 COFB MI187 COFF MI188 36 16 Axis MACRO CPU Software Setup 16 MACRO CPU User Manual MACRO IC 1 Number of Node Servo IC Associated Node 1181 188 Encoder Conversion Servo ICs IC Base Address Table ECT 1 3 9000 9008 0 1 1181 1182 ECT limited to four entries 9010 9018 4 5 1183 1184 1124 0 9000 9008 8 9 1185 1186 9010 9018 12 13 1187 1188 2 3 and 4 9000 9008 0 1 1181 1182 ECT set to eight entries 9010 9018 4 5 1183 1184 MI128 0 9040 9048 8 9 1185 1186 9050 9058 12 13 1187 1188 MACRO IC 1 Num
43. in the 2 5V to 2 5V range or in the 0 to 5V range This method can be used also for the 16 bit ADCs on an Acc 28E backplane board The following table shows the possible entry settings depending on the settings of dip switch S1 on the board S1 1 81 2 ADCI ADC2 ADC3 ADC4 ON ON 18FFEO 18 1 18FFE2 18FFE3 OFF ON 18FFE8 18FFE9 18FFEA 18FFEB ON OFF 18FFFO 18FFF1 18FFF2 18FFF3 OFF OFF 18B8CO 18B8CI 18B8C2 18B8C3 Requires Station firmware revision V1 115 or newer to use this setting 16 Axis MACRO CPU Software Setup 45 16 Axis MACRO CPU User Manual To integrate the A D value before computing the result the first hex digit of the entry should be changed from a 1 toa 5 In this case there is a second line to the entry which specifies a bias value that is subtracted from the A D reading before the integration This bias is expressed as a 24 bit value with the upper 16 bits matching the actual data from the A D converter For example if zero voltage into the A D converter produced a reading of three LSBs of the converter the bias term should be set to 3 x 28 or 768 14E Parallel Feedback If parallel data brought in through one of the connectors on an Acc 14E I O backplane board is used for servo feedback the 3x conversion method is used for parallel feedback Each connector can bring in up to 24 bits of input mapped as a byte in eac
44. manuals establish the first mapping required between the physical devices and the machine interface channels on the MACRO Station For the UMAC pack the interface circuitry and breakout connectors are on the same rack mounted boards so the field wiring is made directly into these boards UMAC Pack Interface Breakout Boards The UMAC boards available presently that interface to the MACRO CPU board through the UBUS backplane include Acc 24E2 2 4 channel PWM servo interface breakout board Acc 24E2A 2 4 channel analog servo interface breakout board 24 25 4 channel stepper encoder interface breakout board Acc 51E high resolution encoder interpolator board Acc 9E isolated 48 input board Acc 10E isolated 48 output board Acc 11E isolated 24 in 24 out board Acc 12E isolated 24 in 24 high power out board Acc 14E 48 TTL output board Acc 28E 2 4 channel 16 bit ADC board Acc 36E 16 channel 12 bit ADC board V1 115 or newer firmware required Acc 53E SSI encoder interface board Acc 59E 8 channel 12 bit ADC 8 channel 12 bit DAC board V1 115 or newer firmware required Acc 65E self protected sourcing 24 in 24 out board Acc 66E self protected sourcing 48 input board Acc 67E self protected sourcing 48 output board Acc 68E self protected sinking 24 in 24 out board All of these boards provide their own breakout connectors so no additional breakout boards are required for the field wiring Consult the manual for each of these accessory b
45. of 0 MSO MI928 1 Enable direct write resets immediately to zero How to use the 16 Axis MACRO CPU 55 16 Axis MACRO CPU User Manual Using the JHW Port Encoder Inputs The 16 Axis MACRO CPU has the ability to read two supplemental channels of quadrature pulse and direction encoders The user has access to these inputs on the 20 pin JHW These encoders can be read at rates up to 40 MHz The only limitation on this port is that port does not allow the user to input an index pulse Therefore these inputs are ideal for handwheel encoders or for pure position velocity feedback The data for the encoders are processed from the C090 for supplemental channel 1 and from C098 for supplemental channel 2 The two encoders can be processed using the MI990 and MI991 to determine the type of decode The maximum encoder sample clock frequency is determined by MI993 To use these supplemental inputs for encoders typically the Encoder Conversion Table ECT must be modified at the MACRO CPU MI120 MI151 and the encoder node transfer variables MI101 MI108 must be modified Typically since most users of the 16 Axis MACRO CPU will have more than eight servo channels being used Delta Tau recommends modifying the ECT registers and Encoder Node Transfer variables associated with channels 9 16 MACRO Example If there are ten axes and the two supplemental channels need to be used as channels 11 and 12 for dual feedback for channels 1 an
46. saved into PMAC s non volatile memory then at subsequent power up resets bit 14 of I70 is set to 0 the node 14 broadcast bit bit 14 of 16840 is set to 1 and activation bit for node 14 bit 14 of 16841 is set to 1 regardless of the value saved for these variables This reserves Node 14 of MACRO IC 0 for the Type 1 Master Master Auxiliary Communications and MACRO ASCII Communication 180 181 182 MACRO Ring Check Period and Limits If 180 is set to a value greater than zero Turbo PMAC will monitor for MACRO ring breaks or repeated MACRO communications errors automatically A non zero value sets the error detection cycle time in Turbo PMAC servo cycles Turbo PMAC checks to see that sync node packets see 16840 and 16841 are received regularly and that there has not been regular communications errors 16 Turbo PMAC2 Software Setup for MACRO Station 16 MACRO CPU User Manual The limits for these checks be set with variables 181 182 If less than 182 sync node packets have been received and detected during this time interval or if I81 or more ring communications errors have been detected in this interval Turbo PMAC will assume a major ring problem and all motors will be shut down Turbo PMAC will set the global status bit Ring Error bit 4 of X 000006 as an indication of this error Turbo PMAC looks for receipt of sync node packets and ring communications errors once per real time interrupt every 18 1
47. station through the MS auxiliary communications commands The Type 1 protocol uses the MACRO node registers for each mode of operation as explained below Velocity Torque Mode Node Register 0 24 bits 1 16 bits 2 16 bits 3 16 bits Command Velocity Torque Command Reserved Reserved Motor Command Flags Feedback Position Feedback Reserved Reserved Motor Status Flags Phase Current Sinewave Mode Node Register 0 24 bits 1 16 bits 2 16 bits 3 16 bits Command Phase A Current Command Phase B Current Command Reserved Motor Command Flags Feedback Position Feedback Reserved Reserved Motor Status Flags Phase Voltage Direct PWM Mode Node Register 0 24 bits 1 16 bits 2 16 bits 3 16 bits Command Phase A Voltage Command Phase B Voltage Command Phase C Voltage Motor Command Flags Command Feedback Position Feedback Phase A Current Feedback Phase B Current Motor Status Flags Feedback All of the 16 bit registers appear in the top 16 bits of the 24 bit word on both PMAC PMAC2 and the 16 Axis MACRO CPU MACRO Station Type 1 Protocols 65 16 Axis MACRO CPU User Manual 66 MACRO Station Type 1 Protocols 16 MACRO CPU User Manual MACRO EQUIVALENT SERVO IC MEMORY LOCATIONS Most of the locations have direct real time access or are accessed th
48. the 16 Axis MACRO CPU board determines the number 0 to 15 of the master for MACRO IC 0 The master number for MACRO IC 1 it is SW1 1 That same master number on a Turbo PMAC2 will be the one exchanging data with one on the 16 Axis MACRO CPU This establishes the third mapping step explained in the overview The Turbo PMAC2 can support up to four active MACRO ICs The master numbers for these ICs are set by 16841 16891 16941 and 16991 This setup 1s covered in the next section Note The master number of a MACRO IC on a Turbo PMAC2 is not necessarily the same as the MACRO IC number 0 1 2 or 3 itself However if there is only a single Turbo PMAC2 on the ring it is probable that each MACRO IC on the Turbo PMAC2 will be assigned a master number equal to the IC number 10 Hardware Setup 16 MACRO CPU User Manual TURBO PMAC2 SOFTWARE SETUP FOR MACRO STATION Setting up the Turbo PMAC2 board to work with a MACRO Station requires the proper setup of several I Variables for MACRO specific features The variables that have special considerations for use with MACRO stations are listed below Note These are I Variables on the Turbo 2 controller itself The MACRO Station has its own set of setup I Variables called MI Variables which are detailed in a different section Typically the Turbo Setup program for PCs is used to set up these I Variables MACRO IC Address Specification Turbo
49. the RJ 45 electrical interface it can be up to 30 meters 100 feet away With the 16 Axis MACRO CPU the Turbo PMAC2 can control servo axes and I O just as if they were connected directly to the Turbo PMAC2 even though they are a great distance away and the only interface from the Turbo PMAC2 is the MACRO ring This manual explains the setup of the 16 Axis MACRO CPU It should be used in conjunction with the Hardware Reference manuals for the 3U MACRO CPU 16x board the 3U format accessories that are used and the Software Reference Manual for the 16x MACRO Station 16 Axis MACRO Station Differences from the 8 Axis MACRO Station The new 16 Axis MACRO CPU has two MACRO ICs 0 and 1 and each MACRO IC can support servo control for two Servo ICs each eight motors It can be thought of as two of 3U 8 Axis MACRO Stations Each UMAC MACRO IC is bound to separate MACRO Masters Each MACRO Master addresses its own MACRO IC Slave and the Servo IC MInn variables on the Ring with the MS lt node gt commands Each MACRO IC and Servo IC has their own setup MI variables MI900 969 and MI990 999 MACRO IC 0 s MI996 the ring binding MI variable is determined by SW1 Nodes enabled and 5 2 Master or setup by the Ring Order Who are you software configuring MACRO IC 1 defaults to a binding of Master number equal to SW2 1 and node 11 enabled The 16 Axis MACRO CPU DSP56309 is run at 100 MHz where as the 8 Axis MACRO CPU DSP56303 is run at 6
50. the number of any active node on the Station usually that of the lowest active node for most of the MI Variables or the number of the individual node for one of the node specific MI Variables MI910 MI939 variable is the number of the Station MI Variable 0 1023 Sending this command to PMAC causes PMAC to send a request to the Station using the auxiliary communications channel on Node 15 which must be active for the value of the specified MI Variable The Station then responds with the value and PMAC reports the value to the host computer Example MSO MI992 Have PMAC request of Station with active node 0 the value of MI992 6527 MAC responds with the value it received from 6528 Station MS1 MI910 Have PMAC request of Station Node 1 the value of MI910 7 PMAC responds with the value it received from 8 Station The syntax for the write command is MS node MI variable constant where node can be the number of any active node on the Station usually that of the lowest active node for most of the MI Variables or the number of the individual node for one of the node specific MI Variables MI910 MI939 variable is the number of the Station MI Variable 0 1023 constant is the numerical value to be assigned to the variable Sending this command to PMAC causes PMAC to send a command to the Station using the auxiliary communications channel on Node 15 which must be active to assign the va
51. the proper speed Several MACRO timing variables have units of servo clock cycles Turbo PMAC2 Software Setup for MACRO Station 13 16 Axis MACRO CPU User Manual Even if the Turbo PMAC2 controller is not performing commutation or current loop closure and therefore not performing any software tasks at the Phase clock frequency the Phase clock frequency should if possible be set to at least twice the Servo clock frequency Because the MACRO ring data is transmitted at the Phase clock frequency the over sampling of ring servo data that results eliminates one servo cycle s delay in transmission of servo loop data which permits higher servo gains and better performance Turbo PMAC2 MACRO Ring Setup I Variables 16840 MACRO IC 0 Master Configuration Any MACRO IC ona Turbo 2 talking toa MACRO Station must be configured as a master on the ring For purposes of the MACRO protocol each MACRO IC is a separate logical master with its own master number even though there may be multiple MACRO ICs on a single physical Turbo PMAC2 Each ring must have one and only one ring controller synchronizing master This should be the MACRO IC 0 of the Turbo PMAC2 boards on the ring On a Turbo PMAC2 16840 should be set to 4030 to make the card s MACRO IC 0 the ring controller and enable the MACRO ASCII Communication feature This sets bits 4 5 and 14 of the variable to 1 Setting bit 4 to 1 makes the IC a master on the ring setting b
52. these MI variables UMAC pack cards provide breakout connectors to wire the physical machine interface to the 16 Axis servo channels The dip switch S1 determines the base address of the UMAC pack cards like Acc 24E2A This address will show up in MI179 and MI180 Mapping Servo Channels to Servo Node Mapping the 16 Axis MACRO Station s servo channels to the Station s MACRO servo node registers is set up automatically and cannot be changed The mapping addresses are in MI181 88 The X part upper six hex characters is the MACRO node command status flag address and the Y part lower six hex characters is the Servo IC s status register address Each MACRO IC has its own unique set of these MI variables e Station Encoder conversion table MI120 MI151 and Motor x variables MI10x control mapping of feedback position from machine interface channels to Station MACRO servo nodes Each MACRO IC has its own unique set of these MI variables e Station Motor x variables MI11x control mapping of power on absolute feedback position to Station MACRO servo nodes Each MACRO IC has its own unique set of these MI variables Machine Interface Channel x Registers Command 9 1 2 3 PMAC Node n Registers Feedback Registers Node n Channel x mapping is determined by station SW1 setting and MI181 188 PFM PWM Amplifier Enable Current Feedback Signals Station Encoder Conversi
53. 0 MHz The new CPU has additional program memory and now has the feature of running a simplified PLCC program locally in the station This PLCC program has available 512 PMAC M and P type variables called MM and MP variables With the PLCC program simple integer arithmetic and logic can be performed locally in the station This feature comes standard with PEWINPro Another new feature includes Turbo PMAC type 14900 MI200 variables for determining all UMAC cards in the UMAC rack Also added in the MI200 variables are measurements of phase and background times for duty cycle measurements Hardware additions include two handwheel input channels and the standard PMAC type display output 16 Axis MACRO Slave Station Binding to a MACRO Master 1 MACRO IC 0 s MI996 binding setup rules are the same as the 8 Axis station where SW1 enables certain servo nodes and SW2 determines the master number For software setup SW1 14 Use Ring Order Who Are You to setup MACRO IC 0 s MI996 2 MACRO IC 1 s MI996 binding setup rules are the following a For modes where SW1 and SW2 are used to bind a MACRO Slave Station to a Master use the value of SW2 1 to set the Master number and enable node 11 15 in MACRO IC 1 s MI996 on a initialization Then access MACRO IC 1 s MI Variables from its Master s using node 11 MS27 MI996 etc type commands b Foramode using software setup SW1 14 Use Ring Order Who Are You to setup MACRO IC 0 s MI996 and
54. 0A0 2 MI121 X 0091 18 137 X 00A1 3 MI122 X 0092 19 MI138 X 00A2 4 MI123 X 0093 20 MI139 X 00A3 5 124 X 0094 21 MI140 X 00A4 6 MI125 X 0095 22 MI141 X 00A5 7 MI126 X 0096 23 MI142 X 00A6 8 MI127 X 0097 24 143 X 00A7 9 MI128 X 0098 25 MI144 X 00A8 10 MI129 X 0099 26 145 X 00A9 11 MI130 X 009A 27 MI146 00 12 MI131 X 009B 28 MI147 X 00AB 13 MI132 X 009C 29 148 X 00AC 14 MI133 X 009D 30 149 X 00AD 15 134 X 009E 31 MI150 X 00AE 16 MI135 X 009F 32 151 00 Incremental Digital Encoder Feedback If an incremental digital quadrature or digital pulse and direction encoder is used for feedback the 00 conversion method is used typically for the timer based 1 T extension of incremental encoders The following table shows the conversion table MI Variable values for this type of feedback with channels in the UMAC MACRO pack configuration for MACRO IC 0 Encoder Which Backplane Axis Location Conversion Table MI Board Used On Board Variable Value Encoder 1 Acc 24E2x First channel 008000 1 1 3 4 ON ON Encoder2 Acc 24E2x Second channel 008008 1 1 3 4 ON ON ON Encoder3 Acc 24E2x Third channel 008010 1 1 3 4 ON ON ON Encoder4 Acc 24E2x Fourth channel 008018 1 1 3 4 ON ON Encoder5 Acc 24E2x First channel 008040 1 1 3 4 OFF ON ON Encoder 6
55. 1 usually for Motor 13 MACRO Location MIVariable Turbo Location M Var Description 59041 0 24 5 1301 24 bit counter position 59042 8 16 5 M1302 OUT13A command value DAC or PWM 59043 0 24 5 524 921 M1303 captured position 9043 8 16 M1304 OUT13B command value DAC or PWM Y 9045 8 16 s MS24 MI922 Y 79431 8 16 s M1305 ADC13A input value Y 9046 8 16 s MS24 MI924 Y 79432 8 16 s M1306 ADC13B input value 59044 8 16 5 M1307 OUTI3C command value or PWM 59047 0 24 5 524 925 M1308 compare position 59047 0 24 5 524 926 M1309 compare position 59046 0 24 5 524 923 1310 compare auto increment value 59045 11 MS24 MI928 1311 compare initial state write enable X 9045 12 MS24 MI929 M1312 ENC13 compare initial state 59045 14 5003458 14 1314 13 output status 59040 19 5003458 19 1315 USERI3 flag input status 59040 9 E 5003458 9 1316 compare output value 59040 11 5003458 11 1317 capture flag 59040 8 5003458 8 1318 count error flag X 9040 14 M1319 CHC13 input status X 9040 16 5003458 16
56. 1 7 and SW2 0 Activate nodes 0 1 4 5 8 9 12 13 at MACRO CPU MS0 MI1996 1FB333 Activate nodes 16 17 20 21 24 25 28 29 at MACRO CPU Must MSSAVE amp MSSSS before activated 50 1992 6527 Default for 9 034 KHz Max Phase Always set to 16800 50 1997 0 Default 9 034 Khz Phase Ring Cycle Always set to 0 50 1998 0 Default 9 034 KHz Servo Clock Always set to 0 50 11992 6527 Default for 9 034 KHz Phase Always set to 16800 50 11997 0 Default 9 034 Khz Phase Ring Cycle Always set to 0 50 11998 0 Default 9 034 KHz Servo Clock Always set to 0 Macro Station Position Capture Setup The position capture function latches the current encoder position at the time of an external event into a special register It is executed totally in hardware without the need for software intervention although it is set up and later serviced in software This means that the only delays in the capture are the hardware gate delays negligible in any mechanical system so this provides an incredibly accurate capture function How to use the 16 Axis MACRO CPU 53 16 Axis MACRO CPU User Manual Setting the Trigger Condition The position capture register can be used both automatically as in homing routines where the firmware handles the register directly and manually where the user programs must handle the register information Regardless of the mode the event that causes the positio
