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Delta Tau 16-AXIS Reference Manual

1. C09x Bits C09x C09x C09x 23 Output C Mode Select 0 PWM 1 PFM Chan 1 2 Hex c096 C09E Supplementary Channel n ADC B Input Value uses SEL3 in dedicated mode 6 23 Serial ADC Value 0 5 Not used Channel n Encoder Compare Auto increment value 24 bits units of counts Chan 1 2 Hex C097 SCO9F Channel n Encoder Compare A Value 24 bits units of counts Channel n Encoder Compare B Value 24 bits units of counts MACRO CPU Node Addresses Ka K Y SCOAO SCOAO SCOAL SCOAL1 SCOA2 SCOA2 SCOA3 SCOA3 SCOA4 SCOA4 SCOA5 SCOA5 SCOA6 SCOA6 SCOAT 86 MACRO N MACRO N MACRO N MACRO N MACRO N MACRO N MACRO N MACRO N MACRO N MACRO N MACRO N MACRO N MACRO N MACRO N MACRO N ode 0 24 bit command write and feedback read register ode 2 24 bit command write and feedback read register ode 0 Ist 16 bit command write and feedback read register bits 8 23 bits 0 7 not used ode 2 Ist 16 bit command write and feedback read register bits 8 23 bits 0 7 not used ode 0 Ist 16 bit command write and feedback read register bits 8 23 bits 0 7 not used ode 2 2nd 16 bit command write and feedback read register bits 8 23 bits 0 7 not used ode 0 3rd 16 bit command write and feedback read register bits 8 23 bits 0
2. MS anynode M1944 M1949 Reserved for future use MACRO IC Setup Ml variables Each MACRO IC 0 and 1 has its own set of these variables and is accessed from each MACRO IC MS anynode MI970 MI973 Reserved for Future Use MS anynode M11974 Station Display Status Read Only Range 0 F Units none This variable when queried reports the hexadecimal digit displayed on the 16 Axis MACRO Station s 7 segment display The meaning of each digit is No motors enabled on Station 1 motor enabled on Station 2 motors enabled on Station 3 motors enabled on Station 4 motors enabled on Station 5 motors enabled on Station 6 motors enabled on Station 7 motors enabled on Station 8 motors enabled on Station reserved for future use Amplifier fault Ring break fault Configuration change fault Ring data error fault Loss of encoder fault Other fault TDMHOAWDPCaHADYEYNTS Note If the display itself is blank this indicates that ring communications are not active which means that this value cannot be reported back to the controller MS anynode MI975 MACRO IC 0 I O Node Enable Range 0000 FFFF Units none individual bits Default 0000 MI975 permits the enabling of MACRO I O nodes on MACRO IC 0 MI975 is a 16 bit value bits 0 to 15 with bit n controlling the enabling of MACRO node n If the bit is set to 0 the node is disabled if the bit is set to 1 the node is enabled The
3. slave MI variable PMAC variable MSR node slave MI MM or MP variable PMAC variable where node isa constant 0 14 representing the number of the node whose variable is to be read if the variable is not node specific the number of any active node on the station may be used slave MI MM or MP variable is the name of the MI variable on the slave station whose value is to be reported PMAC variable is the name of the variable on the PMAC into which the value of the slave station variable is to be copied This command copies the value of the specified MI variable on the MACRO slave station into the specified variable on PMAC The MI variable on the MACRO slave station can be global to the station or node specific The variable on the PMAC or PMAC2 can be any of the I P Q or M variable on the card If this command is issued to a PMAC while no PLC buffer is open it will be executed as an on line command not stored in the buffer as a PLC command Examples MSO MI910 P1 Copies value of 16 Axis MACRO Station Node 0 variable MI910 into PMAC variable P1 MS1 MI997 M10 Copies value of 16 Axis MACRO Station global variable MI997 into PMAC variable M10 MS Variable Write Copy Syntax MACROSLVWRITE node slave variable PMAC variable MSW node slave MI MM or MP variable PMAC variable where node isa constant 0 14 representing the number of the node whose variable is to be read if the va
4. Range 0 15 Units PHASE Clock Frequency MaxPhase Frequency MI997 1 Default 0 PHASE Clock Frequency 9 0346 kHz 1 9 0346 kHz with default value of MI992 MI997 in conjunction with MI992 determines the frequency of the PHASE clock on a 16 Axis MACRO Station Each cycle of the PHASE clock a set of MACRO ring information is expected and any data transfers between MACRO nodes and interface circuitry are performed The PHASE clock cycle on the 16 Axis MACRO Station should match that of the PMAC commanding it as closely as possible Specifically MI997 controls how many times the PHASE clock frequency is divided down from the maximum phase clock whose frequency is set by MI992 The PHASE clock frequency is equal to the maximum phase clock frequency divided by MI997 1 MI997 has a range of 0 to 15 so the frequency division can be by a factor of 1 to 16 The equation for M1997 is MI997 MaxPhase Freq PHASE Clock Freq 1 The ratio of MaxPhase Freq to PHASE Clock Freq must be an integer Example With a 20 kHz MaxPhase Clock frequency established by M1992 and a desired 6 67 kHz PHASE clock frequency the ratio between MaxPhase and PHASE is 3 MI997 20 6 67 1 3 1 2 MS anynode MI998 Servo Clock Frequency Control Range 0 15 Units Servo Clock Frequency PHASE Clock Frequency MI998 1 Default 0 PHASE Clock Frequency 9 0346 kHz 0 1 9 0346 kHz with default values of MI992 and M1997
5. SOFTWARE REFERENCE 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 All 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
6. See Also MI903 M1993 MS anynode MI908 PWM 5 8 Deadtime PFM 5 8 Pulse Width Control Range 0 255 Units PWM Deadtime 0 135 usec MI908 PFM Pulse Width 1 PFM_CLK MHz MI908 PFM_CLK period usec MI908 Default 15 PWM Deadtime 0 135 psec 15 2 03 psec PFM Pulse Width 1 9 8304 MHz 15 1 526 usec with default MI907 MI908 controls the deadtime period between top and bottom on times in the 16 Axis MACRO Station s automatic PWM generation for machine interface channels 5 8 In conjunction with MI907 it also controls the pulse width for the 16 Axis MACRO Station s automatic pulse frequency modulation generation for machine interface channels 5 8 The PWM deadtime which is the delay between the top signal turning off and the bottom signal turning on and vice versa is specified in units of 16 PWM_ CLK cycles This means that the deadtime can be specified in increments of 0 135 psec The PFM pulse width is specified in DEM CLK cycles as defined by MI907 In PFM pulse generation the minimum off time between pulses is equal to the pulse width This means that the maximum PFM output frequency is PFM Max Freq MHz PFM_CLK Freq 2 MI908 Example See MI904 Example See Also M1904 M1994 38 16 Axis MACRO Station MI Variable Reference 16 Axis MACRO CPU Software Reference Manual MS anynode MI909 DAC 5 8 Strobe Word Range 000000 FFFFFF Units Serial Data Stream MSB fir
7. 0 FFFFFFFFFFFF Units counts Default This variable when queried reports the value of the absolute position for the specified MACRO node MI11x for the motor node determines what type of feedback device at what address will be read when this variable is queried When the value of MI930 is queried the encoder counter for the channel matched to the specified node is not cleared when the otherwise similar M1920 is queried the counter is cleared 16 Axis MACRO Station MI Variable Reference 45 16 Axis MACRO CPU Software Reference Manual MS node MI931 MI937 Reserved for Future use MS node MI938 Servo IC Status Word Read Only Range 0 FFFFFF Units Default This variable allows you to read the entire 24 bits of the Servo IC channel status register MS node MI939 Servo IC Control Word Read Only Range 0 FFFFFF Units Default This variable allows you to read the entire 24 bits of the Servo IC channel command register MACRO SERVO IC 4 Axis Servo IC Ml variables Each MACRO IC has a set of these variables Up to two Servo IC are attached to each MACRO IC The base addresses of the two Servo ICs are defined by MI179 and MI180 MI179 defines the base address of the Servo IC that contains channels 1 4 and MI180 defines the base address of the Servo IC that contains channels 5 8 MS anynode MI940 ADC1 4 Strobe Word Range 000000 FFFFFF Units Individual
8. 0013 MI131 001B MI139 0023 MI147 002B MI124 0014 MI132 001C MI140 0024 MI148 002C MI125 0015 MI133 001D MI141 0025 MI149 002D MI126 0016 MI134 001E MI142 0026 MI150 002E MI127 0017 MI135 001F MI143 0027 MI151 002F MACRO IC 1 MI Var Address MI Var Address MI Var Address MI Var Address MI120 0090 MI128 0098 MI136 00A0 MI144 00A8 MI121 0091 MI129 0099 MI137 00A1 MI145 00A9 MI122 0092 MI130 009A MI138 00A2 MI146 00AA MI123 0093 MI131 009B MI139 00A3 MILA 00AB MI124 0094 MI132 009C MI140 00A4 MI148 00AC MI125 0095 MI133 009D MI141 00A5 MI149 00AD MI126 0096 MI134 009E MI142 00A6 MI150 00AE MI127 0097 MI135 009F MI143 00A7 MI151 00AF Entry First Line The first line MI variable in each entry consists of a source address in the low 16 bits which contains the Station address of the raw data to be processed and a method value in the high 8 bits which specifies how this data is to be processed Entry Additional Lines Depending on the method or 2 additional lines MI variables may be required in the entry to provide further instructions on processing If the first line MI variable in the entry is 000000 this signifies the end of the active table regardless of what subsequent entries in the table higher numbered MI variables contain Method