57. 1320 13 flag input status 59040 17 E 003458 17 M1321 flag input status X 9040 18 003458 18 M1322 MLIMI3 flag input status X 9040 15 003458 15 M1323 FAULT13 flag input status X 9040 20 Y S003458 20 M1324 Channel 13 W flag input status X S9040 21 003458 21 M1325 Channel 13 V flag input status X 9040 22 Y 003458 22 M1326 Channel 13 U flag input status 59040 23 a 5003458 23 1327 Channel 13 flag input status 59040 20 4 5003458 20 4 M1328 Channel 13 TUVW inputs as 4 bit value Suggested MM Variables 130 gt 59041 0 24 5 ENC13 24 bit counter position MM131 gt Y 9042 8 16 s MM132 gt Y 9043 8 16 s MM133 gt Y 9044 8 16 s OUT13A command value OUT13B command value OUT13C command value MACRO Equivalent Servo IC Memory Locations 79 16 Axis MACRO CPU User Manual Servo IC 5 Registers for Channel 2 usually for Motor 12 MACRO Location MIVariable Turbo Location M Var Description 9049 0 24 5 1401 ENC14 24 bit counter position 5904 8 16 5 M1402 OUTI4A command value DAC or PWM 5904 0 24 5 MS25 MI921 M1403 ENCIA captured position 5904 8 16 5 M1404 OUT14B command value DAC PWM 5904 8 16 5 MS25
58. 1A command value DAC or PWM X 9013 0 24 S MS20 MI921 M1103 captured position 59013 8 16 5 M1104 OUTIIB command value DAC or PWM 59015 8 16 5 520 1922 Y 79429 8 16 s M1105 ADCIIA input value 59016 8 16 5 MS20 MI924 Y 7942A 8 16 s M1106 ADCIIB input value 59014 8 16 5 M1107 OUTIIC command value PFM or PVM 59017 0 24 5 MS20 MI925 M1108 ENCII compare A position 59017 0 24 5 MS20 MI926 M1109 compare position X 9016 0 24 s MS20 MI923 M1110 ENCII compare auto increment value X 9015 11 MS20 MI928 M1111 ENCII compare initial state write enable X 9015 12 MS20 MI929 M1112 ENCII compare initial state X 9015 14 Y 003544 14 M1114 AENAII output status 59010 19 5003544 19 M1115 USERII flag input status 59010 9 Y 003544 9 M1116 ENCII compare output value 59010 11 5003544 11 1117 ENCII capture flag 59010 8 5003544 8 1118 count error flag 59010 14 1119 input status X 9010 16 Y 003544 16 M1120 11 flag input status X 9010 17 Y 003544 17 M1121 PLIMI1 flag input status X 9010 18 5003544 18 M1122 flag input status X 9010 15 Y 003544 15 M1123 FAULTII flag input status X 59010 20 Y 003544 20 M1124 Channel 11 W flag input status 59010 21 5003544 21 1125 Channel 11 flag input status X 9010 22 Y 003544 22
59. 2 07A43A MACRO IC 2 Node 12 Reg 2 I882 07843E MACRO IC 0 Node 13 Reg 2 12482 07A43E MACRO IC 2 Node 13 Reg 2 1982 079422 MACRO IC 1 Node 0 Reg 2 I2582 07B422 MACRO IC 3 Node 0 Reg 2 I1082 079426 MACRO IC 1 Node 1 Reg 2 I2682 07B426 MACRO IC 3 Node 1 Reg 2 I1182 07942A MACRO IC 1 Node 4 Reg 2 12782 07B42A MACRO IC 3 Node 4 Reg 2 11282 07942E MACROIC 1 Node 5 Reg 2 12882 07B42E MACRO IC 3 Node 5 Reg 2 I1382 079432 MACRO IC 1 Node 8 Reg 2 I2982 07B432 MACRO IC 3 Node 8 Reg 2 I1482 079436 MACRO IC 1 Node 9 Reg 2 13082 07B436 MACRO IC 3 Node 9 Reg 2 I1582 07943 MACRO IC 1 Node 12 Reg 2 13182 07B43A MACRO IC 3 Node 12 Reg 2 I1682 07943E MACRO IC 1 Node 13 Reg 2 13282 07B43E MACRO IC 3 Node 13 Reg 2 Ixx83 Commutation Feedback Address If the Turbo PMAC2 is performing commutation for Motor xx Ixx01 bit 0 1 providing either two phase current commands sine wave output or three PWM phase voltage commands direct PWM Ixx83 must specify the address of the ongoing commutation position feedback When commutating over MACRO the position feedback comes from Register 0 of the MACRO node In this case 83 must contain the address of this MACRO node register 28 Turbo PMAC2 Software Setup for MACRO Station 16 MACRO CPU User Manual The following table contains the defaul
60. 21 MI928 M1211 ENCI2 compare initial state write enable X 901D 12 MS21 MI929 M1212 ENCI2 compare initial state X 901D 14 Y 003545 14 M1214 AENA12 output status X 9018 19 5003545 19 M1215 2 flag input status X 9018 9 5003545 9 M1216 ENC12 compare output value 59018 11 5003545 11 M1217 ENCI2 capture flag 59018 8 5003545 8 M1218 ENC12 count error flag 59018 14 M1219 CHC12 input status X 9018 16 5003545 16 M1220 12 flag input status 59018 17 5003545 17 M1221 PLIM12 flag input status X 9018 18 5003545 18 M1222 MLIMI2 flag input status 9018 15 5003545 15 M1223 FAULT12 flag input status X 9018 20 Y 003545 20 M1224 Channel 12 W flag input status X 9018 21 003545 21 M1225 Channel 12 V flag input status X 9018 22 003545 22 M1226 Channel 12 U flag input status 59018 23 5003545 23 1227 Channel 12 flag input status 59018 20 4 5003545 20 4 M1228 Channel 12 TUVW inputs as 4 bit value Suggested MM Variables 120 gt 9019 0 24 3 121 gt 901 8 16 MM122 gt Y 901B 8 16 s MM123 gt Y 901C 8 16 s OUT12A command value OUT12B command value OUT12C command value ENC12 24 bit counter position 78 MACRO Equivalent Servo IC Memory Locations 16 Axis MACRO CPU User Manual Servo IC 5 Registers for Channel
61. 25 003444 MACRO Flag Register Set 4 11925 003464 MACRO Flag Register Set 36 1425 003445 MACRO Flag Register Set 5 12025 003465 MACRO Flag Register Set 37 1525 003448 MACRO Flag Register Set 8 12125 003468 MACRO Flag Register Set 40 1625 003449 MACRO Flag Register Set 9 12225 8003469 MACRO Flag Register Set 41 1725 00344C MACRO Flag Register Set 12 12325 00346 _ MACRO Flag Register Set 44 I825 00344D MACRO Flag Register Set 13 12425 00346D MACRO Flag Register Set 45 1925 003450 MACRO Flag Register Set 16 12525 003470 MACRO Flag Register Set 48 11025 003451 MACRO Flag Register Set 17 12625 003471 MACRO Flag Register Set 49 I1125 003454 MACRO Flag Register Set 20 12725 003474 MACRO Flag Register Set 52 11225 8003455 MACRO Flag Register Set 21 12825 003475 MACRO Flag Register Set 53 11325 003458 MACRO Flag Register Set 24 12925 8003478 MACRO Flag Register Set 56 11425 003459 MACRO Flag Register Set 25 13025 003479 MACRO Flag Register Set 57 11525 00345C MACRO Flag Register Set 28 13125 00347C MACRO Flag Register Set 60 I1625 00345D MACRO Flag Register Set 29 I3225 00347D MACRO Flag Register Set 61 Ixx24 specifies how the address in Ixx25 is to be used Bit 0 of Ixx24 must be set to 1 to specify PMAC2 style flag arrangements which are used in the MACRO protocol Bit 18 of Ixx24 must be set to 1 to specify that the flags are sent and received across MACRO Bit 23 of Ixx24
62. 4 19 M1515 USERIS flag input status 59050 9 Y 00354C 9 M1516 ENC15 compare output value 59050 11 500354 11 1517 5 capture flag 59050 8 Y 00354C 8 M1518 ENCIS count error flag X 9050 14 M1519 CHCIS input status 59050 16 500354 16 M1520 15 flag input status 59050 17 500354 17 1521 PLIMIS flag input status X 9050 18 500354 18 M1522 MLIMIS flag input status 9050 15 Y 00354C 15 M1523 FAULTIS flag input status X 9050 20 00354 20 M1524 Channel 15 W flag input status X 9050 21 00354 21 M1525 Channel 15 V flag input status X 9050 22 00354 22 M1526 Channel 15 U flag input status 59050 23 Y 00354C 23 M1527 Channel 15 T flag input status X 9050 20 4 Y 00354C 20 4 M1528 Channel 15 TUVW inputs as 4 bit value Suggested MM Variables MM150 gt X 9051 0 24 s MM151 gt Y 9052 8 16 s MM152 gt Y 9053 8 16 s MM153 gt Y 9054 8 16 s OUT15A command value OUT15B command value OUT15C command value ENC15 24 bit counter position MACRO Equivalent Servo IC Memory Locations 81 16 Axis MACRO CPU User Manual Servo IC 5 Registers for Channel 4 usually for Motor 16 MACRO Location MIVariable Turbo Location M Var Des
63. 4 8 16 5 OUT9A command value OUT9B command value OUT9C command value MACRO Equivalent Servo IC Memory Locations 75 16 Axis MACRO CPU User Manual Servo IC 4 Registers for Channel 2 usually for Motor 10 MACRO Location MIVariable Turbo Location M Var Description 59009 0 24 5 1001 ENC10 24 bit counter position 5900 8 16 5 M1002 OUTIOA command value DAC or PWM X 900B 0 24 S MS17 MI921 M1003 ENCIO captured position 5900 8 16 5 M1004 OUTIOB command value DAC or PWM Y 900D 8 16 s MS17 MI922 Y 79425 8 16 s M1005 ADCIOA input value 5900 8 16 5 MS17 MI924 579426 8 16 5 M1006 ADCIOB input value 900 8 16 5 M1007 OUTIOC command value or PWM 900 0 24 5 MS17 MI925 M1008 ENC10 compare A position 5900 0 24 5 517 926 1009 ENC10 compare position 5900 0 24 5 517 923 1010 0 compare auto increment value 5900 11 517 928 1011 ENCIO compare initial state write enable X 900D 12 MS17 MI929 M1012 ENCIO compare initial state X 900D 14 5003541 14 1014 10 output status 59008 19 5003541 19 1015 USER1O flag input status 9008 9 Y S003541 9 M1016 ENC10 compare output value
64. 43E X 07A43F 18 Turbo PMAC2 Software Setup for MACRO Station 16 MACRO CPU User Manual Register Addresses for MACRO 3 with I23 07B400 default Turbo PMAC2 Addresses MACRO 3 Node Reg 0 Reg 1 Reg 2 Reg 3 0 Y 07B420 Y 07B421 Y 07B422 Y 07B423 1 Y 07B424 Y 07B425 Y 07B426 Y 07B427 2 X 07B420 X 07B421 X 07B422 X 07B423 3 X 07B424 X 07B425 X 07B426 X 07B427 4 Y 07B428 Y 07B429 Y 07B42A Y 07B42B 5 Y 07B42C Y 07B42D Y 07B42E Y 07B42F 6 X 07B428 X 07B429 X 07B42A X 07B42B 7 X 07B42C X 07B42D X 07B42E X 07B42F 8 Y 07B430 07 431 Y 07B432 Y 07B433 9 Y 07B434 Y 07B435 Y 07B436 Y 07B437 10 X 07B430 X 07B431 X 07B432 X 07B433 11 X 07B434 X 07B435 X 07B436 X 07B437 12 Y 07B438 Y 07B439 Y 07B43A Y 07B43B 13 Y 07B43C Y 07B43D Y 07B43E Y 07B43F 14 X 07B438 X 07B439 X 07B43A X 07B43B 15 X 07B43C X 07B43D X 07B43E X 07B43F Note With the MACRO station only nodes that map into Turbo 2 registers 0 1 4 5 8 9 12 and 13 can be used for servo control The nodes that map into X registers 2 3 6 7 10 11 and 14 can be used for I O control Node 15 is reserved for Type 1 auxiliary communications Node 14 is often reserved for broadcast communications Turbo PMAC2 Conversion Table Setup Turbo PMAC2 processes the raw feedba
65. 445 21 M425 Channel 4 V flag input status 58018 22 5003445 22 426 Channel 4 U flag input status 58018 23 Y 003445 23 M427 Channel 4 T flag input status X 8018 20 4 Y 003445 20 4 M428 Channel 4 TUVW inputs as 4 bit value Suggested MM Variables 40 gt 58019 0 24 5 24 bit counter position 41 gt 5801 8 16 5 42 gt 5801 8 16 5 43 gt 5801 8 16 5 OUT4A command value OUT4B command value OUT4C command value 70 MACRO Equivalent Servo IC Memory Locations 16 MACRO CPU User Manual Servo IC 1 Registers for Channel 1 usually for Motor 5 MACRO Location MIVariable Turbo Location M Var Description 58041 0 24 5 501 5 24 bit counter position 58042 8 16 5 502 OUT5A command value DAC or PWM 58043 0 24 5 MS8 MI921 M503 ENCS captured position 8043 8 16 5 M504 00158 command value DAC or PWM 58045 8 16 5 58 1922 578431 8 16 5 M505 ADCSA input value 58046 8 16 5 58 1924 578432 8 16 5 M506 ADCSB input value 58044 8 16 5 507 OUTS5C command value or PWM Y 5 8047 0 24 8 MS8 MI925 M508 ENCS compare A position X 8047 0 24 s MS8 MI926 M509 5 compare B position 58046 0 24 5 58 923 510 5 compare
66. 6 Compare Position Value MS node MI928 Compare State Write Enable MS node MI929 Compare Output Initial State 54 How to use the 16 Axis MACRO CPU 16 MACRO CPU User Manual Setting up for a Single Pulse Output If just a single compare pulse is wanted not using the auto increment feature take the following steps 1 Write the encoder value at the front edge into the Compare A register 2 Write the encoder value at the back edge into the Compare B register 3 Set the Auto Increment register to zero 4 Set the initial state with the direct write feature e Write a value to the initial state bit e Write a 1 to the direct write enable bit this is self clearing to 0 5 Start the move that will cause the compare function Example For axis 1 using node 0 with the axis sitting still at about encoder position 100 and a 1 value of position compare desired between encoder positions 1000 and 1010 the following code could be used MSO MI925 1000 Set front end compare in MS0 MI926 1010 Set back end compare in B MSO MI923 0 No auto increment MSO MI929 0 Prepare initial value of 0 MSO MI928 1 Enable direct write resets immediately to zero Command to start the move Setting up for Multiple Pulse Outputs By using the auto increment feature it is possible to create multiple compare pulses with a single software setup operation When the auto increment register is a non zero va
67. Acc 8D Opt 9 Yaskawa Absolute Encoder Converter 07x4yy bb0000 See Note 1 Acc 49 Sanyo Absolute Encoder Converter 0000mn 740000 0D Acc 28B E Analog Digital Converter 0000mn 740000 31 MACRO Station Hall Sensor Flag Input 0034xn vv0000 See Note 2 Acc 1E 6E 36E 59E A D Converter low 12 bits 0000mn 740000 0C 8C Acc 1E 6E 36E 59E A D Converter high 12 bits 0000mn 740000 33 B3 MACRO Station Parallel Input 0000mn 740000 08 30 88 BO MACRO Station MLDT Input 0000mn 740000 08 30 88 BO Acc 3E 14E Parallel Input from two consecutive lower bytes 0000mn 740000 2B SAB Acc 3E 14E Parallel Input from two consecutive middle bytes 0000mn 740000 2C SAC Acc 3E 14E Parallel Input from two consecutive upper bytes 0000mn 740000 2D AD Acc 3E 14E Parallel Input from two consecutive lower bytes 0000mn 740000 2 AE Acc 3E 14EParallel Input from two consecutive middle bytes 0000mn 740000 2F SAF Acc 3E 14EParallel Input from two consecutive upper bytes 0000mn 740000 30 B0 m is the number of the MACRO IC used 0 1 2 or 3 n is the MACRO node number used for Motor xx 0 1 4 5 8 9 C 12 or D 13 bb is the number of bits in a revolution of the encoder e g 13 bits for 8192 counts plus 5 to account for the 5 fractional bits expressed in hexadecimal format e g for 8192 counts rev 13 5 18 12 07x4yy represents the address of the MACRO node s Register 0
68. CRO CPU User Manual Example Read DAC Output from Servo IC Card Transfer DACIA DAC2A DAC3A and DAC4A to Ultralite using the MACRO Data Transfer Assume that the MACRO Station 0 is enabled and that the data is from Acc 24E2A from channels 1 2 3 4 Since the ADC data is 16 bit data the most efficient method of transfer is through the MACRO 16 bit data registers from nodes 2 and 3 MACRO Station Setup MACRO Commands Notes MS0 MI19 4 Transfer data once every 4 phase clocks servo default MS0 MI975 C Activate first I O nodes 2 and 3 at Station MS0 MI20 SF Transfer MI21 MI22 MI23 and MI24 MS0 MI21 6D8002DDCOA1 Signed upper 16 bits data from Station address Y 8002 to X COA1 node2 MS0 MI22 6D800ADCCOA2 Signed upper 16 bits data from Station address Y 800A to X C0A2 node2 MS0 MI23 6D8012DCC0AS3 Signed upper 16 bits data from Station address Y 8012 to X C0A3 node2 MS0 MI24 6D801ADCCOA5 Signed upper 16 bits data from Station address Y 801A to 0 5 node3 MSSAVEO Save these changes to the MACRO Sation 55550 Reset the MACRO Station for changes to take affect Ultralite Setup Ultralite 8 Axis Turbo Ultralite 8 Axis Description I996 S0FB33F 16841 SOFB33F Enable nodes 0 1 2 3 4 5 8 9 12 amp 13 at Ultralite 980 gt 5 0 1 8 16 5 M980 gt X 78421 8 16 s 1st 16 bit word node2 M981 gt X SCOA2 8 16 s 981
69. CRO I O nodes e Station MII9 setting for frequency of data copying Station MI69 MI71 169 MI175 settings for matching MACRO I O nodes to accessory boards with IOGATE ICs Acc 9E 12E 14E UMAC I O boards e Station MI20 MI68 settings for matching MACRO I O nodes to other I O circuitry e g Acc 36E 59E ADC DAC boards e Mapping 16 Axis MACRO CPU nodes to PMAC MACRO I O nodes e Connection of the PMAC and MACRO Station in a common ring 16841 16891 16941 16991 MACRO Node Activation Control of MACRO I O Nodes e Station SW2 setting for Master number e Station MI975 setting for active MACRO I O nodes MI975 available on MACRO ICO only e Mapping PMAC MACRO I O nodes to PMAC M variables M variable definitions to images of I O in PMAC memory e M variable definitions to MACRO node registers entire register only e PMAC commands usually in PLC to copy between image registers and MACRO I O nodes Introduction 16 Axis MACRO CPU User Manual Introduction 16 MACRO CPU User Manual HARDWARE SETUP The hardware setup of the 16 Axis MACRO CPU for the UMAC MACRO 16x is covered in the Hardware Reference manual for the 3U 16 Axis MACRO CPU Board and the manuals for each of the individual accessory boards in the station A brief summary is given here The electronic hardware of a 16 Axis MACRO CPU consists of a 3U 16 Axis MACRO CPU Interface board that contains the MACRO link to the ring and the pro
70. Clock Divider The default value for MI993 of 2258 is suitable for most applications Refer to the detailed description in the MACRO Station Hardware Reference Manual to change any of these frequencies PWM Deadtime PFM Pulse Width MI994 controls both the deadtime for PWM outputs on Channels 9 and 10 and the pulse width for the PFM pulse and direction outputs on Channels 9 and 10 The equations are PWM Deadtime usec 0 135 MI994 Pulse Width usec MI994 PFMCLK Freq MHz DAC Strobe Word MI999 controls the DAC strobe signal used to create analog outputs for Channels 9 and 10 It is a 24 bit word that is shifted out one bit per DAccLK cycle MSB first starting on the rising edge of the phase clock MI999 should be set to the default value of 7FFF00 for use with the on board 16 bit DACs that come with the Option A PMAC style interface on the Acc 1E 2 Axis piggyback board or on an Acc 8A breakout board that attaches to the PMAC2 style connector on the Acc 1E MI999 should be set to 7FFFCO for use with the 18 bit DACs on the Acc 8E PMAC2 style breakout board that attaches to the PMAC2 style connector on the Acc 1E ADC Strobe Word MI942 controls the ADC strobe signal used to interface to serial A D converters brought in on Channels 9 and 10 The default value of FFFFFE is suitable for most A D converter types used with the 16 Axis MACRO CPU either for digital current loop feedback or for general purpose use from an Acc 28B
71. Gate Array Read the actual encoder up down counters from the gate array on the Acc 24E2A for channel 1 2 3 and 4 This data 1s found on bits 0 23 of X register of the following locations Chan 1 2 3 4 5 6 7 8 Hex 8001 8009 8011 8019 8041 8049 8051 8059 File Definitions 81 gt 58001 0 24 5 Counter Register for Channel 1 82 gt 58009 0 24 5 Counter Register for Channel 2 83 gt 58011 0 24 5 Counter Register for Channel 3 84 gt 58019 0 24 5 Counter Register for Channel 4 After downloading the definitions to the MACRO CPU access the data using standard MS commands For example 50 81 111 return the value to the Terminal window MSRO MM81 P81 will copy the value into P81 this can be used also yin Programs in the Utralite Data Transfer Examples MI20 MI68 The general purpose data transfer MI20 through MI68 variables for MACRO allow the transfer of data to or from any location at the MACRO Station from or to the MACRO IO node registers Details of the setup can be found in the 16 Axis MACRO CPU Software Reference Manual This section shows examples of how to set up the transfers for the following e Read Actual DAC output from Servo IC register Read Servo IC Up Down Counter Position e Write to the DACnB output on Acc 24E2A How to use the 16 Axis MACRO CPU 59 16 Axis MA
72. I997 where N is a positive integer Hardware Clock Frequencies MI907 controls the frequencies of the four hardware clock signals for Channels 5 8 the encoder sample SCLK the pulse and direction PFMCLK the analog output DAccLK and the analog input ADCCLK 1907 is a 12 bit value consisting of four independent 3 bit parts each controlling one of the clock frequencies The equation is MI907 SCLK Divider 8 PFMCLK Divider 64 DAccLK Divider 512 4DCCLK Divider The value of each clock divider can take a value of 0 to 7 and the frequency of each clock signal is Clock Frequency 39 3216 MHz 2 Clock Divider The default value for MI907 of 2258 is suitable for almost all applications Refer to the detailed description in the MACRO Station Hardware Reference Manual to change any of these frequencies PWM Deadtime PFM Pulse Width MI908 controls both the deadtime for PWM outputs on Channels 5 8 and the pulse width for the PFM pulse and direction outputs on Channels 5 8 The equations are PWM Deadtime usec 0 135 MI908 Pulse Width usec MI908 PFMCLK Freq MHz DAC Strobe Word MI909 controls the DAC strobe signal used to create analog outputs for Channels 5 8 It is a 24 bit word that is shifted out one bit per DAccLK cycle MSB first starting on the rising edge of the phase clock MI909 should be set to 7FFFCO for use with the 18 bit DACs on the Acc 24E2A backplane analog axis interface breakout board 38 16 Axis MACRO CP
73. M1126 Channel 11 U flag input status X 9010 23 Y 003544 23 M1127 Channel 11 T flag input status 9010 20 4 5003544 20 4 M1128 Channel 11 TUVW inputs as 4 bit value Suggested MM Variables MM110 gt X 9011 0 24 s 11 24 bit counter position MM111 gt Y 9012 8 16 s MM112 gt Y 9013 8 16 s MM113 gt Y 9014 8 16 s OUT11A command value OUT11B command value OUT11C command value MACRO Equivalent Servo IC Memory Locations 77 16 Axis MACRO CPU User Manual Servo IC 4 Registers for Channel 4 usually for Motor 12 MACRO Location MIVariable Turbo Location M Var Description 59019 0 24 5 57942 0 24 5 M1201 ENC12 24 bit counter position 5901 8 16 5 1202 OUTI2A command value DAC or PWM 5901 0 24 5 MS21 MI921 M1203 ENCI2 captured position 5901 8 16 5 M1204 OUTI2B command value DAC or PWM Y 901D 8 16 s MS21 MI922 Y 7942D 8 16 s M1205 ADCI2A input value Y 901E 8 16 s MS21 MI924 7942 8 16 5 M1206 ADCI2B input value 5901 8 16 5 M1207 OUTI2C command value or PWM 901 0 24 5 MS21 MI925 M1208 ENC12 compare position 901 0 24 5 MS21 MI926 M1209 ENC12 compare B position 5901 0 24 5 MS21 MI923 M1210 ENCI2 compare auto increment value X 901D 11 MS
74. MAC Pack Configurati ni tot i tee treiber esse e o ig rupe SERATE 7 PO Accessor Boards 7 Auto Configuration and Identification of UMAC Pack Boards seen 9 Wiring into the MACRO 9 UMAC Pack Interface Breakout Boards eese rennen entren trennen 9 S Wi Selling M Ip 10 IPLE 10 TURBO PMAC2 SOFTWARE SETUP FOR MACRO STATIONN 11 MACRO IC Address Specification n nennen nnne nennen nennen rne 11 MACRO Ring Update Frequency 11 11 Phase Cycle 12 119 Clock Source I Variable Number 13 Turbo PMAC2 Ultralite 16800 and 16801 13 UMAC 13 Notes Servo aqya 13 Turbo PMAC2 MACRO Ring Setup 14 16840 MACRO IC 0 Master Configuration 14 16890 16940 16990 MACRO IC 1 2 3 Master Configuration esses 14 16841 16891 16941 16991 MACRO IC 0 1 2 3 Node Activation Cont
75. MACRO IC 1 Node 12 Reg 0 2F9438 MACRO IC 3 Node 12 Reg 0 2FB438 MACRO IC 1 Node 13 Reg 0 2F943C MACRO IC 3 Node 13 Reg 0 2FB43C If Turbo PMAC2 is doing the commutation for the motor it is best to use the previous phase position register in RAM as the servo feedback register The commutation algorithm has already read the raw position data from the MACRO ring and copied it into this register storing it for calculations in its next cycle Using this register in the conversion table ensures that the servo algorithm uses the same position that the commutation used even if new data has started coming in from the MACRO ring for the next cycle 20 Turbo PMAC2 Software Setup for MACRO Station 16 MACRO CPU User Manual The following table lists the conversion table entries to use these registers Remember that the second line of the entry should always be 018000 Register First Line Register First Line Value Value Motor 1 Previous Phase Pos 2800B2 Motor 17 Previous Phase Pos 2808B2 Motor 2 Previous Phase Pos 280132 Motor 18 Previous Phase Pos 280932 Motor 3 Previous Phase Pos 2801B2 Motor 19 Previous Phase Pos 2809B2 Motor 4 Previous Phase Pos 280232 Motor 20 Previous Phase Pos 280A32 Motor 5 Previous Phase Pos 2802B2 Motor 21 Previous Phase Pos 280AB2 Motor 6 Previous Phase Pos 280332 Motor 22 Previous
76. MACRO Servo Node flag word address These MI181 MI188 are 48 bit status only variables and are read only so this binding cannot be changed or is done for each power on The following describes the assignment for the Servo ICs in the standard address settings MACRO Node Address for X 1181 188 the Command Status Flag C0A3 MI181 C0A7 MI182 COAB MI183 COAF MI184 COB3 185 COB7 MI186 COBB MI187 COBF MI188 16 Axis MACRO CPU Software Setup 35 16 Axis MACRO CPU User Manual MACROIC 0 or Nodes Servo Nodes Node Servo IC Nodes SWI Select Y 1181 188 Base Address Enabled 0 4 8000 8008 0 1 0 1181 1182 8010 8018 4 5 1183 1184 0 4 8000 8008 8 9 1 1185 1186 8010 8018 12 13 1187 1188 0 2 8000 8008 0 1 2 1181 1182 0 2 8000 8008 4 5 3 1183 I184 0 2 8000 8008 8 9 4 1185 I186 0 2 8000 8008 12 13 5 1187 1188 0 6 8000 8008 0 1 6 1181 1182 8010 8018 4 5 1183 1184 8040 8048 8 9 1185 1186 0 8 8000 8008 0 1 7 1181 1182 8010 8018 4 5 1183 1184 8040 8058 8 9 1185 1186 8050 8058 12 13 1187 1188 2 0 2 3 8 2 0 6 7 9 2 0 10 11 10 4 0 2 3 6 7 11 6 0 2 3 6 7 10 11 12 1 0 11 13 0 0 8000 8008 None 14 Ring 1181 1182 8010 8018 Order 1183 1184 8040 8058 1185 1186 8050 8058
77. MACRO Station enable the bi directional copying of I O values between MACRO nodes and configurable input output registers on MACRO Station I O boards Copying from the MACRO node to the I O register is used for setting outputs copying from the I O register to the MACRO node is used for reading inputs The copying is always done in both directions for all I O points even though each I O point can be used only as an input or an output at any given time Only a zero value output off should be written to an I O point that is currently being used as an input The following MACRO I O boards will use these bi directional copying variables Acc 9E isolated 48 input backplane UMAC board Acc 10E isolated 48 output backplane UMAC board Acc 11E isolated 24 input 24 output backplane UMAC board Acc 12E isolated 24 input 24 high power output backplane UMAC board Acc 14E 48 I O backplane UMAC board The following Station MI Variables perform the bi directional transfers with these boards MI69 and MI70 These variables copy I O values between 16 bit MACRO node registers Registers 1 2 and 3 and accessory board I O registers These are valuable particularly for single I O boards with 48 I O points 48 16 Axis MACRO CPU Software Setup 16 Axis MACRO CPU User Manual This variable copies I O values between 24 bit MACRO node registers Register 0 and accessory board I O registers This is valuable particularly for single I
78. O ICs 1 3 cannot generate the servo clock they report back a 1 7 The source of phase and servo clocks for the non synchronizing master must be the last MACRO IC that is enabled as a Master If this is MACRO IC 3 then 16807 1 16857 3 16907 3 16997 0 This allows all four MACRO ICs to receive their data before a phase interrupt occurs 8 The source of phase and servo clocks for a slave must be the last MACRO IC that receives its data For the 16 Axis MACRO CPU this most likely will be MACRO IC 1 The idea is to receive the command data into both MACRO IC 0 and 1 and then resynch reset the phase clock and get the phase interrupt MI142 determines which MACRO IC is the source of the phase clock and the synch node phase lock enable When MI142 0 itis MACRO IC 1 If using only MACRO ICO then set MI14 0 I7 Phase Cycle Extension On the Turbo PMAC2 board it is possible to skip hardware phase clock cycles between executions of the phase update software Turbo PMAC2 board will execute the phase update software commutation and or current loop closure every 17 1 hardware phase clock cycles The default value for 17 is 0 so normally Turbo PMAC2 executes the phase update software every hardware phase clock cycle If the Turbo PMAC2 board is closing the current loop for direct PWM control over the MACRO ring it should have two hardware ring update cycles which occur at the hardware phase clock frequency per software phase update Thi
79. O boards with 48 I O points e MI169 This variable copies 72 I O values between an entire 72 bit MACRO node and accessory board I O registers MI171 M1172 and MI173 These variables copy 144 I O values between a pair of 72 bit MACRO nodes and accessory board I O registers These are valuable for fully configured Acc 3E boards or a set of three backplane I O boards sharing a common base address MACRO Node Addressing In each of these variables both the address of a MACRO I O node register and an I O board base address register must be specified The following table lists the possible MACRO T O node register addresses for MACRO ICO Node Register 0 Register 1 Register 2 Register 3 X Address X Address X Address X Address 2 COAO COA1 COA2 C0A3 3 COA4 COAS COA6 C0A7 6 COA8 COA9 COAA COAB 7 COAC COAD COAE COAF 10 COBO COBI COB2 COB3 11 C0B4 C0B5 COB6 COB7 14 COB8 COB9 COBA COBB Node 14 may be used only for these I O transfers if no Type 1 Master Master auxiliary communications are being performed on the ring between Turbo PMAC2 boards Board Addressing The 3U format I O boards are built around IOGATE I O ASICs Each IOGATE IC controls 48 I O points mapped into the MACRO Station s addressing scheme as six bytes in consecutive registers Base address to Base_address 5 The MACRO Station has 24 bit data bus so it is possible to have
80. O motor node on the Turbo PMAC2 4 The fourth mapping is between the MACRO servo node on the Turbo PMAC2 and the motor calculation registers MACRO Station Motor x Machine Interface Channel Interface Signals Registers Channel x Registers Servo and Commutation Address Variables Station SW1 Setting Conversion Table MI10x Calculation PMAC MACRO MACRO Node Station Node n Registers n Registers 1996 bits 20 23 Station SW2 Setting Turbo 16841 16891 16941 16991 bits 20 23 Station SW2 Setting PMAC Node n Station Node n Station PMAC MACRO Once the basic mapping is set up the operation of the MACRO ring becomes essentially invisible to the actual operation of the system and the system operates just as if devices were interfaced directly to the MACRO controller 2 Introduction 16 MACRO CPU User Manual Mapping Servo Channels Mapping Physical Servo Channels to the 16 Axis MACRO Station s Servo Channels MI179 and 80 provide the base addresses of the two Servo ICs attached to the MACRO IC and Y MI181 88 provide the base address for the eight servo channels Station servo node specific variables MI910 MI939 use Y MI18n to configure the Servo IC s interface channels associated with specified MACRO node determined by SW1 Each MACRO IC has its own unique set of
81. Phase Pos 280B32 Motor 7 Previous Phase Pos 2803B2 Motor 23 Previous Phase Pos 280BB2 Motor 8 Previous Phase Pos 280432 Motor 24 Previous Phase Pos 280C32 Motor 9 Previous Phase Pos 2804B2 Motor 25 Previous Phase Pos 280CB2 Motor 10 Previous Phase Pos 280532 Motor 26 Previous Phase Pos 280D32 Motor 11 Previous Phase Pos 2805B2 Motor 27 Previous Phase Pos 280DB2 Motor 12 Previous Phase Pos 280632 Motor 28 Previous Phase Pos 280E32 Motor 13 Previous Phase Pos 2806B2 Motor 29 Previous Phase Pos 280EB2 Motor 14 Previous Phase Pos 280732 Motor 30 Previous Phase Pos 280F32 Motor 15 Previous Phase Pos 2807B2 Motor 31 Previous Phase Pos 280FB2 Motor 16 Previous Phase Pos 280832 Motor 32 Previous Phase Pos 281032 Sometimes the conversion table will process data sent back to Turbo PMAC2 through I O nodes which are mapped into Turbo PMAC2 as X registers Often this is done in cases of dual feedback or loop around loop configurations Because these I O nodes use X registers instead of Y registers they use the 6 conversion method X Y data instead of the 2 conversion method Y data only and specify a 24 bit offset in the second line of the entry The following table shows entries for processing the data in the 24 bit register 0 of the first six I O nodes for each MACRO IC Register First Line Register Fi
82. RO CPU User Manual 2 All MACRO stations on the ring should be running at the same ring phase clock rate This is set on the 16 Axis MACRO stations MI992 and MI997 and the Turbo Ultralite s 16800 16850 16900 16950 and 16801 16851 16901 169551 3 All MACRO stations on the ring should have their phase clock source synchronized to its own last node packet on the MACRO ring Normally this is node 15 so bit 16 19 F of MI996 and Turbo s 16841 16891 16941 16991 This means that the MACRO IC that is the source of the phase clock on its station will have its phase clock resynchronized with its last received packet on the ring 4 The synch node phase lock enable bit must not be set on the synchronizing master Since it is the source of the MACRO ring data rate it does not make sense to synchronize to itself and it may cause problems This is bit 7 0 of Turbo s 16840 5 The synch node phase lock enable bit must be set on the separate Turbo PMAC non synchronizing masters and the MACRO slaves It should be set only on the MACRO IC that is the source of the phase clock and not on the other MACRO IC on the board This is bit 7 1 and typically is 16690 of the Turbo non synchronizing masters and MI996 of MACRO IC 1 of the 16 Axis MACRO station 6 The source of phase and servo clocks for the synchronizing master must be MACRO IC 0 and it must be master number 0 16841 0FCxxx and 16807 0 16857 3 16907 3 16997 3 Because MACR
83. Read I8014 2F843C MACRO Node 13 Reg 0 Read 18007 018000 24 bits bit 0 LSB I8015 018000 24 bits bit 0 LSB 18016 18191 0 The following table contains the entry first line for each servo node Register 0 for all MACRO ICs with the addresses specified 120 123 at their default values Remember that the second line of the entry should always be 018000 Register First Line Register First Line Value Value MACRO 0 Node 0 Reg 0 2F8420 MACRO IC 2 Node 0 Reg 0 2FA420 MACRO IC 0 Node 1 Reg 0 2F8424 MACRO IC 2 Node 1 Reg 0 2FA424 MACRO IC 0 Node 4 Reg 0 2F8428 MACRO IC 2 Node 4 Reg 0 2FA428 MACRO IC 0 Node 5 Reg 0 2F842C MACRO IC 2 Node 5 Reg 0 2FA42C MACRO IC 0 Node 8 Reg 0 2F8430 MACRO IC 2 Node 8 Reg 0 2FA430 MACRO IC 0 Node 9 Reg 0 2F8434 MACRO IC 2 Node 9 Reg 0 2FA434 MACRO IC 0 Node 12 Reg 0 2F8438 MACRO IC 2 Node 12 Reg 0 2FA438 MACRO IC 0 Node 13 Reg 0 2F843C MACRO IC 2 Node 13 Reg 0 2FA43C MACRO IC 1 Node 0 Reg 0 2F9420 MACRO IC 3 Node 0 Reg 0 2FB420 MACROIC 1 Node 1 Reg 0 2F9424 MACRO IC 3 Node 1 Reg 0 2FB424 MACRO IC 1 Node 4 Reg 0 2F9428 MACRO IC 3 Node 4 Reg 0 2FB428 MACROIC 1 Node 5 Reg 0 2F942C MACRO IC 3 Node 5 Reg 0 2FB42C MACROIC 1 Node 8 Reg 0 2F9430 MACRO IC 3 Node 8 Reg 0 2FB430 MACRO IC 1 Node 9 Reg 0 2F9434 MACRO IC 3 Node 9 Reg 0 2FB434
84. The 16 Axis MACRO CPU has its own Encoder Conversion Table ECT that permits pre processing of feedback data before it is transmitted back to the PMAC controller This can simplify the transmission and reduce the amount of data to be transmitted Note The Turbo 2 has its own Encoder Conversion Table that has much the same capabilities as that of the MACRO Station However when PMAC is getting its data from the MACRO Station the Turbo PMAC2 s table simply uses the parallel data format to copy the feedback data from the MACRO node Refer to the PMAC2 Software Setup for MACRO Station section above The ECT on the MACRO Station has a series of entries in 32 lines Each line occupies one double word of MACRO Station memory The Y word has set up information the X word has result information which is pointed normally to the position feedback MI Variables MI101 to MI108 Each line s Y word has a MACRO Station MI Variable assigned to it so setting MI Variable values completes the set up The setup word for the first line of the table is assigned MI120 the setup word for the second line for the second line is assigned MI121 and so on to the 32 line whose set up word is assigned MI151 An entry in the table can occupy one two or three lines which means that one two or three MI Variables are used to define the set up words for the entry If the entry occupies more than one line the final result of the entry is in the last hi
85. U Software Setup 16 MACRO CPU User Manual ADC Strobe Word MI941 controls the ADC strobe signal used to interface to serial A D converters brought in on Channels 1 4 The default value of FFFFFE is suitable for most A D converter types used with the 16 Axis MACRO CPU either for digital current loop feedback or for general purpose use from an Acc 28B On Board Auxiliary Channels Handwheel Pulse and Direction There are several variables that affect all of the machine interface channels 9 and 10 which are present on the 2 Axis piggyback board PWM Frequency MI992 controls the PWM frequency of Channels 9 and 10 as well as the MaxPhase clock frequency from which the phase clock frequency for the entire MACRO Station is derived see above The equation is PWM Frequency kHz 117 964 8 A MI992 6 The MaxPhase frequency is exactly twice the PWM 9 10 frequency Hardware Clock Frequencies MI993 controls the frequencies of the four hardware clock signals for Channels 9 and 10 the encoder sample SCLK the pulse and direction PFMCLK the analog output DAccLK and the analog input ADCCLK 1993 is a 12 bit value consisting of four independent 3 bit parts each controlling one of the clock frequencies The equation is MI993 SCLK Divider 8 PFMCLK Divider 64 DAccLK Divider 512 ADCCLK Divider The value of each clock divider can take a value of 0 to 7 and the frequency of each clock signal is Clock Frequency 39 3216 MHz 2
86. U User Manual Binding the Servo ICs to the MACRO ICs Using the bits in X MI200 the firmware attaches to each MACRO IC up to two Servo ICs and up to two Encoder ICs This allows up to eight servo channels and six encoder feedback channels per MACRO IC The Servo IC s base addresses are registered in read only MI179 Servo IC 1 and MI180 Servo IC 1 The Encoder IC s base addresses are registered in read only 89 Encoder IC 1 and MI190 Encoder 1 The logic that is used to assign the detected Servo IC s to each of the MACRO ICs is defined below BITn System Status MIA 15 Detected Ubus Encoder IC 7 Attached to MACRO IC 0 and 1 two channels each 16 Detected Ubus Encoder 6 Attached to MACRO IC 1 17 Detected Ubus Encoder 5 Attached to MACRO IC 0 18 Detected Ubus Servo IC 4 Attached to MACRO IC 1 19 Detected Ubus Servo IC 3 Attached to MACRO IC 1 20 Detected Ubus Servo IC 2 Attached to MACRO IC 0 21 Detected Ubus Servo IC 1 Attached to MACRO IC 0 22 Detected CPU MACRO IC 1 C0CO 23 Detected CPU MACRO IC 0 C080 Mapping Machine Interface Channels to MACRO Servo Nodes MACRO IC 0 From 179 and MI180 SWI the 48 bit MI181 MIISS variables are created These variables bind each of the machine interface channels four channels per IC to a MACRO Servo Node The Y MI18n portion has the machine interface channel base address and the X MI18n portion has the
87. USER MANUAL 16 Axis MACRO CPU DELTA TAU Data Systems Inc NEW IDEAS IN MOTION Single Source Machine Control Power Flexibility Ease of Use 21314 Lassen Street Chatsworth CA 91311 Tel 818 998 2095 Fax 818 998 7807 www deltatau com Copyright Information 2007 Delta Tau Data Systems Inc All rights reserved This document is furnished for the customers of Delta Tau Data Systems Inc Other uses are unauthorized without written permission of Delta Tau Data Systems Inc Information contained in this manual may be updated from time to time due to product improvements etc and may not conform in every respect to former issues To report errors or inconsistencies call or email Delta Tau Data Systems Inc Technical Support Phone 818 717 5656 Fax 818 998 7807 Email support deltatau com Website http www deltatau com Operating Conditions AII Delta Tau Data Systems Inc motion controller products accessories and amplifiers contain static sensitive components that can be damaged by incorrect handling When installing or handling Delta Tau Data Systems Inc products avoid contact with highly insulated materials Only qualified personnel should be allowed to handle this equipment In the case of industrial applications we expect our products to be protected from hazardous or conductive materials and or environments that could cause harm to the controller by damaging components or cau