9. 8802 X COA6 X C0A3 X COA0 78426 on_Turbo 78423 on_Turbo 78420_on_Turbo 8803 X COA6 X COA4 X C0A1 78426 on_Turbo 78424 on_Turbo 78421 on Turbo 8804 X COA7 X COA4 X C0A1 78427_on_Turbo 78424 on_Turbo 78421 on Turbo 8805 X COA7 X COA4 X COA2 78427_on_Turbo 78424 on_Turbo 78422 op Turbo MS anynode MI171 MI172 MI173 O Board 144 Bit Transfer Control Range 000000000000 FFFFFFFFFFFF Units Extended addresses Default 0 MI171 MI172 and MI173 specify the registers used in 144 bit I O transfers between MACRO I O node interface registers and I O registers on the ACC 3E 9E 10E 11E and 12E I O boards on a 16 axis MACRO Station It is only used if MI19 is greater than 0 The transfer utilizes two consecutive 72 bit X memory MACRO I O nodes and 3 48 bit IOGATE I O ICs that occupy different bytes low middle and high of the same base address MI171 MI172 and MI173 are 48 bit variables each represented as 12 hexadecimal digits The first six digits specify the address of the first 72 bit real time MACRO node register sets to be used The second six digits specify the address of the three 48 bit I O sets on the I O board to be used The individual digits are specified as follows 24 16 Axis MACRO Station MI Variable Reference 16 Axis MACRO CPU Software Reference Manual Digit Possible Values Description ii 0 Reserved for future use 2 0 Reser
10. Note There is currently no software use of the SERVO clock on the 16 Axis MACRO Station However it is needed to capture certain encoder values in the DSPGATEx Servo ICs MI998 in conjunction with MI997 and MI992 determines the frequency of the SERVO clock on the 16 Axis MACRO Station Specifically MI998 controls how many times the SERVO clock frequency is divided down from the PHASE clock whose frequency is set by MI992 and MI997 The SERVO clock frequency is equal to the PHASE clock frequency divided by MI998 1 MI998 has a range of 0 to 15 so the frequency division can be by a factor of 1 to 16 The equation for M1998 is MI998 PHASE Clock Freq SERVO Clock Freq 1 The ratio of PHASE Clock Freq to SERVO Clock Freq must be an integer On the 16 Axis MACRO Station MI998 should always be set to 0 so the servo clock frequency is equal to the phase clock frequency 16 Axis MACRO Station MI Variable Reference 55 16 Axis MACRO CPU Software Reference Manual MS anynode MI999 Handwheel DAC Strobe Word Not used Range 000000 FFFFFF Units Serial Data Stream MSB first starting on rising edge of phase clock Default 7FFFCO for 18 bit DAC data 56 16 Axis MACRO Station MI Variable Reference 16 Axis MACRO CPU Software Reference Manual 16 AXIS MACRO CPU STATION MM AND MP VARIABLES The 16 Axis MACRO CPU has 512 MM and 512 MP variables The MM variables are like the PMAC X Y type
11. Station Re initialize oo eeeceseececescsceseseeeesescscecesesesececsceeeseseseeacsesacseseseceesseccaeeeeeeseaeeaeaceeeeeeeseeeeaeeeeeeeeees 63 CHN Report Channel Number Gee risssiekgeieg Zeg EEeEE RAR Ee EES 63 CID Report Gard ID Wee 63 CLRF Clear Station TEE 63 DATE Report Firmware RE 63 DISABLE PLCC or CNTRL D Disables PLCC ooo eeeeceececeenseecsseeeeeseeseesecaeeeecneeneeaecaeseecaeeaecnavenesaeeeeeaesateaeeneens 63 ENABLE PLCC Enables PLOC oniiir r ves gests Steed ER Geoduses ORENT 63 MI constant Report Station MI Variable Value 63 Ml constant constant Set Station MI Variable Value c ec eccescceseceecseecsceneecaeecaeeeseeeeeeeeeeeeeeeeneeneenaees 64 MM constant Report Station MM Variable Value ecccccecscessceesceeeceecesecesecaeecaeecaeeeaeeeeeeeeeeeeneseaeenseenaees 64 6 Table of Contents 16 Axis MACRO CPU Software Reference Manual MM constant constant Set Station MM Variable Valle eee eecseesceseeeceseceeesecsevecsaeeecsaeceeeaesneeeeeneees 64 MP constant Report Station MP Variable Value ecescsssecescssesecseveeceseeeceaecaeesecsecsecnaseceeaecateaesaeeareneees 64 MP constant constant Set Station MP Variable Value eee eeesseeeceeeeeeecseceeesecseeseceaeeecaeceesaecaeeeeeneees 64 MM constant gt Report Station MM Variable Definition 0 0 ee eseeecseeesceseeeceseceeesecaeeecnaeeeceaeceeeaeeaeeaeeneens 64 MM constant gt X Y offset width format Set Station MM Variable Definition
12. To set a PWM frequency of 10 kHz and therefore a MaxPhase clock frequency of 20 kHz MI992 117 964 8 kHz 4 10 kHz 1 2948 To set a PWM frequency of 7 5 kHz and therefore a MaxPhase clock frequency of 15 kHz MI992 117 964 8 kHz 4 7 5 kHz 1 3931 MS anynode MI993 Hardware Clock Control Handwheel Channels Range 0 4095 Units MI993 Encoder SCLK Divider 8 PFM CLK Divider 64 DAC CLK Divider 512 ADC CLK Divider where Encoder SCLK Frequency 39 3216 MHz 2 Encoder SCLK Divider PFM_CLK Frequency 39 3216 MHz 2 PFM_CLK Divider DAC_CLK Frequency 39 3216 MHz 2 DAC_CLK Divider 50 16 Axis MACRO Station MI Variable Reference 16 Axis MACRO CPU Software Reference Manual ADC CLK Frequency 39 3216 MHz 2 ADC_CLK Divider Default 2258 2 8 2 64 3 512 4 Encoder SCLK Frequency 39 3216 MHz 2 2 9 8304 MHz PFM_CLK Frequency 39 3216 MHz 2 2 9 8304 MHz DAC_CLK Frequency 39 3216 MHz 2 3 4 9152 MHz ADC_CLK Frequency 39 3216 MHz 2 4 2 4576 MHz MI993 controls the frequency of three hardware clock frequencies SCLK PFM_CLK DAC_CLK and ADC_CLK for the handwheel interface channels 1 and 2 It is a 12 bit variable consisting of four independent 3 bit controls one for each of the clocks Each of these clock frequencies can be divided down from a starting 39 3216 MHz frequency by powers of 2 2N from 1 to 128 tim
13. amp B amp C 1 Gate index with low low quadrature state GI A amp B amp C Default 0 When using the gated index feature of the 16 Axis MACRO Station for more accurate position capture see MI914 MI915 specifies whether the raw index channel signal for the encoder mapped to the specified MACRO node is passed through to the position capture signal only on the high high quadrature state or only on the low low quadrature state If MI915 is set to 0 it is passed through only on the high high state if MI915 is set to 1 it is passed through only on the low low state MS node MI916 Output n Mode Select Range 0 3 Units none 0 Outputs A amp B are PWM Output C is PWM 1 Outputs A amp B are DAC Output C is PWM 2 Outputs A amp B are PWM Output C is PFM 3 Outputs A amp B are DAC Output C is PFM Default 3 MI916 controls what output formats are used on the command output signal lines for machine interface channel n If a three phase direct PWM command format is desired MI916 should be set to 0 If signal outputs for external digital to analog converters are desired MI916 should be set to 1 or 3 In this case the C output can be used as a supplemental non servo output in either PWM or PFM form For example it can be used to excite an MLDT sensor e g Temposonics in PFM form 42 16 Axis MACRO Station MI Variable Reference 16 Axis MACRO CPU Software Reference Manual MS
14. ode 4 24 bit command write and feedback read register ode 6 Ist 16 bit command write and feedback read register bits 8 23 bits 0 7 not used ode 6 Ist 16 bit command write and feedback read register bits 8 23 bits 0 7 not used ode 4 Ist 16 bit command write and feedback read register bits 8 23 bits 0 7 not used ode 6 2nd 16 bit command write and feedback read register bits 8 23 bits 0 7 not used ode 4 3rd 16 bit command write and feedback read register bits 8 23 bits 0 7 not used ode 6 3rd 16 bit command write and feedback read register bits 8 23 bits 0 7 not used ode 5 24 bit command write and feedback read register ode 7 24 bit command write and feedback read register ode 5 Ist 16 bit command write and feedback read register bits 8 23 bits 0 7 not used ode 7 Ist 16 bit command write and feedback read register bits 8 23 bits 0 7 not used ode 5 Ist 16 bit command write and feedback read register bits 8 23 bits 0 7 not used ode 7 2nd 16 bit command write and feedback read register bits 8 23 bits 0 7 not used ode 5 3rd 16 bit command write and feedback read register bits 8 23 bits 0 7 not used ode 7 3rd 16 bit command write and feedback read register bits 8 23 bits 0 7 not used ode 8 24 bit command write and feedback read register ode 10 24 bit command write and feedback read register ode 8 Ist 16 bit command
15. on ACC 14E backplane boards Note Jumper E2 on the ACC 14E backplane board must connect pins 2 and 3 to permit this function 16 Axis MACRO Station MI Variable Reference 21 16 Axis MACRO CPU Software Reference Manual MI152 and MI153 are 48 bit values represented by 12 hexadecimal digits These digits have the following functions Digits Function and Setting 1 amp 2 3 UO ASIC Latch Control Maps into high bytes ACC 9E 10E 11E 12E with E6x connecting rows 4 amp 5 C0 for latched inputs 00 for transparent inputs or ASIC not present 3 amp 4 277 UO ASIC Latch Control Maps into middle bytes ACC 9E 10E 11E 12E with E6x connecting rows 2 amp 3 C0 for latched inputs 00 for transparent inputs or ASIC not present 5 amp 6 2 I O ASIC Latch Control Maps into low bytes ACC 9E 10E 11E 12E with E6x connecting rows amp 2 C0 for latched inputs 00 for transparent inputs or ASIC not present 7 Number of bytes 1 to 6 on each ASIC starting with lowest byte to latch 8 Reserved for future use set to 0 9 12 Base address of I O Board 8800 ACC 9E 10E 11E 12E board w E1 ON ACC 14E 8840 ACC 9E 10E 11E 12E board w E2 ON ACC 14E 8880 ACC 9E 10E 11E 12E board w ON ACC 14E 88c0 ACC 9E 10E 11E 12E board w E4 ON ACC 14E Examples MSO MI153 0000C0308840 Latches inputs on 1 ASIC 1 3 bytes of an ACC 14E board with base address 8840 M
16. 0 cee eeceseereetecneeeeeneees 64 R address LEE 64 SAVE Save Station Ml vaables nissin aaen eskoses ninna irnia iee akit aiei i otenn aE iiaii i saeos 64 SID Reports Serial Identification Number 65 VERS Report Firmware Versi n sissesnieeirooes orainen niekis aihn ioaea aton araa aea api assaia ERER ienis aiak e 65 VID Report Vendor ID Number AAA 65 W address value Write Value to Station Address 65 TURBO PMAC TYPE 1 16 AXIS MACRO CPU STATION COMMANDS sssssscsssseseesesecessseseesesseseesessesees 67 Or Line COMMAS TE 67 MS Command E 67 MS Variable REG menekse e aR EEren ba Heide aE EEEak EE need EEEk PERESO 68 MS Varniable Weren a ETE E E EE EEE EA E ET TE EE E 68 MS Variable Read Com 69 MS Variable Write Com 69 Turbo PMAC PLC Commands for Type 1 16 Axis MACRO Statons 70 MS Variable Read Com 70 MS Variable Write Com 70 16 AXIS MACRO CPU STATION MEMORY AND I O MAP sssesssesssesssssesereserssercrereeererererererereeeeeeerseereeeeseeeesee 73 Global Servo Calculation Registerg 73 Encoder Conversion Interpolation Table 73 Display Output E araeir Bester excuses i oni taei coun beaters yaaa aE REER ee E baxter e RAEE EE 73 ASCITO Ee ee eege eege ee O E O eege 73 MM and MP Variables Table 74 TEE 74 DSPG ATE Uy E EE 74 MACRO UBUS Port I O Registers cssssesssesceseceseeeseeesesesseeseesasceuaesasesecaeessesassneuaecasssesseesssnasecesaeeasesecaseseeneees 78 DSEGA FE EE 79 DSPGATE2 Channel 1 and Channel 2