88. Variable MI10x for the xth motor node used contains the address of the register usually one in the conversion table from which the feedback data is copied into the position feedback register of the node Because the conversion table occupies registers 0020 to 003F in the Station typically the values of the MI10x variables contain address values in this range MI11x Power On Position Feedback Address If absolute power on position is desired for either commutation phase referencing or complete position referencing MI11x for the xth motor node on the 16 Axis MACRO CPU must be set to a value greater than zero MI16x Power On MLDT Excitation Value If a magnetostrictive linear displacement transducer MLDT is to receive its excitation pulses from the 16 Axis MACRO CPU MI16x is used for the xth motor node to set the frequency of the excitation immediately upon power up or reset so the absolute power on position of the sensor can be read If MI16x is greater than 0 this value is copied into the C output register for the machine interface channel corresponding to the xth motor node as determined by the SW1 setting as part of the reset function of the Station Thereafter only A and B command values are copied from the MACRO node command registers to the machine interface channel registers The period between output pulses should be slightly longer than the longest delay in receiving the echo pulse This delay can be computed by multiplying the lengt
89. X 07942E X 07942F IC1 8 Axis 13 24 Y 079430 Y 079431 Y 079432 Y 079433 IC1 9 Axis 14 25 Y 079434 Y 079435 Y 079436 Y 079437 IC1 10 26 X 079430 X 07943 1 079432 X 079433 IC1 11 27 079434 079435 079436 079437 IC1 12 Axis 15 28 Y 079438 Y 079439 Y 07943A Y 07943B IC1 13 Axis 16 29 Y 07943C Y 07943D Y 07943E Y 07943F IC1 14 Master Master 30 X 079438 X 079439 X 07943A X 07943B IC1 15 Master Slave 31 X 07943C X 07943D X 07943E X 07943F IC2 0 Axis 17 32 Y 07A420 Y 07A421 Y 07A422 Y 07A423 IC2 1 Axis 18 33 Y 07A424 07 425 Y 07A426 Y 07A427 IC2 2 IO 34 X 07A420 X 07A421 X 07A422 X 07A423 1C2 3 35 07 424 X 07A425 X 07A426 X 07A427 IC2 4 Axis 19 36 Y 07A428 Y 07A429 Y 07A42A Y 07A42B IC2 5 Axis 20 37 07 42 Y 07A42D Y 07A42E Y 07A42F IC2 6 38 07 428 X 07A429 X 07A42A X 07A42B 1C2 7 IO 39 X 07A42C X 07A42D X 07A42E X 07A42F 1C2 8 Axis 21 40 Y 07A430 Y 07A431 Y 07A432 Y 07A433 1C2 9 Axis 22 41 Y 07A434 07 435 Y 07A436 Y 07A437 IC2 10 42 07 430 X 07A431 X 07A432 X 07A433 IC2 11 43 07 434 X 07A435 X 07A436 X 07A437 IC2 12 Axis 23 44 Y 07A438 Y 07A439 Y 07A43A Y 07A43B IC2 13 Axis 24 45 Y 07A43C Y 07A43D Y 07A43E Y 07A43F IC2 14 Master Master 46 X 07A438 X 07A439 X 07A43A X 07A43B IC2 15 Master Slave 47 X
90. _ ______ 47 Power On MLDT Excitation Value esses esee eene enne teneret retener entren nns 47 General Purpose VO Setup vere e REI OR ees 48 MI973 1 0 Node Enablei ie 48 MIT TO Transfer Periodiau i ii S 48 Bi Dir ctional Transfer Control iac i 48 Uni Directional VO Transfer 51 HOW USE THE 16 AXIS 0 2 0 53 Example Setup Tor 16 Axis I I 53 Macro Station Position Capture Setup ene rere M _ 53 Setting the Trigger Condition 54 Jor saca adi oie hana M 54 Usine in User usua m P 54 MACRO Station Position Compare Output Setup nn enne ener ennemi enne enne 54 Setting up fora Single Pulse 55 Sei ng up for Multiple Pulse Outputs d anu 55 Using th JHW 56 Using the JHW Pulse and Direction Outputs 56 Using the JDISP Port 57 MACRO ASCII Communication M0 0 cesssssssescesececesecseesnesesecesaecasesecaesosesassnenaecesesesae
91. __ _ _ _ __ 37 Channels 5 8 Second 4 Axis Board n 38 On Board Auxiliary Channels Handwheel Pulse and Direction esee 39 Single Channel Servo Interface Channel Setup esses enne ener enne 40 Station Encoder Conversion Table Sefup ect tentent eet dint 41 Incremental Digital Encoder Feedback eee eren nre 42 Analog Encoder Feedback iiia 43 gt V ERES ER de Res 44 ME DT Feed PT 44 12 Bit A D Converter Feedback E HET CH HERR DU CASS 44 14E Parallel Feedback aasan RR ue 46 Amplifier Fault Enable and Polarity 46 46 MI18 Amplifier Fault Polarity Control ___ _ _____ _ _ _ __ _ _____ 46 Seryo Address Variable Setup dene E 47 Position Feedback Address 47 gt MM _ _______
92. at these ICs should receive their clock signals as inputs Note that MACROGATE MACRO ICs that are used typically for MACRO ICs 1 2 and 3 have no servo clock they cannot be used as the servo clock source and even if their clock direction I Variable is set to 3 it will report back as 1 to indicate phase clock input Normally in Turbo PMAC2 systems interfacing to a MACRO Station MACRO IC 0 should be the source of the system servo and phase clock signals The clock direction I Variable for MACRO IC 0 is 16807 so I19 on these systems should be set to 6807 Turbo 2 Ultralite 16800 and 16801 On a Turbo PMAC2 Ultralite or UMAC Turbo with 5 controller the phase clock frequency is determined by 16800 and 16801 16800 determines the frequency of the MaxPhase clock and 16801 determines how the Phase clock frequency is divided down from the MaxPhase clock 16800 sets the MaxPhase frequency according to the formula MaxPhase Freq kHz 117 964 8 2 16800 3 To set 16800 for a desired MaxPhase frequency the following formula can be used 16800 117 964 8 2 MaxPhase kHz 1 rounded down 16801 sets the Phase clock frequency from the MaxPhase according to the formula Phase Freq kHz MaxPhase Freq kHz 16801 1 In MACRO applications typically 16801 is set to 0 so the Phase clock frequency equals the MaxPhase clock frequency In this case 16800 sets the Phase clock frequency and therefore the MACRO ring up
93. ata Bus 1 and 2 Low Bits 0 7 2 and 3 Middle Bits 8 15 3 and 4 Middle Bits 8 15 4 and 5 High Bits 16 23 The I O boards available presently whose addresses are set by DIP switches are Acc 14E 48 TTL I O board Acc 28E 2 4 channel 16 bit ADC board Acc 36E 16 channel 12 bit ADC board Acc 53E SSI encoder interface board Acc 59E 8 channel 12 bit ADC 8 channel 12 bit DAC board Acc 65E self protected sourcing 24 in 24 out board Acc 66E self protected sourcing 48 input board Acc 67E self protected sourcing 48 output board Acc 68E self protected sinking 24 in 24 out board For these boards the switch settings and the board addresses they select are 1 1 1 2 1 3 1 4 1 5 51 6 Cards Address ON ON ON ON ON ON 1 8800 883F OFF ON ON ON ON ON 2 9800 983F ON OFF ON ON ON ON 3 A800 A83F OFF OFF ON ON ON ON 4 B800 B83F ON ON OFF ON ON ON 5 8840 887F OFF ON OFF ON ON ON 6 9840 987F ON OFF OFF ON ON ON 7 A840 A87F OFF OFF OFF ON ON ON 8 B840 B87F ON ON ON OFF ON ON 9 8880 88BF OFF ON ON OFF ON ON 10 9880 98BF ON OFF ON OFF ON ON 11 A880 A8BF OFF OFF ON OFF ON ON 12 B880 B8BF ON ON OFF OFF ON ON 13 88 0 88 7 14 98 0 98 7 15 8 0 7
94. ber of Node Servo IC Associated Node 1181 188 1996 Servo Y nodes Servo ICs IC Base Address enabled 1 3 9000 9008 0 1 1181 1182 lor2 9000 9008 4 5 1183 1184 9000 9008 8 9 1185 1186 9000 9008 12 13 1187 1188 1 3 9000 9008 0 1 1181 1182 2 9010 9018 4 5 1183 1184 9000 9008 8 9 1185 1186 9010 9018 12 13 1187 1188 2 3 and 4 9000 9008 0 1 1181 1182 gt 2 9010 9018 4 5 1183 1184 9040 9048 8 9 1185 1186 9050 9058 12 13 1187 1188 Multi Channel Servo Interface Setup Several MI Variables on the 16 Axis MACRO CPU affect the hardware setup of multiple machine interface channels on the Station Because these variables are not specific to one channel or node they be accessed with an MS command where anynode is the number of any active node on the Station that is not active on another Station as well Channels 1 4 First 4 Axis Board There are several variables that affect all of the machine interface channels 1 to 4 These MI Variables reference MI179 for the Servo IC s base address PWM Frequency MI900 controls the PWM frequency of Channels 1 4 Its setting is important only if the PWM outputs are used through the PMAC2 style connectors The equation for the frequency is PWM Frequency kHz 117 964 8 A MI900 6 Generally MI900 is set to the same value as MI992 which controls the PWM frequency for Chan
95. ble it Used only on MACRO IC 0 Node Enable MI975 permits the enabling of I O nodes in addition to the motor nodes that are enabled automatically by the SW1 setting This permits the automatic real time transmission of I O data between the PMAC and the MACRO Station through dedicated I O nodes Used only on MACRO IC 0 S W Ring Order MI996 must be written by the Ring Order software setup saved MSSAVE and the reset MS to enable the desired motor and I O nodes 16 Axis MACRO CPU Software Setup 33 16 Axis MACRO CPU User Manual MACRO IC 1 There is no SW1 or active MI975 and MI976 for MACRO IC 1 S W Ring Order MI996 must be written by the Ring Order software setup saved MSSAVE and the reset MS to enable the desired motor and I O nodes MI variables for MACRO IC 1 can be accessed by adding 1000 to the variable For example MI1996 accesses MACRO 175 MI996 Node Ring Order MACRO IC 175 MI996 can also be accessed for setup through MACRO IC 0 To address its setup MI Variables add 1000 to the variable For example 0 996 accesses MACRO IC 1 s MI996 Auto Detecting the MACRO and Servo ICs At power on and the MACRO and Servo ICs are detected automatically similar to the Turbo PMAC s 14900 The MACRO and Servo IC s detection is stored in X MI200 and the previously saved value is in Y MI200 MI210 to MI225 are the IDENT Inn variables that further refine the card type options and revisi
96. bo Location M Var Description 58009 0 24 5 201 ENC2 24 bit counter position 800 8 16 5 M202 OUT2A command value DAC or PWM X 800B 0 24 S MS1 MI921 M203 ENC2 captured position 5800 8 16 5 204 OUT2B command value DAC or PWM 5800 8 16 5 51 1922 578425 8 16 5 205 ADC2A input value 5800 8 16 5 MS1 MI924 578426 8 16 5 206 ADC2B input value 5800 8 16 5 207 OUT2C command value or PWM 800 0 24 5 MS1 MI925 M208 ENC2 compare A position 5800 0 24 5 MS1 MI926 M209 ENC2 compare B position 5800 0 24 5 MS1 MI923 M210 ENC2 compare auto increment value X 800D 11 MS1 MI928 M211 ENC2 compare initial state write enable X 800D 12 MS1 MI929 M212 ENC2 compare initial state X 800D 14 53441 14 214 2 output status X 8008 19 53441 19 M215 USER2 flag input status X 8008 9 u Y S3441 9 M216 ENC2 compare output value X S8008 11 53441 11 217 ENC2 capture flag X 8008 8 53441 8 218 ENC2 count error flag X 8008 14 M219 CHC2 input status X 8008 16 5003441 16 220 HMFL2 flag input status X 8008 17 Y 003441 17 M221 PLIM2 flag input status X 8008 18 5003441 18 M222 MLIM2 flag input status X 8008 15 Y 003441 15 M223 FAULT flag input status 58008 20 5003441 20 M224 Channel 2 W flag input status X 58008 21 Y 003441 21 M225 Channel 2 V flag input status X 58008 22 Y 003441 22 M226 C
97. by 16841 16891 16941 16991 bits 20 23 Number set by SW2 Node Slave Number n automatically matches between PMAC and MACRO Station Mapping Motor Function Registers to Node Registers Map the Turbo PMAC2 motor function registers to the Turbo PMAC2 MACRO node registers Encoder Conversion Table Setup Addresses 18000 18191 Ixx02 Command Output Address Ixx03 Position Loop Feedback Address Ixx04 Velocity Loop Feedback Address Ixx10 Ixx95 Power On Position Feedback Address Ixx24 Ixx25 Flag Address Ixx81 Ixx91 Power On Phase Feedback Address Ixx82 Current Loop Feedback Address Ixx83 Phase Position Feedback Address Flag Holding Registers Ixx25 Flag Registers Ixx02 Command Output Command Registers Motor x Calculation Registers Feedback Registers 1 83 Commutation Feedback Encoder Conversion Table Table 4 Introduction Ixx84 Current Feedback Ixx03 Ixx04 Servo Position Feedback 16 Axis MACRO CPU User Manual Mapping of General Purpose I O General purpose I O is processed through a similar set of mapping functions Once the setup of the mapping has been done PMAC software can access the I O points on the 16 Axis MACRO CPU as if they were on the PMAC itself e Mapping physical devices to the 16 Axis MACRO CPU I O circuitry e Wiring between the I O connectors and the devices e Mapping the Station I O registers to 16 Axis MACRO CPU MA
98. cc 51E high resolution backplane interpolator board the F0 conversion method is used yielding 4096 states per encoder line This entry 15 a three line entry The following table describes the three line MI Variables that need to be configured for the Ubus Interpolator The tables below show the addresses of the quadrature register in the Acc 51E Interp SW1 Settings 6 5 4 3 2 1 UMAC Servo IC 1 l Inrp on on on on on on I Variables First Line Second Line Third Line Meaning Setting Setting Setting MI120 MI121 MI122 F08000 8005 00 Acc 51E Encoder Ch 1 MI123 MI124 MI125 F08008 800D 00 Acc 51E Encoder Ch 2 MI126 MI127 MI128 F08010 8015 00 Acc 51E Encoder Ch 3 MI129 MI130 MI131 08018 801D 00 Acc 51E Encoder Ch 4 Interp SW1 Settings 6 5 4 3 2 1 UMAC Servo IC 2 l Inrp on on on on off I Variables First Line Second Line Third Line Meaning Setting Setting Setting 132 1133 134 F08040 8045 00 Acc 51E Encoder Ch 1 135 136 137 F08048 804D 00 Acc 51E Encoder Ch 2 MI138 MI139 MI140 F08050 8055 00 Acc 51E Encoder Ch 3 MII141 MI142 MI143 F08058 805D 00 Acc 51E Encoder Ch 4 16 Axis MACRO CPU Software Setup 43 16 Axis MACRO CPU User Manual The third line contains a bias term that is added to both A D converter readings before the arctangent value is calculated It is used as a 24 bit value wi
99. ce will seek the first device that has not been setup i e MI11 0 Once communicating with the device activate the nodes with MI996 and set up any critical MI variables that need to be set for the application Upon completion of these MI variable settings assign a Station Number to the device with the STN n command where n can be set from 1 to 254 As soon a station number is assigned to the device the system will look for the next device that has not been set up MI11 0 If assigning a MACRO device as Station Number 20 type STA 20 in the terminal window and MI11 will be set to 20 Using MM Variables to Verify MACRO Station Memory Locations The MACRO M Variables through 511 can be used to look at any MACRO Station memory location This can be useful especially when trying to test the hardware at the MACRO CPU that does not have MI Variables associated with it The MM variables can be used in a similar fashion to the traditional PMAC M variables The major difference between the MACRO M Variables and the PMAC M variables is that the MM Variable definitions are downloaded while in the MACRO ASCII communications mode The best method of setting up MM variables is to open a text file and create the definitions Next save the file for future use or modifications To download the definitions to the MACRO CPU set Communications mode to MACRO ASCII and then download the file Example Read Using MM Variables Actual Encoder Read from
100. cessor that governs the operation of the Station plus some combination of axis interface boards and I O interface boards Physical and Logical Configuration of the MACRO Station This section briefly describes how the boards MACRO Station interface together and how they communicate what addresses they occupy in the address space of the MACRO CPU More details are given in the manuals for each specific board UMAC Pack Configuration In the UMAC Pack configuration the Axis interface boards and the I O interface boards communicate to the MACRO CPU board via an Acc Ux Ubus backplane board Each board can slide into a standard 3U rack with 4T 20mm 0 8 spacing between boards and connect physically to the backplane board Servo Accessory Boards For servo interface the 16 Axis MACRO CPU board can address up to four servo interface breakout accessory boards on the UMAC backplane The boards in this family that are presently available include 24 2 2 4 channel PWM servo interface breakout board Acc 24E2A 2 4 channel analog servo interface breakout board 24 25 4 channel stepper encoder interface breakout board Acc 5IE high resolution encoder interpolator board Note Option 1A or Option 1D on the Acc 24E2 or Acc 24E2A while it adds an extra physical slot does not count as an extra accessory board for addressing purposes The addresses and channel numbers on these boards are set by Dip switc
101. ck data it receives through an encoder conversion table before the servo loop uses the data for feedback This table permits various techniques such as 1 T extension of encoder data to refine the feedback values However when the 16 Axis MACRO CPU is used to provide the feedback the Station has its own encoder conversion table to do the refinement before the data is sent across the ring Therefore all that the PMAC s encoder conversion table must do is a simple copying operation The encoder conversion table on Turbo PMAC uses I variables 18000 through 18191 18000 represents the first line of the first entry in the table Each entry in the table produces one feedback value The entry can occupy one two or three lines Position feedback data for a node from a 16 Axis MACRO CPU appears in the 24 bit Register O for the node The least significant bit of the register represents 1 32 of a count i e there are five bits of fraction To process this data for the servo loop position and or velocity loop feedback the Turbo PMAC s conversion table will treat the data as a parallel Y word with no filtering MACRO provides error detection This makes bits 20 23 of the first line of the entry the first hex digit equal to 2 The conversion will be unshifted because the conversion result is expected also to have its LSB represent 1 32 ofa count This makes bit 19 of the first line equal to 1 Bits 0 18 contain the 19 bit address of the MACRO no
102. cription 59059 0 24 5 M1601 ENC16 24 bit counter position 5905 8 16 5 M1602 OUTI6A command value DAC or PWM 5905 0 24 5 MS29 MI921 M1603 ENC16 captured position 5905 8 16 5 M1604 OUTI6B command value DAC or PWM Y 905D 8 16 s MS29 MI922 Y 7943D 8 16 s M1605 ADCI6A input value 5905 8 16 5 MS29 MI924 57943 8 16 5 M1606 ADCI6B input value 5905 8 16 5 M1607 OUTI6C command value PFM or PWM 905 0 24 5 MS29 MI925 M1608 16 compare A position 905 0 24 5 MS29 MI926 M1609 ENC16 compare position 5905 0 24 5 529 923 M1610 ENCI compare auto increment value X 905D 11 MS29 MI928 M1611 ENC16 compare initial state write enable X 905D 12 MS29 MI929 M1612 ENC16 compare initial state X 905D 14 Y 00354D 14 M1614 16 output status 9058 19 500354 19 M1615 USERI6 flag input status 59058 9 500354 9 M1616 16 compare output value 9058 11 500354 11 1617 ENCI6 capture flag 59058 8 500354 8 1618 ENC16 count error flag X 9058 14 M1619 CHC16 input status 9058 16 Y 00354D 16 M1620 16 flag input status 9058 17 Y 00354D 17 M1621 PLIMI6 flag input status X 9058 18 Y 00354D 18 M1622 MLIMI6 flag input status X 9058 15 500354 15 M1623 FAULT16 flag input status X 9058 20 Y 00354D 20 M1624 Channel 16 W flag inpu
103. d MI69 and 70 can copy data between one two or three 48 bit IOGATE ICs at the same base address and one two or three sets of three 16 bit registers in MACRO I O nodes The first IOGATE must be in the low byte of the address the second if used must be in the middle byte of this address and the third if used must be in the high byte The first IOGATE is matched to the three 16 bit registers in the MACRO I O node whose address is specified the second to these registers in the next MACRO I O node and third to the registers in the following MACRO I O node MI69 MI70 Bi directional Copying Action 0 1 2 3 From gt PMAC 24 bit 16 bit 16 bit 16 bit Command output Feedback input lt 24 bit 16 bit 16 bit 16 bit 0 1 2 3 w et Connectors Bi directional IOGATE Registers MACRO Node Registers Note Any bit that has a zero command value Note Command and feedback registers for a node written to it output off share addresses MACRO station read operations can be used as an input access command registers write operations access feedback registers can copy data between one two or three 48 bit IOGATE ICs at the same base address and pairs of 24 bit registers in adjacent MACRO I O nodes The first IOGATE must be in the low byte of the address the second if used must be in the middle byte of this address and the third if used must be in the high byte The first IOGATE is matched t
104. d If Ixx10 is set to a value greater than zero an absolute position can be read with Ixx10 specifying an address for reading this value When reading absolute position over the MACRO ring the address contained in Ixx10 is specified in the format 0000mn where m is the MACRO IC number 0 1 2 or 3 and n is the node number 0 1 4 5 8 9 12 or 13 If both m and n are 0 the fourth hex digit of Ixx10 should be set to 1 Ixx10 000100 to keep the total value of Ixx10 greater than zero and activate the absolute position read The following table shows the required values of Ixx10 for all of the MACRO nodes that can be used Note MACRO IC 0 Node 0 uses an Ixx10 value of 000100 because Ixx10 0 disables the absolute position read function Ixx10 for MACRO Absolute Position Reads 1 95 720000 740000 F20000 F40000 MACRO Ixx10 for Ixx10 for Ixx10 for Ixx10 for Node MACRO MACRO MACRO MACRO Number IC 0 2 3 0 5000030 l 000031 4 000034 5 000035 8 000038 9 000039 12 00003C 13 00000D 00001D 00002D 00003D There are specific settings of Turbo PMAC2 s Ixx95 for each type of MACRO sensor interface The 16 Axis MACRO CPU has a corresponding variable 1x for each node that must be set 16 Axis MACRO CPU Feedback Type Turbo Station Turbo Station Ixx95 1 Ixx95 1 Unsigned Unsigned Signed
105. d 2 To read the data from the supplemental channels activate the nodes associated with channels 11 and 12 and modify the Encoder Conversion Table at the MACRO CPU 50 1990 7 Supplemental Channel 1 is setup for x4 CCW decode 50 1991 7 Supplemental Channel 2 is setup for x4 CCW decode ECT Modification at MACRO ICI Channels 9 16 516 1120 5009000 1 T Interpolation from Encoder 9 590 Default 516 1121 5009008 1 T Interpolation from Encoder 10 591 Default 516 1126 5009050 516 1127 5009058 516 1128 500 090 516 1129 500 098 Encoder Node Transfer Modification at MACRO Channels 9 16 1 T Interpolation from Encoder 15 96 Default 1 T Interpolation from Encoder 16 97 Default 1 T Interpolation from Supplemental Channell 98 1 T Interpolation from Supplemental Channel2 99 404 Ne x 516 1101 590 Transfer ECT data from 590 to Node 16 default 516 1102 591 Transfer ECT data from 91 to Node 17 default 516 1103 598 Transfer ECT data from 90 to Node 20 MS16 MI104 99 Transfer ECT data from 90 to Node 21 Once this is information is modified at the MACRO CPU use the data from feedback devices 11 and 12 for dual feedback or handwheel master slave following purposes The data for supplemental channels 1 and 2 will be processed at the Ultralite at locations 3516 and 3518 respectively Using the JHW Pulse and Direction O
106. d are stored in X 00320E of the Turbo PMAC2 Note With the Yaskawa absolute encoder format and with the Hall commutation sensor format the Turbo 2 is not going directly to the MACRO Station for absolute phase position information This information has been copied already into a Turbo 2 register with another software function Ixx82 Current Loop Feedback Address If the Turbo PMAC2 is being operated in direct PWM mode Ixx82 must specify the address of the Phase B current feedback register If it is not being operated in direct PWM mode Ixx82 must be set to 0 When in direct PWM mode over MACRO the Phase B current feedback value appears in the MACRO servo node s Register 2 so 82 must contain the address of this register The following table shows the typical values of Ixx82 in this mode listing the address of Register 2 for each servo MACRO node Ixx82 Value Register Ixx82 Value Register 1182 078422 MACRO IC 0 Node 0 Reg 2 I1782 07A422 MACRO IC 2 Node 0 Reg 2 D82 078426 MACRO IC 0 Node 1 Reg 2 I1882 07A426 MACRO IC 2 Node 1 Reg 2 1382 07842A MACRO IC 0 Node 4 Reg 2 11982 07A42A MACRO IC 2 Node 4 Reg 2 1482 07842 MACRO IC 0 Node 5 Reg 2 12082 07A42E MACRO IC 2 Node 5 Reg 2 1582 078432 MACRO IC 0 Node 8 Reg 2 12182 07A432 MACRO IC 2 Node 8 Reg 2 1682 078436 MACRO IC 0 9 Reg 2 12282 07A436 MACRO IC 2 Node 9 Reg 2 1782 07843A MACRO IC 0 Node 12 Reg 2 1238
107. d nodes 0 15 on MACRO IC 0 board nodes 16 31 on MACRO IC 1 board nodes 32 47 on MACRO IC 2 and board nodes 48 63 on MACRO IC 3 Each MACRO node n that is used for servo functions should have the corresponding bit of 170 I72 174 or I76 set to 1 Ixx25 for the Motor x that uses Node z should then address 00344n 00345n 00346n or 00347n not the address of the MACRO register itself see below If Register 3 ofa MACRO node n is used for other purposes such as direct I O the corresponding bit n of 170 172 174 or 176 should be set to 0 so this copying function does not overwrite these registers Typically non servo I O functions with a MACRO Station do not involve auxiliary flag functions so this flag copy function should remain disabled for any node used to transmit I O between the Turbo PMAC2 and the MACRO Station If any auxiliary communications is done between the Turbo PMAC2 and the MACRO Station on Nodes 14 and or 15 bits 14 and 15 of these variables must be set to 0 However on the MACRO Acc 65M the auxilary flags are used so its flag transfer bits would be enabled Examples 70 53 Enabled for MACRO 0 Nodes 0 and 1 170 57 Enable Nodes 0 amp 1 for servo control amp 2 for Acc 65M 72 530 Enabled for MACRO 1 Nodes 4 5 74 53300 Enabled for MACRO 2 Nodes 8 9 12 13 76 53333 Enabled for MACRO 3 Nodes 0 1 4 5 8 9 12 13 Turbo PMAC2 Soft
108. date frequency directly UMAC Turbo In a UMAC Turbo 3U Turbo PMAC2 system the Phase clock can come from many possible sources set by a variety of different variables However if a UMAC Turbo system is controlling a MACRO Station through the ring with an Acc 5E MACRO interface board the MACRO IC 0 on the Acc 5E should be the source of the phase clock for the system To accomplish this make sure that 119 is set to 6807 to specify MACRO IC 0 as the clock source for the system with I6800 and 16801 set to specify the phase clock frequency as in Ultralite PMAC2 boards explained above Normally the Turbo firmware will select MACRO IC 0 automatically on a UMAC if present as the clock source on a re initialization command MACRO Ring Rules 1 8 should be observed in this setting Notes on Servo Clock On Turbo PMAC2 controllers the Servo clock frequency is derived from the Phase clock frequency by an integer division so the setting of the MACRO ring update frequency which is the same as the Phase clock frequency determines the possible Servo clock frequencies The division of the Servo clock frequency from the Phase clock frequency is determined by e Turbo PMAC2 Ultralite 16802 Servo Frequency Phase Frequency 16802 1 e UMAC Turbo with Acc 5E 16802 Servo Frequency Phase Frequency 168021 Once the servo clock frequency has been established the Turbo PMAC2 variable I10 must be set accordingly so trajectories execute at
109. de s register 0 7x4yy where x varies with the MACRO IC and yy varies with the node number This makes the line equal to 2Fx4yy The second line of the entry the next I variable specifies the bit width of the source register in bits 12 23 the first three hex digits and the starting bit number in bits 0 11 the last three hex digits Because position feedback in Register 0 is a 24 bit value starting at bit 0 this line should be 018000 where 018 specifies the 24 bit width and 000 specifies the bit 0 starting point Turbo PMAC2 Software Setup for MACRO Station 19 16 Axis MACRO CPU User Manual The default conversion table in the Turbo PMAC2 Ultralite controller processes the position feedback registers of the eight servo nodes of MACRO IC 0 This yields the values in the following table Turbo PMAC2 Ultralite Defaults I Variable Setting Meaning I Variable Setting Meaning 18000 2F8420 MACRO Node 0 Reg 0 Read 18008 2F8430 MACRO Node 8 Reg 0 Read 18001 018000 24 bits bit 0 LSB 18009 018000 24 bits bit 0 LSB 18002 2F8424 MACRO Node 1 Reg 0 Read 18010 2F8434 MACRO Node 9 Reg 0 Read 18003 018000 24 bits bit 0 LSB 18011 018000 24 bits bit 0 LSB 18004 2 8428 MACRO Node 4 Reg 0 Read 18012 2F8438 MACRO Node 12 Reg 0 Read 18005 018000 24 bits bit O LSB I8013 018000 24 bits bit 0 LSB I8006 2F842C MACRO Node 5 Reg 0
110. e actual DAC Outputs from the gate array on the Acc 24E2A for channel 1 This data is found on bits 8 23 of Y 8002 at the MACRO Station Chan 1 2 3 4 5 6 7 8 Hex 8002 800 8012 801A 8042 804 8052 8054 50 1198 5608002 read Y 8002 8 16 s 50 1199 Request Data 0000000C35 DAC out equals 3125 DAC bits 1V Hardware Re initialization of MACRO CPU MACRO hardware re initialization to factory defaults is enabled when the SW1 setting is set to 15 or F hexadecimal and the power is cycled at the MACRO Station The only time this should be used with the MACRO Station would be if the MACRO Station always powers up with a watchdog typically if the ring clock at the Ultralite 1s different than the ring clock at the MACRO Station Node 11 will be the only MACRO Station node enabled Therefore enable node 11 of the MACRO IC at the Ultralite to communicate to the MACRO Station Turbo Ultralite Example Servo nodes 0 1 4 5 enabled at Ultralite 16841 0F8033 1 Enable node 11 1996 0 8833 2 Re establish communications with MS11 MIvar commands 3 IssueMS 11 to ensure re initialization 4 Issue MSSAVE11 command to save the factory defaults to the station Firmware Updates Downloading new firmware to the MACRO Station is a simple process once the MACRO board is set up properly To download new firmware to the MACRO station ob
111. en MACRO Station Position Compare Output Setup The position compare outputs for the Servo IC card in a MACRO system are setup in a similar fashion to the traditional PMAC2 Style compare outputs The functionality of the compare outputs is identical for a MACRO and non MACRO system The position compare output feature will allow the user to fire an output as soon as the position in the Servo IC up down counter is Equal to the value placed into the position compare register To monitor the status of the actual position compare output point a M Variable definition to bit 9 of the flag copy register Ixx25 Using this method the IO copy register does not need to be set up to verify the operation of the compare outputs These data bits are updated every ring cycle Non Turbo Turbo 152 gt 50 70 9 152 gt 5003440 9 252 gt 50 71 9 252 gt 5003441 9 352 gt 50 74 9 352 gt 5003444 9 452 gt 50 75 9 452 gt 5003445 9 552 gt 50 78 9 552 gt 5003448 9 652 gt 50 79 9 652 gt 5003449 9 752 gt 50 7 9 752 gt 500344 9 852 gt 50 7 9 852 gt 500344 9 The Position Compare Outputs EQU Outputs set up using the following MACRO Node registers MS node MI912 Encoder n Capture Control MS node MI923 Compare Auto Increment Value MS node MI925 Compare A Position Value MS node MI92
112. ent by Slave Located in gate array except for bits 0 7 Turbo at X 3440 X 347F Bit Function 0 Not Used Not Used 2 Not Used 3 Not Used 4 Not Used 5 Not Used 6 Not Used 7 Not Used 8 Encoder Count Error 9 Position compare EQUn output 10 Position captured on gated index flag 11 Position Captured Triggered Event Occurred Flag 12 A Power On Reset POR has occurred 13 This Node detected a MACRO Ring Break MRB 14 Amplifier Enabled 15 Amplifier or Station Node shutdown Fault 16 Home Flag HMFLn Input Value 17 Positive End Limit Flag PILMn Input Value 18 Negative End Limit Flag NILMn Input Value 19 Fast User Status Flag UserSatus1 or USERn Input Value if have PMAC Gate Array 20 Fast User Status Flag UserSatus2 or FlgWn Input Value if have PMAC Gate Array 2 Fast User Status Flag UserSatus3 or FlgVn Input Value if have PMAC Gate Array 22 Fast User Status Flag UserSatus4 or FlagUn Input Value if have PMAC Gate Array 23 Fast User Status Flag UserSatus5 or FlagTn Input Value if have PMAC Gate Array Note The items in bold are reserved and defined flag locations How to use the 16 Axis MACRO CPU 63 16 Axis MACRO CPU User Manual NodeCntrlCmd Sent by Master Located in Turbo at Y 3440 Y 347F Y portion of Flag Addres
113. ers at Y 0200 to Y 0207 for MACRO IC 0 and Y 208 to Y 20F for MACRO IC 1 if Station variable MI987 has been set to 1 for both ICs 44 16 Axis MACRO CPU Software Setup 16 MACRO CPU User Manual Station MI Variable MI989 specifies the address of the I O register where the multiplexed A D converters actually reside The conversion table will read the de multiplexed data in the internal memory registers The first line of the entry contains the 20 method and the source address The second line contains the bits used mask word which is a 24 bit value containing a for every bit of the source register to be used The first eight analog inputs occupy the low 12 bits of the 24 bit word so their mask word is 000 The second eight analog inputs occupy the high 12 bits so their mask word is FFF000 The following table shows the conversion table MI Variable values for the first and second lines MI variables of these entries for MACRO IC 0 Analog Entry First MI Entry Second MI Analog Entry First MI Entry Second MI Input Pin Variable Value Variable Value Input Pin Variable Value Variable Value ANAIO0 200200 000FFF ANAIOS 200200 FFF000 ANAIO1 200201 000FFF ANAIO9 200201 000 ANAIO2 200202 000FFF ANAIIO 200202 FFF000 200203 000FFF 1 200203 FFF000 04 200204 000FFF ANAII2 200204 FFF000 105 8200205 000FFF
114. essssasenesaeensesecaneeseneees 58 How to Enable and Disable MACRO ASCII Communication Mode eee 58 Ihe Ring Order OS eR ag eds ee a Nk aA e HERR qumusaq 59 Using MM Variables to Verify MACRO Station Memory 59 Example Read Using MM Variables Actual Encoder Read from Gate 59 Data Transfer Examples MI20 MI68 n nennen enne ener 59 Example Read DAC Output from Servo IC eene ener 60 Example Monitor Up Down Counter from Servo IC Card sene eene 60 Table of Contents 16 MACRO CPU User Manual Example Write to DACnB on Servo IC 61 Using MI198 and 99 to Verify MACRO Station Memory 61 Example Read Using MII98 and MII99 Direct Hall Effect 62 Example Read Using MII98 and MI199 Actual DAC Read senes 62 Hardware Re initialization of MACRO 62 9 999 62 MACRO Flag Transfer X 6 M 63 MACRO STATION TYPE 1 PROTOCOL S
115. every 4 phase clocks servo default 50 1975 5 Activate first I O nodes 2 and 3 at Station MS0 MI20 SF Transfer MI21 MI22 MI23 and MI24 MS0 MI21 SDDCOA16D8003 Signed upper 16 bits data from Station address 1 node 2 to Y 8003 MS0 MI22 DDC0A26D8008B Signed upper 16 bits data from Station address X C0A2 node 2 to Y 800B MS0 MI23 SDDC0A36D8013 Signed upper 16 bits data from Station address X C0A3 node 2 to Y 8013 MS0 MI24 DDC0A56D801B Signed upper 16 bits data from Station address X C0A5 node 3 to Y 801B MSSAVEO Save these changes to the MACRO Station 55550 Reset the MACRO Station for changes to take affect Ultralite Setup Ultralite 8 Axis Turbo Ultralite 8 Axis Description 1996 0FB33F 16841 50 Enable nodes 0 1 2 3 4 5 8 9 12 amp 13 at Ultralite M980 gt X SCOA1 8 16 s M980 gt X 78421 8 16 s DACIB Ist 16 bit word node 2 981 gt 5 0 2 8 16 5 M981 gt X 78422 8 16 s DAC2B 2nd 16 bit word node 2 M982 gt X SCO0A3 8 16 s M982 gt X 78423 8 16 s DAC3B 3rd 16 bit word node 2 M983 gt X SCOA5 8 16 s M983 gt X 78425 8 16 s DAC4B Ist 16 bit word node 3 Now the M Variables in the PLC or motion programs can be used to write to the DACnB registers Using 198 and MI199 to Verify MACRO Station Memory Locations The MACRO I Variables MI198 and
116. ghest numbered address X word of the entry matching the last highest numbered set up MI variable for the entry Other X words in the entry contain intermediate results The following table shows the relationship between ECT line numbers MI Variable numbers and result addresses for MACRO IC 0 Table Line Set up MI Result Table Line Set up MI Result Variable Address Variable Address 1 MI120 X 0010 17 MI136 X 0020 2 MI121 X 0011 18 137 0021 3 MI122 X 0012 19 MI138 X 0022 4 MI123 X 0013 20 MI139 X 0023 5 MI124 X 0014 21 MI140 X 0024 6 MI125 X 0015 22 141 0025 7 126 0016 23 142 80026 8 127 0017 24 MI143 X 0027 9 MI128 X 0018 25 MI144 X 0028 10 MI129 X 0019 26 145 X 0029 11 MI130 X 001A 27 MI146 X 002A 12 MI131 X 001B 28 147 X 002B 13 MI132 X 001C 29 148 X 002C 14 133 X 001D 30 149 X 002D 15 MI134 X 001E 31 MI150 X 002E 16 MI135 X 001F 32 151 002 16 Axis MACRO CPU Software Setup 41 16 Axis MACRO CPU User Manual The following table shows the relationship between ECT line numbers MI Variable numbers and result addresses for MACRO IC 1 Table Line Set up MI Result Table Line Set up MI Result Variable Address Variable Address 1 MI120 X 0090 17 MI136 X 0
117. h S1 S1 1 S1 2 S1 3 S1 4 S1 5 S1 6 Servo ICZ Board Base Address ON ON ON ON ON ON 1 8000 OFF ON ON ON ON ON 2 8040 ON ON OFF ON ON ON 3 9000 OFF ON OFF ON ON ON 4 9040 ON ON ON OFF ON ON 5 A000 OFF ON ON OFF ON ON 6 A040 ON ON OFF OFF ON ON 7 B000 OFF ON OFF OFF ON ON 8 B040 Accessory Boards For I O interface the MACRO CPU board can address accessory boards at four different addresses on the backplane The addresses on these boards are set by jumpers on some accessory boards and Dip switches on other boards The I O boards whose addresses are set by jumpers are Acc 9E isolated 48 input board Acc 10E isolated 48 output board e Acc 11E isolated 24 In 24 out board Acc I2E isolated 24 In 24 high power out board Hardware Setup 7 16 Axis MACRO CPU User Manual For these boards the jumper settings and the board addresses they select are Address Jumper On Board Base Address 510 8800 9800 5 4800 5 800 E2 CS12 8840 9840 A840 B840 E3 CS14 8880 9880 5 4880 5 880 E4 CS16 88C0 98C0 A8CO SB8CO For these boards up to three boards can share an address because each board only occupies one byte eight bits of the 24 bit data bus and each board can be set up as to which byte it occupies E6A H Rows Byte Used on Connected D
118. h of the MLDT by the speed of sound in the MLDT usually about 2 8 mm sec 0 11 in usec With the output period decided MI16x can be computed according to the formula 16 777 216 Output Period usec PFMCLKfreq MHz For example to get an output period of 500 usec 2kHz frequency with PFMCLK at the default frequency of 9 83 MHz MI16x can be computed as 16 777 216 500 9 83 3413 16 Axis MACRO CPU Software Setup 47 16 Axis MACRO CPU User Manual General Purpose Setup The general purpose I O that is not associated directly with a motor channel on the 16 Axis MACRO CPU can be set up with just a few Station MI Variables The basic concept for real time general purpose is that of automatic copying of data between the I O registers and I O MACRO nodes Combined with the automatic copying of data between MACRO nodes on the Station and MACRO nodes on the PMAC controlling the Station an automatic transfer is obtained between the PMAC and the points on the Station MI975 I O Node Enable If the I O MACRO nodes have not already been enabled as part of the initial setup of the MACRO Station they can be enabled now with MI975 If switch SW1 on the Station has been set to enable any motor nodes there are no active MACRO I O nodes enabled by default However setting Bit n of MI975 to 1 enables Node n for I O transfer over MACRO If switch SW1 has been set to E 14 and MI975 has been