17. 1 024 1 047 Option A Yes MI80 MI70 1 048 1 071 Option B No MI81 MI70 1 072 1 095 Option B No MI82 MI70 1 096 1 0119 Option C No MI83 MI70 1 0120 1 0143 Option C No MI84 MI71 1 000 1 023 Option A Yes MISS MI71 1 024 1 047 Option A Yes MI86 MI71 1 048 1 071 Option B No MI87 MI71 1 072 1 095 Option B No MISS MI71 1 096 1 0119 Option C No MI89 MI71 1 0120 1 0143 Option C No MS anynode MI90 Y MTR Servo Channel Disable and MI996 Enable Range 00 3333 Units None Default 0000 MI996 M1996 MI90 amp 3333 The servo channel nodes that are enabled in MI996 by MI90 are disabled as servo transfer channels Example MI90 3000 will disable servo channel transfers on nodes 12 and 13 and sets nodes 12 and 13 on MI996 This allows the use of these nodes by MIO MI98 for data transfer 12 16 Axis MACRO Station MI Variable Reference 16 Axis MACRO CPU Software Reference Manual MS anynode MI91 MI98 Phase Interrupt 24 Bit Data Copy Range 00000000 FFFFFFFF Units Individual bits Hex Digit 1 2 3 4 5 6 7 8 9 10 11 12 Contents From 00 From Register Address To 00 To Register Address Y 24bit Y 24bit 80 X 80 X 24bit 24bit MS anynode MI99 Reserved for Future Use Range 0 Units Default 0 MACRO IC Position Processing Ml Variables Each MACRO IC 0 and 1 has its own set of the
18. 47 MS anynode MI1974 Station Display Status Read Oh 47 MS anynode MI975 MACRO IC 0 I O Node Enable wi cccccccccccecescecetseeeceteeecneeeecuceesenseeeeeseseeaecnteeeeneeenengs 47 MS anynode MI976 MACRO IC 0 Motor Node Disoble 48 MS anynode MI977 Motor Nodes Reporting Ring Breck 48 MSfanynode M1978 MI986 Reserved for future use ccceccccccsccsseeccessescesetseeeeneeeecnseesceseeseesenseesenaeeeeaeeateats 49 MACRO IC A D Converter Demultiplex Control 49 MS anynode MI987 A D Input Enable 49 MS anynode MI988 A D Unipolar Bipolar Control 49 MSfanynode MI989 A D Source Address 49 MACRO AC MEV EE 50 MSfanynode MI992_ MaxPhase Frequency Control 50 MS anynode MI993 Hardware Clock Control Handwheel Chantel ccccccccccsceesseeseeceeeeetesetneeeetuseenseeaes 50 MS anynode MI994_ PWM Deadtime PFM Pulse Width Control for Honcduheel 52 MSfanynode MI995 MACRO Ring Configurration Status cccccccsccecssscesesseesecneeeecnseesceseeseeseceesecneseeenseenenas 53 MSfanynode M1996 MACRO Node Activate Control 53 MSfanynode MI997 Phase Clock Frequency Control 55 MS anynode MI998 Servo Clock Frequency Control 55 MS anynode MI999 Handwheel DAC Strobe Word Not used cccccccccccesssessessseescnseeseuseeseeseseeecueseeenseesenas 56 16 AXIS MACRO CPU STATION MM AND MP VARIABLES esseesserseseseresoesoroeseseseeessosoeseseeceeesosoreseesosceseeeeee 57 16 AXIS MACRO CPU STATION MACPLCCS cssssscsssscssscssssocscesesesessssssene
19. 7 not used ode 2 3rd 16 bit command write and feedback read register bits 8 23 bits 0 7 not used ode 24 bit command write and feedback read register ode 3 24 bit command write and feedback read register ode Ist 16 bit command write and feedback read register bits 8 23 bits 0 7 not used ode 3 Ist 16 bit command write and feedback read register bits 8 23 bits 0 7 not used ode 1 Ist 16 bit command write and feedback read register bits 8 23 bits 0 7 not used ode 3 2nd 16 bit command write and feedback read register bits 8 23 bits 0 7 not used ode 3rd 16 bit command write and feedback read register bits 8 23 bits 0 7 not used 16 Axis MACRO Station Memory and I O Map 16 Axis MACRO CPU Software Reference Manual X SCOAT Y SCOA8 X SCOA8 Y SCOA9 X SCOA9 Y SCOAA X SCOAA Y SCOAB X SCOAB Y SCOAC X SCOAC Y SCOAD X SCOAD Y SCOAE X SCOAE Y SCOAF X SCOAF Y SCOBO X SCOBO Y SCOBI1 X SCOBI1 Y SCOB2 16 Axis MACRO Station Memory and I O Map MACRO N MACRO N MACRO N MACRO N MACRO N MACRO N MACRO N MACRO N MACRO N MACRO N MACRO N MACRO N MACRO N MACRO N MACRO N MACRO N MACRO N MACRO N MACRO N MACRO N MACRO N MACRO Node 3 3rd 16 bit command write and feedback read register bits 8 23 bits 0 7 not used ode 4 24 bit command write and feedback read register
20. Axis MACRO CPU Software Reference Manual The Station can detect four types of communications errors byte violation errors packet checksum errors packet overrun errors and packet under run errors If MI9 errors have occurred in the MI8 check period and at least half of these errors are byte violation errors the Station will conclude that there is a ring break immediately upstream of it if there are no ring input communications to the Station there will be continual byte violation errors In this case not only will it set its servo command output values to zero set its amplifier enable outputs to the disable state and force all of its digital outputs to their shutdown state as defined by 172 189 but it will also turn itself into a master so it can report to other devices downstream on the ring If MI9 is set to 0 at power on reset the 16 Axis MACRO Station will automatically set it to 4 MS anynode MI10 MACRO Sync Packet Shutdown Count Range 0 65 535 Units none Default 4 MI10 determines the number of MACRO ring sync packets that must be received during a check period for the Station to consider the ring to be working properly If the Station detects fewer than MI10 sync packets in MI8 phase MACRO ring cycles it will shut down on a MACRO communications fault setting its servo command output values to zero setting its amplifier enable outputs to the disable state and forcing all of its
21. D Unipolar Bipolar Control Range 00 FF Units none Default 00 MI988 controls whether the 12 bit A D converters are set up for unipolar 0 to 20V or bipolar 10 to 10V inputs MI988 consists of 8 bits each bit controls the setup of a pair of A D converters A value of 0 in the bit sets up the A D converters for unipolar inputs a value of 1 in the bits sets up the A D converters for bipolar inputs The following table shows which bits of MI988 control which A D converters MI998 Bit Hex Bit 1 ADC 2 ADC Value 0 1 ANAIO00 ANAI08 1 2 ANAIO1 ANAIO09 J 4 ANAI02 ANAI10 3 8 ANAIO03 ANAII1 4 10 ANAI04 ANAI12 5 20 ANAIO05 ANAIL3 6 40 ANAI06 ANAII4 7 80 ANAI07 ANAII5 MS anynode MI989 A D Source Address Range 0000 FFFF Units Station Y addresses Default 0 16 Axis MACRO Station MI Variable Reference 49 16 Axis MACRO CPU Software Reference Manual This variable specifies the source address of the multiplexed A D converters acted on by the de multiplexing algorithms of MI987 and MI988 These multiplexed A D converters can be on ACC 36E or ACC S9E backplane boards The A D converters on an ACC 36E or ACC 59E backplane board are located at 1 of 16 addresses depending on the DIP switch setting of the board 8800 8840 8880 88C0 9800 9840 9880 98C0 A800 A840 A880 A8C0 B800 B840 B880 B8C0 Example MS0 MI989 9800 i
22. DAC_CLK frequency of 4 9152 MHz and the default ADC_CLK frequency of 2 4576 MHz are chosen From the table SCLK Divider N 5 PFM_CLK Divider N 4 DAC_CLK Divider N 3 ADC_CLK Divider N 4 MI903 5 8 4 64 3 512 4 5 32 192 2048 2277 MI903 has been set to 3429 What clock frequencies does this set N1 INT 3429 512 6 ADC CLK 611 44 kHz MI903 3429 512 6 357 N2 INT 357 64 5 DAC CLK 1 2288 MHz MI903 357 64 5 37 N3 INT 37 8 4 PFM_ CLK 2 4576 MHz N4 37 8 4 5 SCLK 1 2288 MHz See Also MI907 MI993 MS anynode MI904 PWM 1 4 Deadtime PFM 1 4 Pulse Width Control Range 0 255 Units PWM Deadtime 16 PWM_CLK MHz MI904 0 135 psec MI904 PFM Pulse Width 1 PFM CLK MHz MI904 PFM_CLK_period usec M1904 Default 15 PWM Deadtime 0 135 psec 15 2 03 usec PFM Pulse Width 1 9 8304 MHz 15 1 526 usec with default M1903 16 Axis MACRO Station MI Variable Reference 35 16 Axis MACRO CPU Software Reference Manual MI904 controls the deadtime period between top and bottom on times in the 16 Axis MACRO Station s automatic PWM generation for machine interface channels 1 4 In conjunction with MI903 it also controls the pulse width for the 16 Axis MACRO Station s automatic pulse frequency modulation generation for machine interface channels 1 4 The PWM deadtime which is the delay between the top signal turning
23. DATO DATT Data Type Control O ENCC10 1 DAT1 DAT2 Data Type Control 0 Fault9 1 DAT2 DAT3 Data Type Control 0O Fault10 1 DAT3 DATA Data Type Control O EQU9 1 DAT4 DATS Data Type Control O EQU10 1 DAT5 DAT6 Data Type Control O AENA9 1 DAT6 DATT Data Type Control O AENA10 1 DAT7 SELO Data Type Control O ADC_STROB 1 SEL0 SEL1 Data Type Control O ADC_CLK 1 SEL1 10 SEL2 Data Type Control 0 ADC_A9 1 SEL2 11 SEL3 Data Type Control O ADC_B9 1 SEL3 12 SEL4 Data Type Control O ADC_A10 1 SEL4 13 SEL5 Data Type Control 0 ADC_B10 1 SEL5 14 SEL6 Data Type Control O SCLK 1 SEL6 15 SEL7 Data Type Control 0 SCLK_DIR 1 SEL7 All bits 0 dedicated hardware I O 1 general I O All bits must be 0 for use with ACC 1E 2 axis piggyback board 16 23 Not used JTHW Port Data Inversion Control Register when used as general I O see GO JA Ch Uh PS GA Ar O Y C086 0 DATO Inversion Control 7 DATT7 Inversion Control 16 Axis MACRO Station Memory and I O Map 81 16 Axis MACRO CPU Software Reference Manual K X x lt 82 SCO8D SCO8E SCO87 Bits SCO87 Bits 8 SELO Inversion Control 15 SEL7 Inversion Control All bits O Non inverting 1 Inverting All bits must be 0 to use standard port accessories 16 23 Not used Data Type Control Register 0 DISPO Data Type Control 7 DISP7 Data Type Control 8 CTRLO Data Type Control 11 CTRL3 Data Type Control These bits are a