119. h of three consecutive words of memory with the least significant byte mapped into the low address The least significant bit of the input should be connected to the lowest numbered I O point on the connector The J4 and J5 connectors map into the low byte of these words the J6 and J7 connectors map into the middle byte and the J8 and J9 connectors map into the high byte If the x digit in the method is 4 the low byte of the three words is used if x is 5 the middle byte is used If x is 6 the high byte is used The address specified is the low address of the three words used The following table shows the conversion table MI Variable values for the first line of the entry for this type of feedback through an Acc 14E backplane board S1 1 S1 2 Connector Used Entry First MI Variable Value ON ON Top 34FFE0 ON ON Bottom 34FFE3 OFF ON Top 34FFE8 OFF ON Bottom 34FFEB ON OFF Top 34FFFO ON OFF Bottom 34FFF3 OFF OFF Top 34B8C0 OFF OFF Bottom 34B8C3 Requires Station firmware revision V1 115 or newer to use this setting Amplifier Fault Enable and Polarity Control 17 and 8 define whether and how the amplifier fault inputs to the station are used Each is 8 bit variable with one bit for each servo node The following table shows which bit matches which servo node Node Number n 0 1 4 5 8 9 12 C 13 0 MI17 8 Bit 0 l 2 3 4 5 6 7
120. hannel 2 U flag input status X 8008 23 Y 003441 23 M227 Channel 2 T flag input status 58008 20 4 5003441 20 4 228 Channel 2 TUVW inputs as 4 bit value Suggested MM Variables 20 gt 58009 0 24 5 ENC2 24 bit counter position 21 gt 5800 8 16 5 OUT2A command value 22 gt 5800 8 16 5 OUT2B command value 23 gt 5800 8 16 5 OUT2C command value 68 MACRO Equivalent Servo IC Memory Locations 16 MACRO CPU User Manual Servo IC 0 Registers for MACRO Channel 3 usually for Motor 3 MACRO Location MIVariable Turbo Location M Var Description 58011 0 24 5 301 ENC3 24 bit counter position 58012 8 16 5 M302 OUT3A command value DAC or PWM 58013 0 24 5 54 921 303 ENC3 captured position 58013 8 16 5 304 OUT3B command value DAC or PWM 58015 8 16 5 54 1922 578429 8 16 5 M305 ADC3A input value 8016 8 16 5 54 924 7842 8 16 5 M306 ADC3B input value 58014 8 16 5 307 OUT3C command value or PWM Y 5 8017 0 24 8 MS4 MI925 M308 ENC3 compare A position X 8017 0 24 s MS4 MI926 M309 ENC3 compare B position 58016 0 24 5 MS4 MI923 M310 ENC3 compare auto increment value X 8015 11 MS4 MI928 M311 ENC3 compare initial state write enab
121. hifted out one bit per DAccLK cycle MSB first starting on the rising edge of the phase clock MI905 should be set to the default value of 7FFF00 for use with the on board 16 bit DACs that come with the Option A PMAC style interface on the Acc 2E 4 Axis piggyback board or on an Acc 8A breakout board that attaches to the PMAC2 style connectors on the Acc 2E MI905 should be set to 7FFFCO for use with the 18 bit DACs on the Acc 8E PMAC2 style breakout board that attaches to the PMAC2 style connectors on the Acc 2E or the Acc 24E2A backplane analog Axis interface breakout board ADC Strobe Word MI940 controls the ADC strobe signal used to interface to serial A D converters brought in on Channels 1 4 The default value of FFFFFE is suitable for most A D converter types used with the 16 Axis MACRO CPU either for digital current loop feedback or for general purpose use from an Acc 28B or Acc 28E board Channels 5 8 Second 4 Axis Board There are several variables that affect all of the machine interface channels 5 to 8 PWM Frequency MI906 controls the PWM frequency of Channels 5 8 Its setting is important only if the PWM outputs are used through the PMAC2 style connectors The equation for the frequency is PWM Frequency kHz 117 964 8 A MI906 6 Generally MI906 is set to the same value as MI992 which controls the MaxPhase clock frequency The PWM frequency set by MI906 must be equal to N 2 times the Phase clock frequency set by MI992 and M
122. it 5 to 1 makes the IC the ring controller starting each ring cycle by itself and setting bit 14 to 1 enables the MACRO ASCII Communication feature On a Turbo PMAC2 whose MACRO IC 0 will be a master but not ring controller 16840 should be set to 90 This sets bits 4 and 7 of the variable to 1 Setting bit 4 to 1 makes the IC a master on the ring Use MACRO Ring Rules for setting bit 7 to 1 which causes this IC to be synchronized to the ring controller IC every time it receives a ring packet specified by 16841 If not using the MACRO IC set its corresponding I variable to zero 16890 16940 16990 MACRO IC 1 2 3 Master Configuration A Turbo PMAC2 Ultralite may have additional MACRO ICs if Options 1U1 1U2 and or 1U3 are ordered A UMAC Turbo system may have additional MACRO ICs if Option 1 on an 5 is ordered or if multiple Acc 5E boards are ordered These additional ICs should be set to be masters but not ring controllers by setting 16890 16940 and 16990 respectively to 10 This sets bit 4 of the variable to 1 making the IC a master on the ring Use MACRO Ring Rules for setting up these ICs 16841 16891 16941 16991 MACRO IC 0 1 2 3 Node Activation Control 16841 16891 16941 and 16991 on Turbo PMAC2 control which of the 16 MACRO nodes for MACRO ICs 0 1 2 and 3 respectively on the card are activated They also control the master station number for their respective ICs and the node number of the packet that creates a synchroni
123. le X 8015 12 MS4 MI929 E M312 ENC3 compare initial state X 8015 14 003444 14 M314 AENA3 output status 58010 19 Y 003444 19 M315 USER3 flag input status X 8010 9 53444 9 316 ENC3 compare output value X 8010 11 53444 11 317 ENC3 capture flag X 8010 8 53444 8 318 ENC3 count error flag X 8010 14 M319 CHC3 input status X 8010 16 003444 16 M320 HMEFL3 flag input status X 8010 17 5003444 17 M321 PLIMG flag input status X 8010 18 003444 18 M322 MLIM3 flag input status X 8010 15 003444 15 M323 FAULT3 flag input status X 8010 20 5003444 20 M324 Channel 3 W flag input status X 8010 21 5003444 21 325 Channel 3 V flag input status X 8010 22 5003444 22 326 Channel 3 U flag input status X 8010 23 Y 003444 23 M327 Channel 3 T flag input status X 8010 20 4 5003444 20 4 328 Channel 3 TUVW inputs as 4 bit value Suggested MM Variables 30 gt 58011 0 24 5 ENC3 24 bit counter position 31 gt 58012 8 16 5 OUT3A command value 32 gt 58013 8 16 5 OUT3B command value 33 gt 58014 8 16 5 OUT3C command value MACRO Equivalent Servo IC Memory Locations 69 16 Axis MACRO CPU User Manual Servo IC 0 Registers for MACRO Channel 4 usually for Motor 4
124. lue its value is added to or subtracted from one compare register s value automatically when the other compare value is matched PMAC keeps track of the direction of incrementing so only positive values should be used in the auto increment register even if the encoder will be counting in the negative direction The setup for multiple pulses is like the setup for a single pulse except that a non zero value must be entered into the auto increment register In addition the value entered for the back edge must be that of the first back edge minus the auto increment if the move will be positive or that of the first back edge plus the auto increment value if the move will be negative In other words the starting values to the two compare registers must bracket the starting position When either compare value is matched by the encoder counter the other compare value is incremented in the direction of movement Starting Position Bo Ao Bi Al LU LJ Auto Increment Example Starting from the above example desiring the compare output on between 1000 Ao and 1010 B counts but adding an auto increment value of 2000 counts with a starting position of about 100 counts program code to start the sequence could be MSO MI925 2000 Auto increment of 2000 encoder counts MSO MI926 1000 First front edge A0 at 1000 counts MSO MI923 1010 1000 1010 MS0 MI926 First back edge B1 at 1010 counts MSO MI929 0 Prepare initial value
125. lue to the specified MI Variable Example MS0 MI992 3263 Have PMAC command Station with active node 0 to assign a value of 3263 to MI992 MS1 MI910 3 Have PMAC command Station Node 1 to assign a value of 3to MI910 16 Axis MACRO CPU Software Setup 31 16 Axis MACRO CPU User Manual Station Variable Copy Commands It is also possible to copy values between 16 Axis MACRO CPU MI Variables and PMAC variables This is done with MACRO Variable Copy commands which can be used either as on line commands or as buffered program commands in background PLC programs PLC1 31 and PLCC1 31 but not in PLCO PLCCO or motion programs which execute in foreground The command that copies from a Station MI Variable to a PMAC variable reading from the Station is the MSR command The syntax for the command is MSR node MI variable PMAC Variable where node can be the number of any active node on the Station usually that of the lowest active node for most of the MI Variables or the number of the individual node for one of the node specific MI Variables MI910 MI939 variable is the number of the Station MI variable 0 1023 from which the value is copied PMAC Variable is the name of the Variable on PMAC e g P10 to which the value is copied Example MSR0 MI984 P50 Copy from Station with active node 0 MI984 to PMAC P50 MSR1 MI922 P99 Copy from Station Node 1 MI922 to PMAC P99 The command that copies
126. n capture is determined by Encoder I Variables 2 and 3 on the Macro Station ms0 m1912 and ms0 mi913 for encoder 1 at node 0 Encoder I Variable 2 defines what combination of encoder third channel transition and encoder flag transition triggers the capture it also allows software trigger If it says to use a flag Encoder I Variable 3 determines which flag usually set to zero to specify the home flag Using for Homing When using this feature for homing a motor the motor flag address I Variable Ix25 for motor x must point to the proper set of flags this has to be done anyway to address the limit flags properly For instance the default value of 1125 for a Turbo Ultralite is 3440 pointing to the first set of flags with 170 172 174 176 set up to automatically copy the flags to the Macro Station Then Encoder Flag I Variable 2 e g 1150 111912 and Encoder Flag I Variable 3 e g ms0 mi913 define the transition within this encoder and flags to cause the position capture Once these have been set up properly the homing function will use the position capture feature automatically Using in User Program If using the position capture function in the program these two I Variables still control the capture event Access the captured position through a full word Macro Station MI Variable for nodeO channel 1 use ms0 mi921 To enable the manual function of position capture two bits in the PMAC MACRO flag command word must be set Bit 0 and th
127. nation register Each variable consists of four parts 1 Digits 1 and 2 A code representing what part of the source register is used 2 Digits 3 6 The address of the source register in the MACRO Station 3 Digits 7 and 8 A code representing what part of the destination register is used 4 Digits9 12 The address of the destination in the MACRO Station 16 Axis MACRO CPU Software Setup 51 16 Axis MACRO CPU User Manual The most commonly used code values are 54 Y register bits 0 11 Lower 12 bit ADC registers 60 Y register bits 12 23 Upper 12 bit ADC registers 6C Y register bits 8 23 16 bit MACRO servo node registers Acc 28 ADCs 78 Y register bits 0 23 24 bit MACRO servo node registers DC X register bits 8 23 16 bit MACRO I O node registers e 8 X register bits 0 23 24 bit MACRO I O node registers conversion table results A complete list is found in the Software Reference description of these variables Addresses of the registers used can be found in many places in the User Manual and Software Reference a complete listing is found in the back of the Software Reference 52 16 Axis MACRO CPU Software Setup 16 MACRO CPU User Manual HOW TO USE THE 16 AXIS MACRO CPU This section shows many useful examples about the setup of some of the hardware and also shows how to read any memory location at the MACRO CPU for troubleshooting purposes Example
128. nels 9 and 10 and the MaxPhase clock frequency The PWM frequency set by MI900 must be equal to N 2 times the Phase clock frequency set by MI992 and MI997 where N is a positive integer Hardware Clock Frequencies MI903 controls the frequencies of the four hardware clock signals for Channels 1 4 the encoder sample SCLK the pulse and direction PFMCLK the analog output DAccLK and the analog input ADCCLK 1903 is 12 bit value consisting of four independent 3 bit parts each controlling one of the clock frequencies The equation is MI903 SCLK Divider 8 PFMCLK Divider 64 DAccLK Divider 512 4DCCLK Divider The value of each clock divider can take a value of 0 to 7 and the frequency of each clock signal is Clock Frequency 39 3216 MHz 2 Clock Divider 16 Axis MACRO CPU Software Setup 37 16 Axis MACRO CPU User Manual The default value for MI903 of 2258 is suitable for most applications Refer to the detailed description in the MACRO Station Hardware Reference Manual to change any of these frequencies PWM Deadtime PFM Pulse Width M1904 controls both the deadtime for PWM outputs on Channels 1 4 and the pulse width for the PFM pulse and direction outputs on Channels 1 4 The equations are PWM Deadtime usec 0 135 MI904 Pulse Width usec MI904 PFMCLK Freq MHz DAC Strobe Word MI905 controls the DAC strobe signal used to create analog outputs for Channels 1 4 It is a 24 bit word that is s
129. nnel 10 Second channel 51 encoder interpolator boards can be used here as well as Acc 24E2x boards Encoder Decode MI910 for the node determines how the encoder signal input is decoded This is commonly set to 3 or 7 for x4 quadrature decode 8 for internal pulse and direction decode in the case of stepper outputs or 12 for MLDT decode Command Output Format MI916 for the node determines the format of the output signals from the channel This is set to 0 for PWM format on A B and C outputs or to 3 for DAC format on A and B outputs for velocity mode torque mode or sine wave drives and pulse and direction on the C output for stepper drives or for MLDT excitation Position Capture Control MI912 and MI913 for the node determine which edges of which signals cause a hardware capture of the encoder position for the channel This capture function is used for very accurate homing registration and probing MI912 is commonly set to 1 for capture on a high index channel input 2 for a high flag input or 3 for both a high index and high flag Usually MI913 is set to 0 to select the home signal as the flag capture input Other Variables Refer to the 16 Axis MACRO CPU Software Reference manual for details on the other variables as well as for more details on the variables explained above 40 16 Axis MACRO CPU Software Setup 16 MACRO CPU User Manual Station Encoder Conversion Table Setup
130. o the 24 bit register in the MACRO I O node whose address is specified and the 24 bit register in the next MACRO I O node The second IOGATE if used is matched to the 24 bit registers in the next pair of MACRO I O nodes The third if used is matched to the 24 bit registers in the following pair of MACRO I O nodes or NO RO 50 16 Axis MACRO CPU Software Setup 16 Axis MACRO CPU User Manual MI71 Bi directional Copying Action 0 1 2 3 From PMAC 24 bit 16 bit 16 bit 16 bit Command output To Feedback input 24 bit 16 bit 16 bit 16 bit 7 0 229 1 2 3 s a gt 2 pa 89 0 1 2 3 0 From PMAC 24 bit 16 bit 16 bit 16 bit I Command output Bi directional Connectors To Feedback input IOGATE Registers PMAC 24 bit 16 bit 16 bit 16 bit Note Any bit that has a 0 1 2 3 zero command value written to it output off can be used as an input MACRO Node Registers Note Command and feedback registers for a node share addresses MACRO station read operations access command registers write operations access feedback registers MI169 and MI170 can copy data between two 48 bit IOGA TE ICs although only using the first half of the second IC and the full 72 bits of a MACRO I O node the three 16 bit registers and the single 24 bit register The fir
131. oards for detailed pinout information Hardware Setup 9 16 Axis MACRO CPU User Manual SW1 Setting SW1 establishes how many servo nodes and which servo nodes will be used on the 16 Axis MACRO CPU station for MACRO IC 0 It also establishes the mapping of MACRO node numbers to MACRO Station channel numbers the second mapping step explained in the overview This mapping information will be important in establishing the software setup The following table shows the possible configurations and the SW1 settings to achieve them MACRO IC 0 or of Servo Channels Node Servo Nodes SWI1 Setting Y MI18 Nodes and Nodes Used Base Address Enabled MI188 0 4 8000 8008 0 1 0 1181 1182 8010 8018 4 5 1183 1184 0 4 8000 8008 8 9 1 1185 1186 8010 8018 12 13 1187 1188 0 2 8000 8008 0 1 2 1181 1182 0 2 8000 8008 4 5 3 1183 1184 0 2 8000 8008 8 9 4 1185 1186 0 2 8000 8008 12 13 5 1187 1188 0 6 8000 8008 0 1 6 1181 1182 8010 8018 4 5 1183 1184 8040 8048 8 9 1185 1186 0 8 8000 8008 0 1 7 1181 1182 8010 8018 4 5 1183 1184 8040 8058 8 9 1185 1186 8050 8058 12 13 1187 1188 2 0 2 3 8 2 0 6 7 9 2 0 10 11 10 4 0 2 3 6 7 11 6 0 2 3 6 7 10 11 12 1 0 11 13 0 0 None 14 Ring Order 1 0 11 15 Performs a SW2 Setting The setting of rotary switch SW2 on
132. on Table MI120 MI151 Position Feedback Signals MH Ox Mapping Motor Node Registers Map the 16 Axis MACRO CPU s MACRO motor node registers to the Turbo PMAC2 s MACRO motor node registers e Connection of the Turbo PMAC2 MACRO master and MACRO Slave Station in a common ring e Turbo PMAC2 MACRO cycle frequency control Turbo PMAC2 Ultralite 16800 16801 e Turbo PMAC2 16840 16890 16940 16990 e Turbo PMAC2 MACRO Node Activation Control and Master number 16841 16891 16941 16991 Introduction 3 16 Axis MACRO CPU User Manual e Turbo PMAC2 MACRO Configuration I variables e MACRO Node Flag Register Enable 170 172 174 176 e MACRO Node Flag Type Control 171 173 175 177 e MACRO Ring Check Period 180 e MACRO Maximum Ring Error Count 181 e MACRO Minimum Sync Packet Count 182 MACRO Msaster Slave Auxiliary Communication Timeout 178 a MACRO Type 1 Master Master and Ring Order Communication Timeout 179 Station SW2 setting for Master number e Station SWI setting and MI976 setting for active MACRO IC 0 servo nodes e Station MACRO cycle frequency control with MI992 and MI997 for both MACRO ICs MACRO hardware automatically copies every phase cycle Command Output Registers Command Output Registers 01 112 4 9 2 PMAC Node Registers Station Slave Node n KSESESES 9 I II 2 4 Feedback Input Registers Feedback Input Registers Turbo PMAC Node Master Number set Station Node Master
133. on number for the Servo ICs similar to Turbo s 14910 148225 MACRO Servo ICs Gate Addr MInns 1200 Bit Chip Select IDENT MInn s C080 COBF 1990 999 1 MACRO CS4 NA 0 0 1990 999 2 MACRO CS5 NA NA NA 400 NA NA NA NA 800 NA NA 8000 801F 1900 1939 4 CS2 1210 88C8 8040 805F 1900 1939 8 CS3 1211 88CC 8020 803F 1900 1939 1000 CS2 Aux 1212 88 8 8060 807 1900 1939 2000 CS3 Aux 1213 88EC 9000 901F 1900 1939 10 CS2 1214 98C8 9040 905F 1900 1939 20 CS3 1215 98CC 9020 903F 1900 1939 4000 CS2 Aux 1216 98E8 9060 907F 1900 1939 8000 CS3 Aux 1217 98 A000 A01F 1900 1939 40 CS2 1218 5 8 8 A040 A05F 1900 1939 80 CS3 1219 8 A020 A03F 1900 1939 10000 CS2 Aux 1220 5 8 8 A060 A07F 1900 1939 20000 CS3 Aux 1221 SA8EC B000 BOIF 1900 1939 100 CS2 1222 5 8 8 040 05 1900 1939 200 CS3 1223 8 B020 B03F 1900 1939 40000 CS2 Aux 1224 5 8 8 060 07 1900 1939 80000 CS3 Aux 1225 8 If the firmware auto detection finds that the configuration has changed from the saved bit 14 Configuration Error is set in the System Status word MIA If new Servo ICs are detected in X MI200 that were not saved previously in Y MI200 they will be loaded with default values 34 16 Axis MACRO CPU Software Setup 16 MACRO CP
134. rol eee 14 170 I72 I74 I76 MACRO IC 0 1 2 3 Node Auxiliary Function Enable eee 15 71 173 175 177 MACRO IC 0 1 2 3 Node Protocol Type Control see 16 178 MACRO Master Slave Auxiliary Communications Timeout esee 16 179 MACRO Master Master Auxiliary Communications Timeout 16 180 181 182 MACRO Ring Check Period and Limits eene 16 MACRO Node Addresses 17 Turbo PMAC2 Conversion Table Setup 5 5 cite thier iere 19 22 01 Commutation Enable otiam dediti de ed a HE ELA A 22 Ixx02 Command 22 TXx03 Ixx04 Address 23 1 10 Ixx95 Absolute Position Address and Format 24 Ixx25 Ixx24 Flag Address and 25 Ixx70 Ixx71 Commutation Cycle Size teni er eR 26 Ixx75 Absolute Phase Position Offset _ ___ _ _ __ __ _ _ __ _ _ _ __ __ 26 1 81 Ixx91 Power On Phase Position Address and 27 Ixx82 Current Loop Feedback Address eene ener entrent 28 1 83 Comm