24. Ist 16 bit command write and feedback read register bits 8 23 bits 0 7 not used X SCOBE MACRO Node 15 2nd 16 bit command write and feedback read register bits 8 23 bits 0 7 not used Y SCOBF MACRO Node 13 3rd 16 bit command write and feedback read register bits 8 23 bits 0 7 not used X SCOBF MACRO Node 15 3rd 16 bit command write and feedback read register bits 8 23 bits 0 7 not used 16 Axis MACRO Station Memory and I O Map 89
25. MACRO Station They are used only if MI19 is greater than 0 MI169 and MI170 are 48 bit variables represented as 12 hexadecimal digits The first six digits specify the number and address of the 72 bit 1x24 and 3x16 real time MACRO node register set to be used The second six digits specify the number and address of 16 bit I O sets on an I O board to be used The individual digits are specified as follows Digit Possible Values Description 1 0 Reserved for future use 2 0 Reserved for future use 3 6 SCOAO Node 2 16 Axis MACRO Station X Address of MACRO I O node COA4 Node 3 24 bit register COA8 Node 6 COAC Node 7 COBO Node 10 COB4 Node 11 7 0 Reserved for future use 8 0 1 Set to 1 for ACC 14E ACC 65E ACC 66E ACC 67E consectutive address read Base 1000 2000 9 12 8800 8840 8880 16 Axis MACRO Station Y Base Address of ACC 9E 10E 88C0 11E 12E 14E 65E 66E OR 67E UMAC I O board as set 9800 9840 9880 by jumpers switches on board 98C0 16 Axis MACRO Station MI Variable Reference 23 16 Axis MACRO CPU Software Reference Manual When this function is active the 16 axis MACRO Station will copy values from the MACRO command input node registers to the I O board addresses it will copy values from the I O board addresses to the MACRO feedback output node registers Writing a 0 to a bit of the I O board enables it as an in
26. MACRO X Address 10 Rows 3 amp 4 connected creates same setting Examples MI69 30C0A1308800 transfers three sets of 48 bit I O between an I O board set at 8800 and MACRO Nodes 2 CO0A1 C0A3 3 COA5 C0A7 and 6 COA9 COAB M1I70 10C0B1308840 transfers one set of 48 bit I O between an I O board set at 8840 and MACRO Node 10 C0B1 C0B3 10 16 Axis MACRO Station MI Variable Reference 16 Axis MACRO CPU Software Reference Manual MS anynode MI71 1 O Board 24 Bit Transfer Control Range 000000000000 FFFFFFFFFFFF Units Extended addresses Default 0 MI71 specifies the registers used in 24 bit I O transfers between MACRO I O node interface registers and T O registers on the 9E 10E 11E 12E 14E 65E 66E 67E and 68E I O boards on a 16 Axis MACRO Station It is only used if MI19 is greater than 0 MI71 is a 48 bit variable represented as 12 hexadecimal digits The first six digits specify the number and address of 48 bit real time MACRO node register sets to be used The second six digits specify the number and address of 48 bit I O sets on an UMAC IO board to be used The individual digits are specified as follows Digit Possible Values 0 1 2 3 Number of MACRO I O nodes to use times 2 0 pf ee disables this should also match the number of 48 bit I O sets you intend to use see Digit 7 2 N ____ Reserved for future use e COAO Node 2 COA4 Node 3 MACRO Station X Address o
27. MS node MI918 Output n PFM Direction Signal Invert Control Range 0 1 Units none 0 Do not invert direction signal low high 1 Invert direction signal low high Default 0 MI918 controls the polarity of the direction output signal in the pulse and direction format for Channel n It is only active if MI916 has been set to 2 or 3 to use Output C as a pulse frequency modulated PFM output If MI918 is set to the default value of 0 a positive direction command provides a low output if MI918 is set to 1 a positive direction command provides a high output MS node MI919 Reserved for Future Use MS node MI920 Absolute Power On Position Read Only Range 0 SFFFFFFFFFFFF Units counts Default This variable when queried reports the value of the absolute position for the specified MACRO node MI11x for the motor node determines what type of feedback device at what address will be read when this variable is queried When the value of MI920 is queried the encoder counter for the channel matched to the specified node is cleared when the otherwise similar M1930 is queried the counter is not cleared 16 Axis MACRO Station MI Variable Reference 43 16 Axis MACRO CPU Software Reference Manual MS node MI921 Flag Capture Position Read Only Range 0 FFFFFF Units counts Default This variable when queried reports the value of the captured position for the machine interf
28. Manual The following table shows the relationship between the bits of MI17 and the servo nodes on the Station MI17 Bit H 7 6 5 4 3 2 1 0 Node 13 12 9 8 5 4 1 0 MS anynode MI18 Amplifier Fault Polarity Range 00 FF Units none Default 00 low true fault for all nodes This variable controls how the 16 Axis MACRO Station interprets the polarity of the amplifier fault inputs for each servo node The variable consists of eight bits each bit controls the polarity for one of the servo nodes on the Station A 0 in a bit specifies a low true fault low voltage input means fault a 1 ina bit specifies a high true fault high voltage input means fault A bit of MI18 is only used if the corresponding bit of MI17 is set to 0 enabling the amplifier fault function for that node The following table shows the relationship between the bits of MI18 and the servo nodes on the Station MI18 Bit 7 6 5 4 3 2 1 0 Node 13 12 9 8 5 4 1 0 Global I O Transfer Ml Variables MS anynode MI19 UO Data Transfer Period Range 0 255 Units Phase Clock Cycles Default 0 MI19 controls the data transfer period on a 16 Axis MACRO Station between the MACRO node interface registers and the I O registers as specified by station MI variables MI20 through MI71 and MI169 through MI172 If MI19 is set to 0 this data transfer is disabled If MI1
29. O PWM_B BOT10 1 I O12 13 1 013 Data Type Control O PWM_B_ TOP10 1 I 0O13 14 1 014 Data Type Control O PWM_A_BOT10 1 1 014 15 1 015 Data Type Control O PWM_ A TOP10 1 I O15 16 1 016 Data Type Control O HMFL10 1 1 016 17 1 O17 Data Type Control O PLIM10 1 1 017 18 1 O18 Data Type Control O MLIM10 1 I O18 VD GO A Ohn P AA rz 16 Axis MACRO Station Memory and LO Map 16 Axis MACRO CPU Software Reference Manual X SC084 Bits Y SC085 Bits X C085 Bits Y C086 Bits X C086 Bits 19 1 019 Data Type Control O USER10 1 I O19 20 1 020 Data Type Control 0O FlagT10 1 I O020 21 1 021 Data Type Control O FlagU10 1 I 021 22 1 022 Data Type Control O FlagV 10 1 I O22 23 1 023 Data Type Control O FlagW10 1 1 023 All bits 0 dedicated hardware I O 1 general I O All bits must be 0 for use with ACC 1E 2 axis piggyback board Data Inversion Control Register when used as general I O see Y C084 0 1 000 Inversion Control 23 1 023 Inversion Control All bits O Non inverting 1 Inverting General I O Data Type Control Register 0 1 024 Data Type Control 7 1 031 Data Type Control These bits are always 1 there is no alternate mode for these lines 8 23 Not used General I O Data Inversion Control 0 1 024 Inversion Control 7 1 031 Inversion Control All bits 0 Non inverting 1 Inverting 8 23 Not used Data Type Control Register 0 DATO Data Type Control O ENCC9 1
30. Output Power On Shutdown State Range 000000 FFFFFF Units Individual bit values Default 000000 MI72 through MI89 are used to determine the states of the digital outputs for 16 Axis MACRO Station T O boards at power on and on controlled station shutdown due to a ring error condition Each of these MI variables is a 24 bit value controlling 24 consecutively numbered I O points on a MACRO I O board Each bit controls one I O point The least significant bit of the MI variable controls the lowest numbered I O point the most significant bit controls the highest numbered I O point A value of 0 in a bit specifies that the corresponding output is to be turned off at power on or shutdown a value of in a bit specifies that the corresponding output is to be turned on at power on or shutdown If an I O point has been set up as an input the value of the bit is not important The following table shows which I O points are controlled by each of these MI variables Variable Board Addressed T O Points ACC 3E Option Present on by Variable Controlled Required ACC 4E MI72 MI69 1 000 1 023 Option A Yes MI73 MI69 1 024 1 047 Option A Yes MI74 MI69 1 048 1 071 Option B No MI75 MI69 1 072 1 095 Option B No MI76 MI69 1 096 1 0119 Option C No MI77 MI69 1 0120 1 0143 Option C No MI78 MI70 1 000 1 023 Option A Yes MI79 MI70
31. S A9 X 16 4 S 2C Y 4 4 U AC X 20 4 U 2D Y 4 4 S AD X 20 4 S 30 Y 8 4 U B0 X 0 8 U 31 Y 8 4 S B1 X 0 8 S 34 Y 12 4 U B4 X 4 8 U 35 Y 12 4 S B5 X 4 8 S 38 Y 16 4 U B8 X 8 8 U 39 Y 16 4 S B9 X 8 8 S 3C Y 20 4 U BC X 12 8 U 3D Y 20 4 S BD X 12 8 S 40 Y 0 8 U SCH X 16 8 U 41 Y 0 8 S C1 X 16 8 S 44 Y 4 8 U C4 X 0 12 U 45 Y 4 8 S C5 X 0 12 S 48 Y 8 8 U C8 X 4 12 U 49 Y 8 8 S C9 X 4 12 S 4C Y 12 8 U CC X 8 12 U 4D Y 12 8 S CD X 8 12 S 50 Y 16 8 U D0 X 12 12 U 51 Y 16 8 S D1 X 12 12 S 54 Y 0 12 U D4 X 0 16 U 55 Y 0 12 S D5 X 0 16 S 58 Y 4 12 U D8 X 4 16 U 59 Y 4 12 S D9 X 4 16 S 5C Y 8 12 U DC X 8 16 U 5D Y 8 12 S DD X 8 16 S 60 Y 12 12 U E0 X 0 20 U 61 Y 12 12 S E1 X 0 20 S 64 Y 0 16 U E4 X 4 20 U 65 Y 0 16 S E5 X 4 20 S 68 Y 4 16 U E8 X 0 24 U 16 Axis MACRO Station MI Variable Reference 29 16 Axis MACRO CPU Software Reference Manual MI198 Format Digits continued MI198 Address Starting Bit Format MI198 Address Starting Bit Format Digits Space Bit Width Digits Space Bit Width 69 Y 4 16 S E9 X 0 24 S 6C Y 8 16 U SEC 6D Y 8 16 S ED 70 Y 0 20 U F0 X 0 2 U 71 Y 0 20 S F1 X 2 2 U 72 z F2 X 4 2 U 73 F3 X 6 2 U 74 Y 4 20 U F4 X 8 2 U 75 Y 4 20 S F5 X
32. and format of the register to be accessed read from or written to with MI199 This permits the access to any register on the 16 Axis MACRO Station by first assigning a value to MI198 then either reading MI199 or writing to it MI198 is a 24 bit variable that can be expressed as six hexadecimal digits The low 16 bits represented by the last four hex digits represent the 16 Axis MACRO Station address of the register The high eight bits represented by the first two hex digits represent the format of that address The table below shows the legal entries for the first two digits and the format each represents For example for the host computer to read the contents of the DACIA register as a signed quantity the high 16 bits of Y 8002 of the 16 axis MACRO Station through a PMAC board MI198 would be set to 6D8002 then MI199 would be read For a 16 axis MACRO Station with an active node 0 this could be done with the on line commands MSO MI198 6D8002 MSO MI199 16384 In another example to read the state of Channel 2 s encoder A input bit 12 of X C008 through a PMAC board MI198 would be set to 8CC008 then MI99 would be read MI198 Format Digits MI198 Address Starting Bit Format MI198 Address Starting Bit Format Digits Space Bit Width Digits Space Bit Width 00 Y 0 2 U 80 x 0 1 U 01 Y 2 2 U 81 X 1 1 U
33. bit is set to 0 the node may be enabled by SW1 if the bit is set to 1 the node is disabled regardless of the setting of SW1 The motor nodes on the 16 Axis MACRO Station are nodes 0 1 4 5 8 9 12 and 13 which can be disabled by MI976 bits of these numbers Only bits 0 1 4 5 8 9 12 amp 13 of MI975 should ever be set to 1 MI976 is used at the power on reset of the 16 Axis MACRO Station in combination with rotary switch SW1 and MI975 to determine which MACRO nodes are to be enabled The net result can be read in Station variable M1996 To get a value of MI976 to take effect the value must be saved MS SAVE node and the Station reset MS node Examples MSO MI976 2 Disable Motor Node 1 MSO MI976 20 Disable Motor Node 5 MSO MI976 30 Disable Motor Nodes 4 amp 5 MS8 MI976 200 Disable Motor Node 9 MS12 MI976 2000 Disable Motor Node 13 MS anynode MI977 Motor Nodes Reporting Ring Break Range 0000 FFFF Units none individual bits Default 0 MI977 permits the 16 Axis MACRO Station to enable additional motor nodes if it detects a ring break immediately upstream from it and send out the ring break bit Bit 13 in the flag word for these nodes When the Station detects a ring break it turns itself into a ring controlling master and sets the ring break bit on all active nodes In this manner other stations downstream of the break can be directly notified of the ring break
34. bit value is treated as an unsigned quantity Presently the only A D accessory of this format that can interface to the 16 axis MACRO Station is the ACC 28E which provides an unsigned value so 18 and 58 should be used The following table shows the entries for ACC 28E backplane converter board ADCs The m represents the conversion method either 1 or 5 Entries for ACC 28E ADCs ACC 28E Entry for ADC1 Entry for ADC2 Entry for ADC3 Entry for ADC4 Base Address 8800 m88800 m88801 m88802 m88803 9800 m89800 m89801 m89802 m89803 A800 m8A800 m8A801 m8A802 m8A803 B800 m8B800 m8B801 m8B802 m8B803 8840 m88840 m88841 m88842 m88843 9840 m89840 m89841 m89842 m89843 A840 m8A840 m8A841 m8A842 m8A843 B840 m8B840 m8B841 m8B842 m8B843 8880 m88880 m88881 m88882 m88883 9880 m89880 m89881 m89882 m89883 A880 m8A880 m8A881 m8A882 m8A883 B880 m8B880 m8B881 m8B882 m8B883 88C0 m888CO m888Cl m888C2 m888C3 98C0 m898C0 m898C1 m898C2 m898C3 A8CO m8A8CO m8A8Cl m8A8C2 m8A8C3 B8C0 m8B8CO0 m8B8C1 m8B8C2 m8B8C3 16 Axis MACRO Station MI Variable Reference 19 16 Axis MACRO CPU Software Reference Manual Parallel Feedback Entries 2x 3x 6x 7x The parallel feedback entries read a word from the address specified in the low 16 bits of the first entry The four methods in thi
35. circuitry that can be enabled with MI7 and reported in MI4 In order for this encoder loss detection to work properly several conditions must apply e AB version or newer of the DSPGATE1 2 Servo MACRO IC must be used true on boards built since Spring 1998 e Differential encoders must be used e The A A B and B encoder signals must be wired into the T U V and W supplemental flag inputs respectively as well as into the regular encoder lines e The socketed resistor SIP packs for the encoder channels must be reversed from their factory default configuration These SIP packs are installed at the factory so that pin 1 of the pack marked with a dot is installed in pin 1 of the socket marked with a bold white outline and a square solder pin on the board For this encoder loss to work the SIP pack for each encoder must be reversed so that it is at the opposite end of the socket The SIP packs are Board Encoder 1 Encoder 2 Encoder 3 Encoder 4 ACC 24E2 RP22 RP24 RP22 RP24 ACC 24E2A RP22 RP24 RP22 RP24 ACC 24E2S RP19 RP21 RP27 RP29 Resistor packs on Option top board of 2 board assembly e MI16 must be set to 1 If the T U V and W input flags are used for different purposes such as Hall commutation sensors or sub count information from an analog encoder interpolator the state of the encoder loss status bit would appear random and arbitrary The state of the encode
36. command causes PMAC to issue the specified command to a Type 1 MACRO slave station The MS CONFIG command allows the user to set and report a user specified configuration value This provides any easy way for the user to see if the 16 Axis MACRO Station has already been configured to the user s specifications The factory default configuration value is 0 It is recommended that after the user finishes the software configuration of the station a special number be given to the configuration value with the MS CONFIG node constant command This number will be saved to the non volatile memory with the MS SAVE command Subsequently when the system is powered up the station can be polled with the MS CONFIG node command If the expected value is returned the station can be assumed to have the proper software setup If the expected value is not returned for instance when a replacement station has just been installed then the setup will have to be transmitted to the station Examples MS 0 Resets 16 Axis MACRO Station which has active node 0 MS SSS 4 Reinitializes 16 Axis MACRO Station which has active node 4 MS CLRF8 Clears fault on Node 8 of 16 Axis MACRO Station MS CONFIG12 Causes 16 Axis MACRO Station to report its configuration number 37 PMAC reports 16 Axis MACRO Station configuration number to host MS CONFIG12 37 Sets 16 Axis MACRO Station configuration number MS DATE 0 Causes 16 Axis MACRO Station to re
37. count the low five bits are fractional data With the 0x method the fractional data is computed by dividing the Time Since Last Count register by the Time Between Last Two Counts register This technique is known as 1 T extension and is the most commonly used method It can be used with a digital incremental encoder connected directly to the Station With the Cx method the fractional data is always set to zero which means there is no extension of the incremental encoder count This setting is used mainly to verify the effect of one of the 1 T extension or the parallel extension of an analog encoder explained below The x in the second digit is always 0 in both of these methods With either of these conversion methods the source address in the low 16 bits is that of the starting register of the machine interface channel The addresses of the machine interface channels that can be used and the ECT entry MI variables that correspond to them are shown in the following tables The m is the conversion method representing 0 Incremental Encoder 1 T interpolation extension or C Incremental Encoder no extension Entries for Backplane Axis Boards ACC 24E2x Machine 16 Axis Conversion Machine 16 Axis Conversion Interface MACRO Table Entry Interface MACRO Table Entry Channel Station Base Channel Station Base Address Address 1 8000 m08000 9 9000 m09000 2 8008 m08008
38. determine the location within the line mathematically combining the values to produce a single position value Encoder Channel Address The first line of the three line entry contains F in the first hex digit and the base address of the encoder channel to be read in the last four digits bits 0 to 15 The following table shows the possible entries for an ACC 51E in the station Entry First Lines for ACC 51E Backplane Interpolator Boards ACC 51E Channel 1 Channel 2 Channel 3 Channel 4 IS F08000 F08008 F08010 F08018 SC F08040 F08048 F08050 F08058 Ee F09000 F09008 F09010 F09018 4 F09040 F09048 F09050 F09058 Ee F0A000 F0A008 F0A010 F0A018 6 FOA040 FOA048 FOA050 FOA058 7 FOB000 FOB008 FOBO10 FOBO18 gm FOB040 FOB048 FOB050 FOB058 A D Converter Address The second line of the entry contains the base address of the first A D converter to be read in the last four digits bits 0 to 15 The second A D converter will be read at the next higher address The following table shows the possible settings when the ACC 51E is used Entry Second Lines for ACC 51E Backplane Interpolator Boards ACC 51E Channel 1 Channel 2 Channel 3 Channel 4 17 008005 00800D 008015 00801D SCH 008045 00804D 008055 00805D 3rd 009005 00900D 009015 00901D 4th 009045 00904D 009055 00905D 5th 00A005 00A00D 00