135. rough MI variables All of the Status Registers Mxx30 Mxx49 the Calculation Registers Mxx60 Mxx89 and the Axis Definitions M191 M194 are identical for all Turbo PMACs The only difference fora MACRO system is the Servo IC Variables Mxx00 Mxx28 and the table below will show the equivalent location for these suggested M variables For access to the locations that do not have direct reads create MM variable definitions for them Servo IC 0 Registers for Channel 1 usually for Motor 1 MACRO Location MIVariable Turbo Location M Var Description 58001 0 24 5 101 24 bit counter position 58002 8 16 5 102 OUTIA command value DAC or PWM 58003 0 24 5 MSO MI921 M103 ENCI captured position 8003 8 16 5 M104 OUTIB command value DAC or PWM 8005 8 16 3 MS0 MI922 578421 8 16 5 105 ADCIA input value 8006 8 16 3 MS0 MI924 578422 8 16 5 106 ADCIB input value 58004 8 16 5 107 OUTIC command value or PWM 8007 0 24 5 MS0 MI925 M108 ENCI compare A position X 5 8007 0 24 8 MS0 MI926 M109 ENCI compare B position 58006 0 24 5 MS0 MI923 M110 ENCI compare auto increment value X 8005 11 MS0 MI928 111 compare initial state write enable 58005 12 MS0 MI929 M112 ENCI compare initial state 58005 14
136. rst Line Value Value MACRO IC 0 Node 2 Reg 0 6F8420 MACRO IC 2 Node 2 Reg 0 6FA420 MACRO IC 0 Node 3 Reg 0 6F8424 MACRO IC 2 Node 3 Reg 0 6FA424 MACRO IC 0 Node 6 Reg 0 6F8428 MACRO IC 2 Node 6 Reg 0 6FA428 MACRO IC 0 Node 7 Reg 0 6F842C MACRO IC 2 Node 7 Reg 0 6FA42C MACRO IC 0 Node 10 Reg 0 6F8430 MACRO IC 2 Node 10 Reg 0 6FA430 MACRO IC 0 Node 11 Reg 0 6F8434 MACRO IC 2 Node 11 Reg 0 6FA434 MACRO IC 1 Node 2 Reg 0 6F9420 MACRO IC 3 Node 2 Reg 0 6FB420 MACRO IC 1 Node 3 Reg 0 6F9424 MACRO IC 3 Node 3 Reg 0 6FB424 MACRO IC 1 Node 6 Reg 0 6F9428 MACRO IC 3 Node 6 Reg 0 6FB428 MACRO IC 1 Node 7 Reg 0 6F942C MACRO IC 3 Node 7 Reg 0 6FB42C MACRO IC 1 Node 10 Reg 0 6F9430 MACRO IC 3 Node 10 Reg 0 6FB430 MACRO IC 1 Node 11 Reg 0 6F9434 MACRO IC 3 Node 11 Reg 0 6FB434 The second line of one of these entries is 018018 The first 018 specifies a 24 bit width The second 018 specifies a 24 bit offset from the Y register s bit 0 which puts the least significant bit used at the X register s bit 0 Turbo PMAC2 Software Setup for MACRO Station 21 16 Axis MACRO CPU User Manual Turbo PMAC2 Motor I Variables The following section lists Motor setup variables that have particular considerations when using MACRO Stations Ixx01 Commutation Enable Ixx01 specifies whether Turbo PMAC2 performs commutation for Motor xx and whether it uses X or Y registers Only Y registers are used when comm
137. s Bit Function 0 Position Capture Triggered Event Enable Flag Not Used Not Used Not Used Not Used Not Used Not Used Not Used Reserved for future ring protocol control Reserved for future ring protocol control 10 Reserved for future ring protocol control 11 Position Capture Triggered Event Enable Flag 12 Node Reset Command 13 This Slave detected a MACRO Ring Break MRB amp became a Synchronizing Master 14 Real time Data or Amp Enable 15 When B13 1 then 15 1 amp is a Station Fault 16 Reserved for future ring protocol control 17 Reserved for future ring protocol control 18 Reserved for future ring protocol control 19 Fast User Defined Command Flag UserCmd1 20 Fast User Defined Command Flag UserCmd2 21 Fast User Defined Command Flag UserCmd3 22 Fast User Defined Command Flag UserCmd4 23 Fast User Defined Command Flag UserCmd5 Note The items in bold are reserved and defined flag locations 1 CI CO N 64 How to use the 16 Axis MACRO CPU 16 MACRO CPU User Manual MACRO STATION TYPE 1 PROTOCOLS The 16 Axis MACRO CPU as a multi node station implements the Type 1 MACRO protocol In this protocol all four registers in each node are used for real time communications Node 15 is used for auxiliary communications for the entire
138. s eliminates one software cycle of delay in the current loop which permits slightly higher gains and performance To do this set I7 to 1 so that the phase update software would execute every second hardware phase clock cycle and ring update cycle Normally the current loop should be closed at an update rate of about 9 kHz the default rate If two ring updates are wanted per current loop update the ring update frequency must be set to 18 kHz This is possible if there are no more than 40 total active nodes on the ring To implement this set 16800 or 17000 to one half of the default value see below Note When making this adjustment change the Turbo PMAC s 16800 17000 variable first then the MACRO Station s MI992 Changing the MACRO Station s MI992 alone followed by an MSSAVE command and an MS command could cause the Station s watchdog timer to trip 12 Turbo PMAC2 Software Setup for MACRO Station 16 Axis MACRO CPU User Manual 119 Clock Source I Variable Number I19 determines which MACRO IC in a Turbo PMAC2 system is the source of the phase and servo clocks for the system The Turbo PMAC2 defaults to the first MACRO IC found in the UMAC pack This variable should be kept as the first MACRO IC It contains its I Variable whose value is set to 0 by default to indicate that it is the source of the phase and servo clocks The equivalent I Variable for other MACRO ICs should be set to 3 by default to indicate th
139. set the following I variables to enable MACRO ASCII mode communications 16840 54030 to enable MACRO ICO as sync master and node 14 for auxiliary communications 16841 0 enable node 15 and 14 activating nodes 0 1 4 5 we would set 16841 S0FC033 179 32 Timeout value for Node 14 Auxiliary communications If using more than one MACRO IC then set up 16890 16891 16940 16941 16990 and 16991 appropriately Once the communication variables are modified they must be saved to the memory of the controller with the save command and then reset the controller with either a command or power cycle the controller Note The PMAC Controller will be able to communicate to the MACRO Device in MACRO ASCII communication mode after the unit has been restarted with the changes saved to its memory How to Enable and Disable MACRO ASCII Communication Mode To start the MACRO ASCII Mode issue the MACSTAn n stands for the assigned station number for the device command to the device in the ring In many cases there will be one device only and a number may not be assigned to the device In that case use the MACSTA255 or MACSTAO commands The actual number that is assigned to the device resides in MI11 of the MACRO Device and the default value is 0 If there are multiple MACRO devices in the ring and communication is in MACRO ASCII mode set up the systems with the Ring Order Method and assign station numbers to each device If the as
140. set to its default value of 0 at the most recent power up reset then no motor nodes are enabled but I O Node 11 is enabled by default This setting simply permits communications to an I O only MACRO Station before its configuration is finalized However if MI975 is set to a non zero value on a Station with SW1 set at E 14 then MI975 alone controls which I O nodes are active Setting Bit n of MI975 to 1 activates Node n for I O transfer over MACRO In this case Node 11 is not active unless Bit 11 of MI975 is set to 1 Changes in MI975 take place only at a Station power up reset Therefore to change which I O nodes on a Station are active MI975 must be changed the new value stored to non volatile flash memory with the MSSAVE anynode command then the board reset usually with the MS anynode command Note that in determining the final active node word reported in MI996 the MACRO Station clears bit 15 of MI975 to make sure that node 15 is reserved for auxiliary communications MI19 I O Transfer Period The general purpose I O copying or transfer functions on the MACRO Station are enabled by setting greater than zero If MII9 is greater than 0 its value specifies the period of the transfer in phase cycles Typically this is set to 1 so the transfer is performed every phase cycle If MII9 is set to 0 none of the transfer variables explained below have any effect Bi Directional I O Transfer Control Several MI Variables on the
141. signed station number is not known check MII1 Once in MACRO ASCII Mode communicate to the MACRO device is done directly To change an MI variable or create an MM variable definition write directly to the Variable in the terminal window MI996 SOF803F activate Nodes 0 1 2 3 4 5 at the MACRO Device 80 gt 58001 0 24 5 M80 to the Counter register of channel 1 To exit or disable MACRO ASCII Communication mode issue the CTRL T command Note MACSTA255 command will look for the first MACRO device that does not have have a station number assigned to it MI11 0 As soon as MI11 is changed to a value greater than zero then it will look immediately for the next device with set to zero 58 How to use the 16 Axis MACRO CPU 16 MACRO CPU User Manual The Ring Order Method The Ring Order Method has been developed to allow MACRO Devices to be set up with software Since the MACRO CPU has hardware switches SW1 SW2 to activate nodes and assign it to a master the ring order method is not necessary However if the MACRO CPU is used with other MACRO devices like the Geo MACRO Drives or MACRO Peripheral Devices Acc 65M Acc 24E2M etc then it is necessary to know how the Ring Order Method is works To initiate the Ring Order Method start with the new hardware and then enable the MACRO ASCII Communication Mode by typing MACSTA255 in the terminal window At this point the Software Interfa
142. sing electrical shorts When our products are used in an industrial environment install them into an industrial electrical cabinet or industrial PC to protect them from excessive or corrosive moisture abnormal ambient temperatures and conductive materials If Delta Tau Data Systems Inc products are directly exposed to hazardous or conductive materials and or environments we cannot guarantee their operation REVISION HISTORY REV DESCRIPTION DATE CHG APPVD UPDATED NODE ADDRESSES CHART P 83 04 04 07 PEDERSEN 16 MACRO CPU User Manual Table of Contents ENT ROD UC TION fece occ 1 16 Axis MACRO Station Differences from the 8 Axis MACRO 1 16 Axis MACRO Slave Station Binding to a MACRO Master 1 16 Axis MACRO CPU Setup Overview esses enne nennen nennen innen nnne nnne inris 2 Mapping Servo Channels to Servo Node sse eene 3 Mapping Motor Node Registers seen eene nre trier trennen entree 3 Mapping Motor Function Registers to Node Registers esee eene eene 4 Mapping of General Purpose 5 II _ _ __ _ ___ _ _ 7 Physical and Logical Configuration of the MACRO Station essen enne 7 U
143. st IOGATE must be in the low byte of the address the second if used must be in the middle byte of this address The first IOGATE is matched to the 3 16 bit registers in the MACRO I O node whose address is specified and the half of the second IOGATE 1 matched to the 24 bit register MI171 MI172 and MI173 can copy data between three 48 bit IOGATE ICs at the same base address and the full 72 bits of two consecutive MACRO I O nodes the three 16 bit registers and the single 24 bit register of each The first IOGATE must be in the low byte of the address the second must be in the middle byte of this address and the third must be in the high byte For more details and examples on the setting of these variables consult the UMAC MACRO and the MACRO Stack Software Reference manuals and the individual manuals for the I O accessories Uni Directional I O Transfer Control MACRO Station variables MI21 through MI68 specify uni directional copying functions between pairs of MACRO Station registers usually some kind of I O register and a MACRO node register MI20 is a 48 bit mask variable that specifies which of the 48 possible transfers specified by MI21 through MI68 will actually occur MI19 controls the frequency at which these transfers occur it must be greater than 0 for these transfers to occur at all MI21 through MI68 48 bit variables expressed as 12 hexadecimal digits Each controls one copying operation from a source register to a desti
144. stop waiting and register a MACRO auxiliary communications error setting Bit 5 of global status register X 000006 178 must be set greater than 0 if any auxiliary communications is desired with a MACRO Station This reserves Node 15 for the Type 1 Auxiliary Communications A value of 32 is suggested If 178 is set greater than 0 bit 15 of 170 172 174 and 176 must be set to 0 so Node 15 is not also used for flag transfers 179 MACRO Master Master Auxiliary Communications Timeout If 179 is set greater than 0 the MACRO Type 1 Master Master Auxiliary Communications and MACRO ASCII Communication protocol using Node 14 is enabled Turbo PMAC implements this communications protocol using the MACROMASTER MM MACROMSTREAD MMR MACROMSTWRITE MMW and MACSTAn commands Only the Turbo PMAC that is the ring controller can execute these commands other Turbo PMACs that are masters on the ring can respond to these commands from the ring controller If this function is enabled 179 sets the timeout value in PMAC servo cycles In this case if the Turbo PMAC does not get a response to a Node 14 master master auxiliary communications command within 179 servo cycles it will stop waiting and register a MACRO auxiliary communications error setting Bit 5 of global status register X 000006 179 must be set greater than 0 if any auxiliary communications is desired with a MACRO Station A value of 32 is suggested value of I79 greater than 0 has been
145. synchronizing master The ring update frequency is the same as the hardware phase clock frequency on the card The synchronizing master initiates the start of the MACRO ring cycle When it has finished sending its data the control of the ring is passed to the next non synchronizing master This is done until there are no non synchronizing masters Then the ring goes quiet with no data being sent Each MACRO slave exchanges data with its master when it satisfies the Master Address and Node enable check This is determined by bits 0 15 and 20 23 in the MACRO stations MI996 and the Turbo PMACs 16841 16891 16941 and 16991 MACRO Ring Rules 1 Only one synchronizing master can be on the ring This 15 bit 4 1 and 5 1 of the Turbo PMAC s 16840 Set 16890 16940 and 16990 bit 4 1 and bit 5 0 for them to be non synchronizing masters or bit 4 0 and bit 5 0 if will not be sending data on the ring As an exception to this rule upon a ring break a MACRO slave station becomes a synchronizing master to send ring break information to its following stations on the ring To allow MACRO ASCII Communication Mode bit 14 of 16840 at the Ultralite or Master must be set to one and bit 14 of MI996 at the MACRO CPU must be set The Ultralite will read this bit at power up and therefore this parameter must be saved to the Ultralite and then restarted at least once to enable the MACRO ASCII Communication Mode Turbo PMAC2 Software Setup for MACRO Station 11 16 Axis MAC
146. t Ixx83 values for Turbo PMAC2 Ultralite boards listing the addresses of the position feedback registers for each MACRO servo node Ixx83 Value Register Ixx83 Value Register 1183 078420 MACRO IC 0 Node 0 Reg 0 11783 07A420 MACRO IC 2 Node 0 Reg 0 1283 078424 MACRO IC 0 Node 1 Reg 0 1883 07A424 MACRO IC 2 Node 1 Reg 0 1383 078428 MACRO IC 0 Node 4 Reg 0 1983 07A428 MACRO IC 2 Node 4 Reg 0 1483 07842 MACRO IC 0 Node 5 Reg 0 I2083 07A42C MACRO IC 2 Node 5 Reg 0 1583 078430 MACRO IC 0 Node 8 Reg 0 I2183 07A430 MACRO IC 2 Node 8 Reg 0 1683 078434 MACRO IC 0 Node 9 Reg 0 I2283 07A434 MACRO IC 2 Node 9 Reg 0 1783 078438 MACRO IC 0 Node 12 Reg 0 I2383 07A438 MACRO IC 2 Node 12 Reg 0 1883 07843 MACRO IC 0 Node 13 Reg 0 12483 07A43C MACRO IC 2 Node 13 Reg 0 1983 079420 MACROIC 1 Node 0 Reg 0 12583 07B420 MACRO IC 3 Node 0 Reg 0 11083 079424 MACROIC 1 Node 1 Reg 0 12683 07B424 MACRO IC 3 Node 1 Reg 0 I1183 079428 MACRO IC 1 Node 4 Reg 0 I2783 07B428 MACRO IC 3 Node 4 Reg 0 11283 07942 MACROIC 1 Node 5 Reg 0 12883 07B42C MACRO IC 3 Node 5 Reg 0 11383 079430 MACROIC 1 Node 8 Reg 0 12983 07B430 MACRO IC 3 Node 8 Reg 0 11483 079434 MACROIC 1 Node 9 Reg 0 13083 07B434 MACRO IC 3 Node 9 Reg 0 11583 079438 MACROIC 1 Node 12 Reg
147. t status X 9058 21 Y 00354D 21 M1625 Channel 16 V flag input status X 9058 22 Y 00354D 22 M1626 Channel 16 U flag input status X 9058 23 Y 00354D 23 M1627 Channel 16 flag input status 59058 20 4 Y 00354D 20 4 M1628 Channel 16 TUVW inputs as 4 bit value Suggested MM Variables 160 gt 9059 0 24 3 161 gt 905 8 16 162 gt 9058 8 16 163 gt 905 8 16 OUT16A command value OUT16B command value OUT16C command value ENC16 24 bit counter position 82 MACRO Equivalent Servo IC Memory Locations 16 Axis MACRO CPU User Manual NODE TRANSFER ADDRESSES CHART 16 Axis MACRO CPU Node Addresses 0 Node 24 bit Node 16 bit upper 16 bits Node Type Node Transfer Addresses Transfer Addresses 0 Y COAO Y COA1 0 2 Y C0A3 Servo 1 0 4 Y C0A5 Y COA6 Y COA7 Servo 2 X C0A0 X C0A2 X C0A3 I O 3 0 4 X C0A5 X C0A6 X C0A7 I O 4 Y COA8 Y C0A9 Y COAA Y COAB Servo 5 Y COAC Y COAD Y COAE Y COAF Servo 6 8 X C0A9 X COAA X COAB I O 7 X COAC X COAD X COAE X COAF I O 8 Y COBO Y COBI Y COB2 Y COB3 Servo 9 Y COBA 0 5 Y COB6 Y COB7 Servo 10 X COBO X COBI 0 2 X COB3 I
148. tain the following items e Two jumpers DB9 Male Serial Port MACRO Firmware Download Software MacroFWDown exe e New firmware file MiniMac2 bin To download the software to the MACRO station 1 Copy the firmware into a directory C Macro Firmware 2 Pull the MACRO CPU out of the 3U rack and then jumper the E2 1 2 and 1 1 2 3 Plug MACRO CPU into a 3U rack 4 Place the serial cable to the J4 serial connection on the MACRO station and place the other end to the COM port on the PC 5 Power up the 3U rack and then launch MacroFWDown exe Choose the com port and select 16 Axis Macro and then press the Download FW button 62 How to use the 16 Axis MACRO CPU 16 MACRO CPU User Manual r Macro Serial Firmware Download XI Station Type 8 Axis Macro 16 Axis Macro 5 TEST Download Fw Words Downloaded 0 Loader Download 6 After the download is complete power down the system and remove jumper LI and place jumper E2 from 2 3 MACRO Flag Transfer Location For proper servo operations the Master Controller must process information in real time For MACRO systems this information is brought to the Master via Ixx25 For Turbo systems the locations are at 3440 3441 3444 3445 3448 3449 344C 344D etc The following tables list the data that is transferred through these locations NodeCntrlStatus S
149. tatus 58048 20 5003449 20 M624 Channel 6 W flag input status 58048 21 5003449 21 625 Channel 6 V flag input status 58048 22 003449 22 M626 Channel 6 U flag input status X 8048 23 Y 003449 23 M627 Channel 6 T flag input status X 8048 20 4 5003449 20 4 628 Channel 6 TUVW inputs as 4 bit value Suggested MM Variables 60 gt 58049 0 24 5 6 24 bit counter position 61 gt 5804 8 16 5 62 gt 5804 8 16 5 63 gt 5804 8 16 5 OUT6A command value OUT6B command value OUT6C command value 72 MACRO Equivalent Servo IC Memory Locations 16 MACRO CPU User Manual Servo IC 1 Registers for Channel 3 usually for Motor 7 MACRO Location MIVariable Turbo Location M Var Description X 8051 0 24 8 M701 ENC7 24 bit counter position 58052 8 16 5 702 OUT7A command value DAC or PWM 58053 0 24 5 MS12 MI921 M703 ENCT captured position 8053 8 16 5 M704 OUT7B command value DAC or PWM 58055 8 16 5 MS12 MI922 Y 78329 8 16 s M705 ADC7A input value Y 8056 8 16 s MS12 MI924 Y 7832A 8 16 s M706 ADCT7B input value 58054 8 16 5 707 OUT7C command value or PWM 58057 0 24 5 MS12 MI925 M708 compare A position X