39. digital outputs to their shutdown state as defined by 172 189 The node number 0 15 of the sync packet is determined by bits 16 19 of Station variable MI996 On the 16 Axis MACRO Station this is always node 15 F because this node is always active for MACRO Type auxiliary communications The Station checks each phase cycle to see if a sync packet has been received or not Setting MI10 to 0 means the Station will never shut down for lack of sync packets Setting MI10 greater than MI8 means that the Station will always shut down for lack of sync packets If MI10 is set to 0 at power on reset the 16 Axis MACRO Station will automatically set it to 4 MS anynode MI11 Station Order Number Range 0 254 Units none Default 0 MI11 contains the station order number of the 16 Axis MACRO Station on the ring This permits it to respond to auxiliary MACROSTASCII lt n Station Order Number gt commands from a Turbo PMAC ring controller regardless of the 16 Axis MACRO Station s rotary switch settings The station ordering scheme permits the ring controller to isolate each master or slave station on the ring in sequence and communicate with it without knowing in advance how the ring is configured or whether there are any conflicts in the regular addressing scheme This is very useful for the initial setup and debugging of the ring configuration Normally station order numbers of devices on the ring are assigned in numerical order w
40. gel 33 MACRO SERVO IC 4 Axis Servo IC Mi vanables AA 33 MSfanynode MI900 PWM 1 4 Frequency Control 33 MSfanynode MI903 Hardware Clock Control Channels 3 34 MS anynode M1I904_ PWM 1 4 Deadtime PFM 1 4 Pulse Width Conol 35 MSfanynode MI905 DAC 1 4 Strobe Word ececcccccccsscccssecsseescnseesensesseesceseeseeseceeecnseesenaeesenseseeaeceseeenseenengs 36 MSfanynode MI906 PWM 5 8 Frequency Control 36 MSfanynode M1907 Hardware Clock Control Channels A8 37 MSfanynode M1908 PWM 5 8 Deadtime PFM 5 8 Pulse Width Control 38 MSfanynode M1909 DAC 5 8 Strobe Mord 39 MACRO SERVO IC Node Specific Gate Array MI variables ccesssssecsceeeceseerceseceeesecaeesecnecaeeeecnevenenaeeneaeens 39 MSf node MI910 Encoder Timer n Decode Control 39 MSf node MI911 Position Compare n Channel Select 40 MSfnode MI912 Encoder n Capture Control 4 MSf node MI913 Capture n Flag Select Control 4 MSf node MI914 Encoder n Gated Index Select 42 MSfnode MI9I5 Encoder n Index Gate Aioie 42 MSfnode MI9I6 Output n Mode Select 42 MSfnode MI9I7 Output n Invert Control 43 MSf node MI918 Output n PFM Direction Signal Invert Control 43 MSfnode MI919 Reserved for Future Use ccccccccccsccescsssesessseescnseeseesesseesecseeeecseeesecassesenseesenseeeeaeceseeeneeeneeas 43 MSf node MI920 Absolute Power On Position Read On 43 MSf node MI921 Flag Capture Position Read On 44 MSf node MI922_ ADC A Input Value Read On 44 MSf node MI9
41. index 1 gated index 16 Invert AB for Gated Index MS node MI915 0 Gated Signal A amp B amp C 1 Gated Signal A amp B amp C 17 Index channel demultiplex control 0 no demux 1 demux 18 Reserved for future use reports as 0 19 Invert PFM Direction Control 0 no inversion 1 invert MS node MI918 Bits 20 21 MS node MI917 20 Invert A amp B Output Control 0 no inversion 1 invert 16 Axis MACRO Station Memory and I O Map 77 16 Axis MACRO CPU Software Reference Manual 21 Invert C Output Control O no inversion 1 invert Bits 22 23 MS node MI916 22 Output A amp B Mode Select O PWM 1 DAC 23 Output C Mode Select O P WM 1 PFM Servo Chan 1 Chan 2 Chan 3 Chan 4 Notes IC 2 8006 800E 8016 801E 1 ACC 24E2x 3 8046 804E 8056 805E 2 ACC 24E2x 4 9006 900E 9016 901E 3 ACC 24E2x 5 9046 904E 9056 905E 4 ACC 24E2x Y S8xxx or Y S9xxx Channel n ADC B Input Value MS node MI924 Bits 6 23 Serial ADC Value 0 5 Not used X S 8xxx or X S9xxx Channel n Encoder Compare Auto increment value 24 bits units of counts MS node MI923 Servo Chan 1 Chan 2 Chan 3 Chan 4 Notes IC 2 8007 800F 8017 801F 1 ACC 24E2x 3 8047 804F 8057 805F 2 ACC 24E2x 4 9007 900F 9017 901F 3 ACC 24E2x 3 9047 904F 9057 905F 4 ACC 24E2x Y S8xxx or Y S9xxx X S8xxx or X S9x
42. is set to 4005 4001 JMP to location in 4002 4002 Location of start of PLCC is set to 4003 4003 RTS Instruction 4004 Start of PLCC Program set RTS instruction 60 16 Axis MACRO Station MacPLCCs 16 Axis MACRO CPU Software Reference Manual MAC PLCC Related ASCII Commands Commands Operation SAVE Saves PLCCs from 4000 to 4000 Disable PLCC amp D Sets 4002 4003 Enable PLCC Sets 4002 4004 e Restores 4000 4004 to default above Restore from saved 4000 to 4000 end of PLCC If it is saved in disable state will come up enabled Download Start of download sends MI15 0 and at end of download sets 4002 4004 MI15 1 Enables the JSR to 4001 Runs MacPLCC 16 Axis MACRO Station MacPLCCs 61 16 Axis MACRO CPU Software Reference Manual 62 16 Axis MACRO Station MacPLCCs 16 Axis MACRO CPU Software Reference Manual 16 AXIS MACRO CPU STATION SERIAL COMMANDS The 16 Axis MACRO Station can accept ASCII text commands directly through the serial port at connector J7 on the CPU Interface Board or in auxiliary mode from a Turbo PMAC over the MACRO ring using MACSTASCII commands Serial communications is at 9600 baud CPU board jumper E3 connecting pins and 2 or 38400 baud E3 connecting pins 2 and 3 eight bits one stop bit no parity These commands are intended for basi
43. node MI917 Output n Invert Control Range 0 3 Units none 0 Do not invert Outputs A amp B Do not invert Output C 1 Invert Outputs A amp B Do not invert Output C 2 Do not invert Outputs A amp B Invert Output C 3 Invert Outputs A amp B Invert Output C Default 0 MI917 controls the polarity of the command output signals for Channel n The default non inverted outputs are high true For PWM signals on Outputs A B and C this means that the transistor on signal is high Delta Tau PWM input amplifiers and most other PWM input amplifiers expect this non inverted output format For such a 3 phase motor drive MI917 should be set to 0 For PFM signals on Output C non inverted means that the pulse on signal is high direction polarity is controlled by MI918 During a change of direction the direction bit will change synchronously with the leading edge of the pulse which in the non inverted form is the rising edge If the drive requires a set up time on the direction line before the rising edge of the pulse the pulse output can be inverted so that the rising edge is the trailing edge and the pulse width established by MI904 or MI908 is the set up time For DAC signals on Outputs A and B non inverted means that a value to the DAC is high DACs used on Delta Tau accessory boards as well as all other known DACs always expect non inverted inputs so MI917 should always be set to 0 or 2 when using DACs on Channel n
44. of Process Defined 1 Additional Line 277 Additional Line lines 0x 1 1 T Extension of Incremental Encoder 1x 1 ACC 28 style A D converter high 16 bits no rollover 2x 2 Parallel Y word data no filtering Bits Used Mask 3x 3 Parallel Y word data with Bits Used Mask Max Change per Cycle filtering 4x 2 Time Base scaled digital Time Base Scale Factor differentiation 5x 2 Integrated ACC 28 style A D Input Bias converter 6x 2 Parallel X word data no filtering Bits Used Mask 7x 3 Parallel X word data with Bits Used Mask Max Change per Cycle filtering 8x 1 Parallel Extension of Incremental Encoder 9x 2 Triggered Time Base frozen Time Base Scale Factor Ax 2 Triggered Time Base running Time Base Scale Factor Bx 2 Triggered Time Base armed Time Base Scale Factor Cx 1 Incremental Encoder no extension 16 16 Axis MACRO Station MI Variable Reference 16 Axis MACRO CPU Software Reference Manual Dx 3 Exponential filter of parallel data Max Change per Cycle Filter Gain Inverse Time Constant Ex 1 Sum or difference of entries Fx 3 High resolution Interpolator Address of 1 A D A D Bias Term converter Digital Incremental Encoder Entries 0x Cx These two conversion table methods utilize the incremental encoder registers in the DSPGATE ASICs on the Station Each method provides a processed result with the units of 1 32
45. off and the bottom signal turning on and vice versa is specified in units of 16 PWM_ CLK cycles This means that the deadtime can be specified in increments of 0 135 usec The equation for MI904 as a function of PWM deadtime is MI904 Deadtime usec 0 135 usec The PFM pulse width is specified in PFM_CLK cycles as defined by MI903 The equation for MI904 as a function of PFM pulse width and DEM CLK frequency is MI904 PFM_CLK Freq MHz PFM pulse width usec In PFM pulse generation the minimum off time between pulses is equal to the pulse width This means that the maximum PFM output frequency is PFM Max Freq MHz PFM_CLK Freq 2 MI904 Examples A PWM deadtime of approximately 1 microsecond is desired MI904 1 usec 0 135 usec 7 With a 2 4576 MHz PFM_ CLK frequency a pulse width of 0 4 usec is desired MI904 2 4576 MHz 0 4 usec 1 See Also M1908 MI994 MS anynode MI905 DAC 1 4 Strobe Word Range 000000 FFFFFF Units Serial Data Stream MSB first starting on rising edge of phase clock Default 7FFF00 for 16 bit DAC data MI905 controls the DAC strobe signal for machine interface channels 1 4 The 24 bit word set by MI905 is shifted out serially on lines DAC_STROB1 4 MSB first one bit per DAC_CLK cycle starting on the rising edge of the phase clock The value in the LSB is held until the next phase clock cycle ACC 24E2A backplane analog axis interface boards have 18 bit DACs MI90
46. on the LIMn flags you probably will want to disable their normal functions with Ix25 or use a channel n where none of the flags is used for the normal axis functions 16 Axis MACRO Station MI Variable Reference 41 16 Axis MACRO CPU Software Reference Manual MS node MI914 Encoder n Gated Index Select Range 0 1 Units none 0 Use ungated index for encoder position capture 1 Use index gated by quadrature channels for position capture Default 0 When MI914 is set to 0 the index channel input CHCn for the encoder mapped to the specified MACRO node is passed directly into the position capture circuitry When MI914 is set to 1 the encoder index channel input CHCn is logically combined with gated by the quadrature signals of Encoder n before going to the position capture circuitry The intent is to get a gated index signal exactly one quadrature state wide This provides a more accurate and repeatable capture and makes the use of the capture function to confirm the proper number of counts per revolution very straightforward In order for the gated index capture to work reliably the index pulse must reliably span one but only one high high or low low AB quadrature state of the encoder M1915 allows you to select which of these two possibilities is used MS node MI915 Encoder n Index Gate State Range 0 1 Units none 0 Gate index with high high quadrature state GI A