150. th the used portion of the A D converter readings being in the upper 12 bits For example if the cycle s average reading from the A D converters were 5 LSBs of the 12 bit value this line would be set to 5 x 2 or 20 480 Resolver Feedback If a resolver is used for servo feedback processed through an Acc 8D Opt 7 R D Converter board the feedback comes into the 16 Axis MACRO CPU as digital quadrature and is processed the same as a true incremental digital encoder MLDT Feedback If a magnetostrictive linear displacement transducer MLDT is used for feedback with the 16 Axis MACRO CPU providing the excitation pulse and measuring the time until it receives the echo pulse using its encoder timer circuitry then the 30 parallel feedback conversion method is used reading the encoder s timer register as the position value This conversion method uses three lines MI Variables of the conversion table The first MI Variable contains the method and address The following table shows the first conversion table MI Variable values for this type of feedback with channels in the UMAC MACRO pack configuration Encoder Which Backplane Axis Location On Conversion Table Board Used Board MI Variable Value Encoder 1 24 2 w First channel 308000 1 1 3 4 ON ON ON Encoder 2 24 2 w Second channel 308008 1 1 3 4 ON ON Encoder 3 Acc 24E2x w Third channel 308010 1 1
151. then add 1000 to the MInn variables to select MACRO IC 1 s MI variables for setup For example MI996 accesses MACRO IC 0 and 996 accesses MACRO IC 1 The same for MI992 and MI1992 Once MI996 of MACRO IC 1 is set its associated MInn variables can be accessed from its Turbo PMAC MACRO Master with MS type commands Introduction 1 16 Axis MACRO CPU User Manual MACRO Master MACRO Master IC 0 IC 1 Servo 1 8 Servo 9 16 Mst SW2 Mst SW2 1 Node SW1 Node 11 15 or S W setup or S W setup MACRO Slave Bank MACRO Slave IC 0 Select by IC 1 MI995 996 adding MI995 996 1000 Servo IC 1 1 4 MI900 905 940 910 939 Servo IC 2 5 8 906 909 941 910 939 ENC IC 5 9 12 1950 969 16 Axis MACRO CPU Setup Overview ENC IC 7 ENC IC 6 ENC IC 7 13 14 9 12 13 14 MI950 969 MI950 969 MI950 969 Fundamentally the setup of the 16 Axis MACRO CPU with a Turbo PMAC2 usually an Ultralite version involves several steps of mapping registers and connections For the axis control the following mappings must occur 1 The first mapping is the connection of physical devices encoders drives and flags to a particular machine channel on the MACRO 16x Station 2 The second mapping is between the machine interface channel and a MACRO servo nodes on the 16x Station 3 The third mapping is between the MACRO servo node of the 16x Station and a MACR
152. ther addresses in a UMAC Turbo system In these systems the fourth digit can also take the values 5 6 and 7 Register Addresses for MACRO IC 0 with 120 078400 default Turbo PMAC2 Addresses MACRO IC 0 Node Reg 0 Reg 1 Reg 2 Reg 3 0 Y 078420 Y 078421 Y 078422 Y 078423 1 Y 078424 Y 078425 Y 078426 Y 078427 2 X 078420 X 078421 X 078422 X 078423 3 X 078424 X 078425 X 078426 X 078427 4 Y 078428 Y 078429 Y 07842A Y 07842B gt Y 07842C Y 07842D Y 07842E Y 07842F 6 X 078428 X 078429 X 07842A X 07842B 7 X 07842C X 07842D X 07842E X 07842F 8 Y 078430 Y 078431 Y 078432 Y 078433 9 Y 078434 Y 078435 Y 078436 Y 078437 10 X 078430 X 078431 X 078432 X 078433 11 X 078434 X 078435 X 078436 X 078437 12 Y 078438 Y 078439 Y 07843A Y 07843B 13 Y 07843C Y 07843D Y 07843E Y 07843F 14 X 078438 X 078439 X 07843A X 07843B 15 X 07843C X 07843D X 07843E X 07843F Turbo PMAC2 Software Setup for MACRO Station 17 16 Axis MACRO CPU User Manual Register Addresses for MACRO IC 1 with 121 079400 default Turbo PMAC2 Addresses MACRO IC 1 Node Reg 0 Reg 1 Reg 2 Reg 3 0 Y 079420 Y 079421 Y 079422 Y 079423 1 Y 079424 Y 079425 Y 079426 Y
153. three PWM phase voltage commands direct PWM output the size of the commutation cycle is equal to Ixx71 Ixx70 normally expressed in encoder counts Because the MACRO station provides position feedback in units of 1 32 count for both servo and commutation the value of Ixx70 and Ixx71 must be set to provide a ratio 32 times the number of true counts in the commutation cycle For example if the commutation cycle has 1000 encoder counts Ixx70 could be set to 1 and Ixx71 could be set to 32 000 Ixx75 Absolute Phase Position Offset If Ixx81 see below is set to a value greater than 0 then PMAC will read an absolute sensor for power on phase position In this case it will use Ixx75 to determine the difference between the absolute sensor s Zero position and the phase commutation cycle s zero position unless Hall commutation sensors are used in which case Ixx91 contains the initial offset information which needs to be corrected later Normally this position difference in Ixx75 1s expressed in counts multiplied by Ixx70 However when the absolute position is read from the position feedback register as from a Yaskawa absolute encoder through an Acc 8D Opt 9 and the MACRO Station then Ixx75 is expressed in units of 1 32 of a count multiplied by Ixx70 26 Turbo PMAC2 Software Setup for MACRO Station 16 Axis MACRO CPU User Manual Ixx81 Ixx91 Power On Phase Position Address and Mode Ixx81 permits an automatic read of an absolute posi
154. tion sensor for phase referencing of a synchronous motor commutated by PMAC This read can be done automatically at power on reset if Ixx80 1 or 3 or subsequently on or command If Ixx81 is set to 0 the power on reset phase position for the motor will be considered to be 0 regardless of the type of sensor used If Ixx81 is set to a value greater than 0 Turbo PMAC2 will use the address or node specified by Ixx81 to read an absolute phase position in a manner determined by Ixx91 There are specific settings of Turbo PMAC2 s Ixx91 for each type of MACRO interface to the MACRO Station The 16 Axis MACRO CPU has a corresponding variable MI11x for each node that must be set Since the MACRO Station s MI1 also affects the absolute servo position read by Ixx10 and Ixx95 the Turbo PMAC2 and that position can be signed or unsigned MI1 1x bit 23 specifies whether the absolute servo position is read as signed or unsigned This bit does not matter for the purposes of absolute phase position which is always treated as unsigned The following table shows the possible settings of Ixx81 and Ixx91 along with the required matching settings of MI11x for the different types of absolute phase position formats supported 16 Axis MACRO CPU Feedback Type Ixx81 Ixx91 Station MI11x Value Value Bits 16 23 Acc 8D Opt 7 Resolver Digital Converter 0000mn 730000 00 07 80 87
155. tion setup variables MI975 and MI976 are both set to 0 the default values at power up reset only those MACRO servo nodes selected by rotary switch SW1 on the Station are enabled for ring communications The following table lists which nodes are enabled for each SW1 setting Setting Enabled Nodes Setting Enabled Nodes 0 0 1 4 5 8 2 3 I O only 1 8 9 12 13 9 6 7 I O only 2 0 1 10 10 11 C O only 3 4 5 B 11 2 3 6 7 I O only 4 8 9 C 12 2 3 6 7 10 11 I O only 5 12 13 D 13 11 I O only 6 0 1 4 5 8 9 14 None S W Ring Order 7 0 1 4 5 8 9 12 13 F 15 11 I O only Note If all motor nodes with MI976 are disabled and I O nodes with MI975 are not enabled after saving these values to flash memory and resetting the Station communication with the Station will be only through Node 15 If there are any other Stations on the ring using the same Master number this board cannot be talked to individually The only command that can be sent is a broadcast message such as MS 15 which will reset the card to default allowing communication to it using one of the nodes enabled by SW1 Motor Node Disable MI976 permits the disabling of motor servo nodes that would otherwise be enabled by the SW1 setting This permits their use on other devices on the ring Setting Bit n of MI976 to 1 forces the disabling of Node n even if the SW1 setting would normally ena
156. unicating to a MACRO Station over the ring If Turbo PMAC2 is not performing commutation for Motor xx Ixx01 should be set to 0 bit 0 0 specifies no commutation algorithm bit 1 0 specifies the single output to the Y register whose address is set by Ixx02 If Turbo PMAC2 is performing commutation for Motor xx over the MACRO ring with or without digital current loop closure Ixx01 should be set to 3 bit 0 1 specifies commutation bit 1 1 specifies commutation feedback from the Y register whose address is set by Ixx83 Ixx02 Command Output Address Ixx02 specifies the address of the first register where Turbo PMAC2 writes the command output values for Motor xx In the MACRO Type 1 protocol this is Register 0 of a MACRO servo node regardless of the output mode velocity torque phase current or phase voltage The default values of Ixx02 for Turbo PMAC2 Ultralite boards specify these registers for each servo node of each MACRO IC These are listed in the following table Ixx02 Value Register Ixx02 Value Register 1102 8078420 MACRO IC 0 Node 0 Reg 0 11702 5074420 MACRO IC 2 Node 0 Reg 0 1202 078424 MACRO IC 0 Node 1 Reg 0 11802 07A424 MACRO IC 2 Node 1 Reg 0 1302 8078428 MACRO IC 0 Node 4 Reg 0 11902 07A428 MACRO IC 2 Node 4 Reg 0 1402 07842C MACRO IC 0 Node 5 Reg 0 12002 07A42C MACRO IC 2 Node 5 Reg 0 1502 8078430 MACRO IC 0 Node 8 Reg 0 12102 5074430 MACRO IC 2 Node
157. up to three IOGATE ICs in the same address space Many of the I O boards support this as do the bi directional copying variables The single IOGATE IC of the Acc 4E is mapped into the low byte of the addresses it occupies The Acc 3E may have up to three ICs according to the options installed as listed by the following table Option Byte on Data Bus Points A Low bits 0 7 1 000 1 047 B Middle bits 8 15 1 048 1 095 High bits 16 23 1 096 1 0143 The following table lists the possible base addresses of the Acc 9E 10E 11E and 12E backplane UMAC I O boards Acc Board Board Base Address Jumper ON Y Address El FFEO E2 FFE8 E3 FFFO E4 B8CO Requires Station firmware revision V1 115 or newer 16 Axis MACRO CPU Software Setup 49 16 Axis MACRO CPU User Manual The single IOGATE IC on each of these boards may occupy the low middle or high byte of the address space depending on which rows of the E6 matrix are connected by jumpers E6A E6H Byte on Data Bus Rows Connected 1 and 2 Low bits 0 7 2 and 3 Middle bits 8 15 3 and 4 Middle bits 8 15 4 and 5 High bits 16 23 The single IOGATE on the Acc 14E board can occupy only the low byte of the address space Which of these variables is used in a MACRO Station is dependent on the exact configuration desire
158. utation Feedback 28 SOFTWARE SE DUP 6 31 Station Variable Read Write 31 Station L 32 Table of Contents i 16 Axis MACRO CPU User Manual Ring Control Setup Variables cccccccscesscssscssecesecesecseecseecseeeseeseeeeeeecssecesecaeceaeceaecsaecaeesaeseseseeeseeeeereeeeeeeneenaees 32 Rino Update Preguen 32 Station Servo Clock Frequency 33 Additional Node Enabling and Disabling nn enne nennen enne 33 NIAC ROT CO ish cesta ettet bereiten na duet tede rd E da 33 22 2 222 2 2 _ 322 22 ___4 __ _ 34 Auto Detecting the MACRO and Servo 34 Binding the Servo ICs to the MACRO 1 35 Mapping Machine Interface Channels to MACRO Servo Nodes seen 35 2 23 33 _ lt 3 33 _ _ _ _ _ __ _ _ _ __ _ 35 992 9 36 _ __ 37 Channels 1 4 First 4 Axis Board _ _ _ ___ _ _ __ _ __
159. utputs The 16 Axis MACRO CPU has the ability to send pulse and direction signals on its two supplemental channels The user has access to these inputs on the 20 pin JHW These outputs are ideal step and direction style amplifiers or general purpose pulse and direction outputs The outputs for the Pulse and Direction signals are processed from the C094 for supplemental channel 1 and from C09C for supplemental channel 2 The maximum Pulse Frequency is determined by MI993 and the Pulse Frequency pulse width is determined by MI994 To use these supplemental pulse and direction outputs set up the output mode for pulse and direction The default output for the output mode for the supplemental channels is PWM Unfortunately there is not a MI variable at the MACRO CPU to put its supplemental channels into pulse and direction mode so write to this location over the ring 56 How to use the 16 Axis MACRO CPU 16 Axis MACRO CPU User Manual Use these outputs as either general purpose outputs that can be controlled by writing to an IO node address or for servo stepper control General purpose outputs will require using an IO node to copy the frequency output command into the actual pulse output register C094 and C09C Using a servo stepper style output will require modifying the servo output channel Example Set the pulse and direction outputs for supplemental channels 1 and 2 as general purpose outputs Two 16 bit registers from IO node 2
160. value Suggested MM Variables 140 gt 59049 0 24 5 4 24 bit counter position MM141 gt Y 904A 8 16 s MM142 gt Y 904B 8 16 s MM143 gt Y 904C 8 16 s OUT14A command value OUT14B command value OUT14C command value 80 MACRO Equivalent Servo IC Memory Locations 16 Axis MACRO CPU User Manual Servo IC 5 Registers for Channel 3 usually for Motor 15 MACRO Location MIVariable Turbo Location M Var Description 59051 0 24 5 1501 ENCIS 24 bit counter position 59052 8 16 5 1502 OUTISA command value DAC or PWM 59053 0 24 5 528 921 1503 ENCIS captured position 59053 8 16 5 M1504 OUTISB command value DAC or PWM 59055 8 16 5 MS28 MI922 Y 79439 8 16 s 1505 ADCISA input value 59056 8 16 5 MS28 MI924 57943 8 16 5 M1506 ADCISB input value 59054 8 16 5 M1507 OUTISC command value PWM Y 5 9057 0 24 8 MS28 MI925 M1508 ENC15 compare A position X 9057 0 24 s MS28 MI926 M1509 ENC15 compare B position 59056 0 24 5 MS28 MI923 M1510 ENCIS compare auto increment value 59055 11 MS28 MI928 M1511 ENCIS compare initial state write enable 59055 12 MS28 MI929 M1512 ENC15 compare initial state X 9055 14 Y S00354C 14 M1514 AENA15 output status X S9050 19 50035
161. ware Setup for MACRO Station 15 16 Axis MACRO CPU User Manual 171 173 175 177 MACRO IC 0 1 2 3 Node Protocol Type Control 171 173 175 and 177 are 16 bit I Variables bits 0 15 in which each bit controls whether PMAC uses MACRO 0 protocol or the MACRO Type 1 protocol for the node whose number matches the bit number for the purposes of the auxiliary servo flag transfer for MACRO ICs 0 1 2 and 3 respectively A bit value of 0 sets a Type 0 protocol a bit value of 1 sets a Type 1 protocol All 16 Axis MACRO CPU nodes use the 1 protocol so each MACRO node used for servo purposes with a MACRO Station must have bit n set to 1 Generally 171 170 173 172 175 174 and 177 176 on a Turbo PMAC2 communicating with a MACRO Station Remember that if servo nodes for more than one MACRO Station are commanded from a single MACRO IC the protocol must be selected for all of the active servo nodes on each station 178 MACRO Master Slave Auxiliary Communications Timeout If I78 is set greater than 0 the MACRO Type 1 Master Slave Auxiliary Communications protocol using Node 15 is enabled Turbo PMAC implements this communications protocol using the MACROSLAVE MS MACROSLVREAD MSR and MACROSLVWRITE MSW commands If this function is enabled I78 sets the timeout value in PMAC servo cycles In this case if PMAC does not get a response to a Node 15 auxiliary communications command within 178 servo cycles it will
162. which contains the position information x is 8 9 A or B for MACRO IC 0 1 2 or 3 respectively yy varies with the node number vv is a value from 80 to FF representing the Hall sensor offset and direction For purposes of absolute phase position Turbo PMAC2 simply reads the encoder counter value in its own MACRO node communicated automatically by the servo node functions The MI1 1x setting is not used to obtain the phase position usually it is set to 71xxxx or F 1xxxx for absolute servo position For purposes of absolute phase position Turbo PMAC2 simply reads the hall sensor values in its own MACRO node communicated automatically by the auxiliary servo node functions The setting is not used here but may be set to a non zero value if an absolute servo position sensor is also used When Turbo PMAC2 has Ixx91 set to get absolute position over MACRO it executes a station auxiliary read command MS node M1 920 to request the absolute position from the 16 Axis MACRO CPU Turbo PMAC2 Software Setup for MACRO Station 27 16 Axis MACRO CPU User Manual The station then references its own MI11x value to determine the type format and address of the data to be read The data is returned to Turbo PMAC2 with up to 42 bits of data sign extended to 46 bits Bit 48 is a Ready Busy handshake bit and Bit 47 is a pass fail status bit If Bit 47 is set the upper 24 bits of the 48 bits returned form a word an
163. y kHz MaxPhase Frequency kHz MI997 1 Generally both the MaxPhase and Phase frequencies will be the same on the MACRO Station as they are on the PMAC2 controlling it However only the Phase frequency must be the same If the ring controller 15 Turbo PMAC2 Ultralite or a UMAC Turbo with Acc 5E the following relationship should hold MACRO Station MI992 MI997 1 16800 16801 1 Turbo PMAC2 Ultralite 32 16 Axis MACRO CPU Software Setup 16 Axis MACRO CPU User Manual Note Even if I7 is set greater than 0 on a Turbo 2 so that the phasing tasks on the Turbo PMAC2 are not done every phase clock cycle it is important that the actual phase clock frequencies themselves be the same on the Turbo PMAC2 and the MACRO Station Station Servo Clock Frequency MI998 on a MACRO Station controls how the servo clock on the Station is derived from the Station s phase clock The phase clock frequency is divided by MI998 1 to obtain the servo clock No software tasks on the station are performed on the servo clock all are done on the phase clock but key feedback registers such as encoder position and timers are latched by the servo clock MI998 should always be set to 0 on a MACRO Station to make the servo clock frequency equal to the phase clock frequency so that the software algorithms always have updated position information to use Additional Node Enabling and Disabling MACRO IC 0 If MACRO Sta
164. zation signal The bits of these I variables are arranged as follows Bits 0 15 Activation of MACRO Nodes 0 to 15 respectively 1 active 0 inactive These 16 bits usually read as four hex digits individually control the activation of the MACRO nodes in the MACRO IC on a Turbo PMAC2 Each node that is active on the matching MACRO Station whether for servo I O or auxiliary communications should have its node activation bit set to 1 When working with a MACRO Station Node 15 of each MACRO IC on a Turbo PMAC2 must be activated to permit auxiliary communications so bit 15 of this variable should always be set to 1 if the IC is used to communicate with a MACRO Station Node 14 of MACRO ICO enables the MACRO ASCII Communication feature Bits 16 19 Packet Sync Node Slave Number These four bits together usually read as one hex digit form the slave number 0 to 15 of the packet whose receipt by the PMAC2 will set the Sync Packet Received status bit in the MACRO IC Usually this digit is set to F 15 because Node 15 is always activated it is the last node transmitted If it is the Sync Packet then the phase clock will be resynched after all the ring data 1s in the MACRO registers This is critical only on the MACRO IC that is the source of the phase clock Its synch node phase lock bit must be set on this MACRO IC Bits 20 23 Master Number These four bits together form the master number 0 to 15 of the MACRO IC on the MACRO ring

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