47. register addressed Default none The CPU MACRO SERVO gate auto detection is stored in X MI200 with the previously saved value in Y MI200 MI210 to MI225 are the IDENT Inn variables that further refine the card type options and revision number MI200 is a 48 bit variable 30 16 Axis MACRO Station MI Variable Reference 16 Axis MACRO CPU Software Reference Manual MACRO SERVO ICs Gate Addr MInns X MI200 Bit Chip Select IDENT Minns C080 COBF 1990 999 1 MACRO CS4 NA COCO S COFF 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 88E8 8060 807F 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 98EC A000 A01F 1900 1939 40 CS2 1218 A8C8 A040 A05F 1900 1939 80 CS3 1219 SA8CC A020 A03F 1900 1939 10000 CS2 Aux 1220 A8E8 A060 A07F 1900 1939 20000 CS3 Aux 1221 SA8EC B000 B01F 1900 1939 100 CS2 1222 B8C8 B040 B05F 1900 1939 200 CS3 1223 B8CC B020 B03F 1900 1939 40000 CS2 Aux 1224 B8E8 B060 B07F 1900 1939 80000 CS3 Aux 1225 SB8EC At PWR ON if the firmware auto detection finds that the configura
48. vice versa Note If you change the direction sense of an encoder with a properly working servo without also changing the direction sense of the output you can get destabilizing positive feedback to your servo and a dangerous runaway condition In the pulse and direction decode modes PMAC is expecting the pulse train on CHAn and the direction sign signal on CHBn Ifthe signal is unidirectional the CHBn line can be allowed to pull up to a high state or it can be hardwired to a high or low state If MI910 is set to 8 the decoder inputs the pulse and direction signal generated by Channel n s pulse frequency modulator PFM output circuitry This permits the 16 Axis MACRO Station to create a phantom closed loop when driving an open loop stepper system No jumpers or cables are needed to do this the connection is entirely within the ASIC The counter polarity automatically matches the PFM output polarity If MI910 is set to 12 the timer circuitry is set up to read magnetostrictive linear displacement transducers MLDTs such as Temposonics In this mode the timer is cleared when the PFM circuitry sends out the excitation pulse to the sensor on PULSEn and it is latched into the memory mapped register when the excitation pulse is received on CHAn If MI910 is set to 11 or 15 the channel is set up to accept 3 phase hall effect style inputs on the A B and C inputs decoding 6 states per cycle MS node MI911 Posi
49. width and PFM_CLK frequency is MI994 PFM_CLK Freq MHz PFM pulse width usec In PFM pulse generation the minimum off time between pulses is equal to the pulse width This means that the maximum PFM output frequency is PFM Max Freq MHz PFM_CLK Freq 2 MI994 Examples A PWM deadtime of approximately 1 microsecond is desired MI994 1 usec 0 135 usec 7 With a 2 4576 MHz PFM_CLK frequency a pulse width of 0 4 usec is desired MI994 2 4576 MHz 0 4 usec 1 52 16 Axis MACRO Station MI Variable Reference 16 Axis MACRO CPU Software Reference Manual MS anynode MI995 MACRO Ring Configuration Status Range 0000 FFFF 0 65 535 Units none Default 0080 MI995 contains configuration and status bits for MACRO ring operation of the 16 Axis MACRO Station There are 11 configuration bits and 5 status bits as follows Bit Value Type Function Data Overrun Error cleared when read Byte Violation Error cleared when read Packet Parity Error cleared when read Packet Underrun Error cleared when read Master Station Enable Synchronizing Master Station Enable Sync Node Packet Received cleared when read Sync Node Phase Lock Enable Node 8 Master Address Check Disable 9 Node 9 Master Address Check Disable 10 Node 10 Master Address Check Disable 11 Node 11 Master Address Check Disable 12 Node 12 Master Address Check Disable 13 Node 13 Master Address Check Disable 14 Node 14 Master Addres
50. will be required to change the setting of MI907 from the default value 16 Axis MACRO Station MI Variable Reference 37 16 Axis MACRO CPU Software Reference Manual The encoder sample clock signal SCLK controls how often the 16 Axis MACRO Station s digital hardware looks at the encoder and flag inputs The 16 Axis MACRO Station can take at most one count per SCLK cycle so the SCLK frequency is the absolute maximum encoder count frequency SCLK also controls the signal propagation through the digital delay filters for the encoders and flags the lower the SCLK frequency the greater the noise pulse that can be filtered out The SCLK frequency should optimally be set to the lowest value that can accept encoder counts at the maximum possible rate The pulse frequency modulation clock PFM_CLK controls the PFM circuitry that is commonly used for stepper drives The maximum pulse frequency possible is 1 4 of the PFM_CLK frequency The PFM_CLK frequency should optimally be set to the lowest value that can generate pulses at the maximum frequency required The DAC CLK controls the serial data frequency into D A converters If these converters are on Delta Tau provided accessories the DAC _CLK setting should be left at the default value The ADC_CLK controls the serial data frequency from A D converters If these converters are on Delta Tau provided accessories the ADC_CLK setting should be left at the default value Example See MI903 Example
51. 000 MI39 42 40000000000 MI63 19 80000 MI40 43 80000000000 MI64 20 100000 MI41 44 100000000000 MI65 21 200000 MI42 45 200000000000 MI66 22 400000 MIO 46 400000000000 MI67 23 800000 MI44 47 800000000000 MI68 MS anynode MI21 MI68 Data Transfer Source and Destination Address Range 000000000000 FFFFFFFFFFFF Units Double 16 Axis MACRO Station Addresses Default 0 These MI variables each specify a data transfer copying operation that will occur on the 16 Axis MACRO Station at a rate specified by Station Variable MI19 and enabled by Station variable MI20 Each variable specifies the address from which the data will be copied read and the address to which the data will be copied written These variables are 48 bit values usually specified as 12 hexadecimal digits The first 24 bits 6 hex digits specify the address of the register on the 16 Axis MACRO Station from which the data is to be copied the second 24 bits six hex digits specify the address on the 16 Axis MACRO Station to which the data is to be copied In each set of six hex digits the last four hex digits specify the actual address The first two digits eight bits specify what portion of the address is to be used The following diagram shows what each digit represents Hex Digit 1 2 3 4 5 6 7 8 9 10 11 12 Contents From From Register Address To To Register Address Register Register Format Format Co
52. 02 Y 4 2 U 82 X 2 1 U 03 Y 6 2 U 83 X 3 1 U 04 Y 8 2 U 84 X 4 1 U 05 Y 10 2 U 85 X 5 1 U 06 Y 12 2 U 86 X 6 1 U 07 Y 14 2 U 87 X 7 1 U 08 Y 16 2 U 88 X 8 1 U 09 Y 18 2 U 89 X 9 1 U 0A Y 20 2 U 8A X 10 1 U 0B Y 22 2 U 8B X 11 1 U 0C 8C X 12 1 U 0D 8D X 13 1 U 0E 8E X 14 1 U 0F 8F X 15 1 U 10 Y 0 1 U 90 X 16 1 U 11 Y 1 1 U 91 X 17 1 U 12 Y 2 1 U 92 X 18 1 U 13 Y 3 1 U 93 X 19 1 U 14 Y 4 1 U 94 X 20 1 U 15 Y 5 1 U 95 X 21 1 U 16 Y 6 1 U 96 X 22 1 U 28 16 Axis MACRO Station MI Variable Reference 16 Axis MACRO CPU Software Reference Manual MI198 Format Digits continued MI198 Address Starting Bit Format MI198 Address Starting Bit Format Digits Space Bit Width Digits Space Bit Width 17 Y 7 1 U 97 X 23 1 U 18 Y 8 1 U 98 X 0 4 U 19 Y 9 1 U 99 X 0 4 S 1A Y 10 1 U 9A 1B Y 11 1 U 9B 1C Y 12 1 U 9C X 4 4 U 1D Y 13 1 U 9D X 4 4 S SIE Y 14 1 U 9E 1F Y 15 1 U 9F 20 Y 16 1 U A0 X 8 4 U 21 Y 17 1 U A1 X 8 4 S 22 Y 18 1 U A2 23 Y 19 1 U 43 24 Y 20 1 U A4 X 12 4 U 25 Y 21 1 U A5 X 12 4 S 26 Y 22 1 U A6 27 Y 23 1 U A7 28 Y 0 4 U A8 X 16 4 U 29 Y 0 4
53. 1 9059 4 ACC 24E2x Y S8xxx or Y S9xxx X S8xxx or X S9xxx Channel n Time since last encoder count SCLK cycles Channel n Encoder phase position counts Servo Chan 1 Chan 2 Chan 3 Chan 4 Notes IC 2 8002 800A 8012 801A 1 ACC 24E2x 3 8042 804A 8052 805A 2 ACC 24E2x 4 9002 900A 9012 901A 3 ACC 24E2x 5 9042 904A 9052 905A 4 ACC 24E2x Y 8xxx or Y 9xxx Channel n Output A Command Value Bits 8 23 PWM Command Value 6 23 Serial DAC Command Value 0 5 Not Used X S8xxx or X S9xxx Channel n Encoder Servo Position Capture Register Bits 0 Direction of last count O up 1 down 1 23 Position counter units of counts Servo Chan 1 Chan 2 Chan 3 Chan 4 Notes IC 2 8003 800B 8013 801B IT ACC 24E2x 3 8043 804B 8053 805B 2 ACC 24E2x 4 9003 900B 9013 901B 3 ACC 24E2x 5 9043 904B 9053 905B AT ACC 24E2x Y 8xxx or Y 9xxx Channel n Output B Command Value Bits 8 23 PWM Command Value 6 23 Serial DAC Command Value 0 5 Not used X 8xxx or X 9xxx Channel n Flag Position Capture Value 24 bits in counts MS node MI921 Servo Chan 1 Chan 2 Chan 3 Chan 4 Notes IC 2 8004 800C 8014 801C 1 ACC 24E2x 3 8044 804C 8054 805C 2 ACC 24E2x 4 9004 900C 9014 901C 3 ACC 24E2x 5 9044 904C 9054 90
54. 10 9008 m09008 3 8010 m08010 11 9010 m09010 4 8018 m08018 12 9018 m09018 5 8040 m08040 13 9040 m09040 6 8048 m08048 14 9048 m09048 7 8050 m08050 15 9050 m09050 8 8058 m08058 16 9058 m09058 These are single line entries in the table so the next line MI Variable is the start of the next entry Analog Incremental Encoder Entries 8x Fx These two entries process data from analog sinewave encoders through a Delta Tau interpolator providing a high number of position states per line using fractional count data Low Resolution With the 8x method the fractional data is computed by reading the five inputs at bits 19 23 of the specified address USER W V U and T flag inputs respectively This technique is known as parallel extension and can be used with an analog incremental encoder processed through accessories for the older Macro Stack Technology This entry will not be utilized very often since the 16 Axis Macro Station is used in backplane mode only 16 Axis MACRO Station MI Variable Reference 17 16 Axis MACRO CPU Software Reference Manual High Resolution With the Fx method the table computes the fractional information using the A D converter data from an ACC 51E high resolution encoder interpolator producing a value with 4096 states per line The entry must read both an encoder channel for the whole number of lines of the encoder and a pair of A D converters to
55. 10 2 U 76 S F6 X 12 2 U 77 F7 X 14 2 U 78 Y 0 24 U F8 X 16 2 U 79 Y 0 24 S F9 X 18 2 U 7A SFA x 20 2 U 7B FB X 22 2 U MS anynode MI199 Direct Read Write Variable Range 8 388 608 16 777 215 Units dependent on register addressed Default none MI199 is a variable that can be addressed to any register in the 16 Axis MACRO Station s memory and LO map in order to read a value directly from that register or write a value directly to that register This permits easy access to any register on the 16 Axis MACRO Station The address of the register to be accessed which part of this register and how the data is to be interpreted is set by MI198 The value of MI198 must be set properly before MI199 can be used to access the register For repeated access of the same register with MI199 MI198 only needs to be set once Example MSO MI198 79C03C Set to Y C03C 0 24 S PFM8 command value MSO MI199 Request value of this register 0 PMAC reports this value MSO M1199 65536 Set to new value through PMAC Global MACRO SERVO IC I O Identification and Status Ml Variables These variables are use to help identify the MACRO Servo and I O boards located in the UBUS rack They are similar to the Turbo PMAC 14900 type variables They are global to the CPU and not a function of the MACRO IC MS anynode MI200 MACRO SERVO ICs Detected amp Saved Range 0 Units dependent on
56. 16 Axis MACRO CPU Software Reference Manual Mi constant constant Set Station MI Variable Value The MI constant constant command causes the 16 Axis MACRO Station to set the value of the specified MI variable to the specified value MM constant Report Station MM Variable Value The MM constant command causes the 16 Axis MACRO Station to report the current value of the specified MM variable MM constant constant Set Station MM Variable Value The MM constant constant command causes the 16 Axis MACRO Station to set the value of the specified MM variable to the specified value MP constant Report Station MP Variable Value The MP constant command causes the 16 Axis MACRO Station to report the current value of the specified MP variable MP constant constant Set Station MP Variable Value The MP constant constant command causes the 16 Axis MACRO Station to set the value of the specified MP variable to the specified value MM constant gt Report Station MM Variable Definition The MM constant gt command causes the 16 Axis MACRO Station to report the current definition of the specified MM variable MM constant gt X Y offset width format Set Station MM Variable Definition The MM constant gt X Y offset width format command causes the 16 Axis MACRO Station to set the value of the specified MM variable memory location to the specified 1 to 24 bit integer signed or unsigned definiti
57. 180 The MACRO Servo node X part is generated from MI176 The X and Y parts determine the data flow path between the MACRO Servo node and Servo IC machine interface channel MS anynode MI189 MACRO Encoder IC 3 Base Address Range 000000 00FFFF Units Modified 16 Axis MACRO Station Addresses Default 0 This is the base address of the third SERVO IC attached to the MACRO IC MS anynode MI190 MACRO Encoder IC 4 Base Address Range 000000 00FFFF Units Modified 16 Axis MACRO Station Addresses Default 0 This is the base address of the fourth SERVO IC attached to the MACRO IC MS anynode MI191 Ml196 Encoder Channels 9 14 Base Address Range 000000 00FFFF Units Modified 16 Axis MACRO Station Addresses Default These are 24 bit read only MI variables are generated from MI189 and MI190 They determine the encoder interface channel base address MS anynode MI197 Reserved for Future use Range 0 Units Modified 16 Axis MACRO Station Addresses Default 0 16 Axis MACRO Station MI Variable Reference 27 16 Axis MACRO CPU Software Reference Manual MACRO IC I O Transfer Ml Variables Each MACRO IC 0 and 1 has its own set of these variables Therefore they are access through their MACRO IC MS anynode MI198 Direct Read Write Format and Address Range 000000 FFFFFF Units Modified 16 Axis MACRO Station Addresses Default 000000 MI198 controls the address
58. 23 Compare Auto Increment Fale 44 MSf node MI924 ADC B Input Value Read On 44 MSfnode MI925 Compare A Position Fale 44 MSfnode MI926 Compare B Position Fale 44 MSf node MI927 Encoder Loss Status Bit 45 MSf node MI928 Compare State Write Enable w c cceccccccscssseesceseeseesetscenecseeeecseescecseeseceeseesecieeaeseeeeenaeenents 45 MSfnode MI929 Compare Output Initial State 45 MS node MI930 Absolute Power On Position Read On 45 MSf node MI931 MI937 Reserved for Future use 46 MSf node MI938 Servo IC Status Word Read On 46 MSf node MI939 Servo IC Control Word Read Oh 46 MACRO SERVO IC 4 Axis Servo IC Mivanables 46 Table of Contents 5 16 Axis MACRO CPU Software Reference Manual MSfanynode M1940 ADC1 4 Strobe Word w cceccccccccesessssseesseescnseeseesesseesecsessecsecaesecaseeseaeeseeseseeaeceseeeneeereegs 46 MSfanynode MIZ ADC5 8 Strobe Word w ccecccccsccesessesessseescuseesensesscesecseeecsecsesecseeeenseeseeseceeaeseseeeneeeneeas 46 MACRO IC Mi varta bles a vies orman a AEO E sucedulss avdgauat eveqiest E A sleguesssveniess 46 MSfanynode M1942 ADC Strobe Word Channel 1 amp 2 NOt sed 46 MSfanynode MIZ Phase and Servo Direction 47 MSfanynode M1944 M1949 Reserved for future use ccecccccceccsseeccesseseeseeeeecneeeecnseesenseeseescnseeseeseseeneeateets 47 MACRO IC Setup Ml vanables ettn stnt Estet Es testent es esten te seene sene ena 47 MS anynode MI970 MI973 Reserved for Future Usel
59. 48 2277 MI993 has been set to 3429 What clock frequencies does this set N1 INT 3429 512 6 ADC_CLK 611 44 kHz MI993 3429 512 6 357 N2 INT 357 64 5 DAC_CLK 1 2288 MHz M1993 357 64 5 37 N3 INT 37 8 4 PFM_CLK 2 4576 MHz N4 37 8 4 5 SCLK 1 2288 MHz MS anynode MI994 PWM Deadtime PFM Pulse Width Control for Handwheel Range 0 255 Units PWM Deadtime 16 PWM_CLK MHz MI994 0 135 usec MI994 PFM Pulse Width 1 PFM_CLK MHz MI994 PFM_CLK period usec M1994 Default 15 PWM Deadtime 0 135 usec 15 2 03 usec PFM Pulse Width 1 9 8304 MHz 15 1 526 usec with default M1993 MI994 controls the deadtime period between top and bottom on times in the 16 Axis MACRO Station s automatic PWM generation for machine interface handwheel channels 19 and 2 In conjunction with MI993 it also controls the pulse width for PMAC2 s automatic pulse frequency modulation generation for these machine interface channels The PWM deadtime which is the delay between the top signal turning off and the bottom signal turning on and vice versa is specified in units of 16 PWM_CLK cycles This means that the deadtime can be specified in increments of 0 135 usec The equation for M1994 as a function of PWM deadtime is MI994 Deadtime usec 0 135 psec The PFM pulse width is specified in PFM_CLK cycles as defined by MI993 The equation for MI994 as a function of PFM pulse
60. 5 should be set to 7FFFCO See also MI909 MI999 MS anynode MI906 PWM 5 8 Frequency Control Range 0 32767 Units PWM Frequency 117 964 8 kHz 4 M1I906 6 Default 6257 PWM Frequency 117 964 8 26114 4 5163 kHz MI906 controls the PWM frequency for machine interface channels 5 8 It does this by setting the limits of the PWM up down counter which increments and decrements at the PWMCLK frequency of 117 964 8 kHz 117 9648 MHz The PWM frequency determines the actual switching frequency of amplifiers connected to any of the 16 Axis MACRO Station s first four machine interface channels with the direct PWM command The value of MI906 is only important if the direct PWM command signal format is used on channels 5 to 8 36 16 Axis MACRO Station MI Variable Reference 16 Axis MACRO CPU Software Reference Manual Generally MI906 is set to the same value as MI992 Ifa different PWM frequency is desired for channels 5 to 8 MI906 should be set so that it is an odd integer multiple e g 3x 5x 7x of MI992 or that MI992 is an odd integer multiple of MI906 This will keep the PWM hardware on channels 5 8 in synchronization with the software algorithms driven by the PHASE clock To set MI906 for a desired PWM frequency the following formula can be used MI906 117 964 8 kHz 4 PWM Freq kHz 1 rounded down Example A 30 kHz PWM frequency is desired for Channels 5 8 MI906 117 964 8 4 30 1
61. 5C 4 ACC 24E2x Y 8xxx or Y 9xxx Channel n Output C Command Value Bits 8 23 PWM Command Value 0 23 PFM Command Value X S8xxx or X S9xxx IC Global Control Word Backplane Channel 1 X 8004 Backplane Channel 5 X 8044 Backplane Channel 9 X 9004 Backplane Channel 13 X 9044 Clock Control Word X 8004 controls backplane channels 1 4 X 80444 controls backplane channels 5 8 16 Axis MACRO Station Memory and I O Map 75 16 Axis MACRO CPU Software Reference Manual Bits X 8004 bits 0 11 is 1903 X 8044 bits 0 11 is 1907 X 9004 bits 0 11 is 11903 X 9044 bits 0 11 is 11907 0 2 SCLK Frequency Control n f 39 3216MHz 2 n 0 7 3 5 PFM Clock Frequency Control n f 39 3216MHz 2 n 0 7 6 8 DAC Clock Frequency Control n f 39 3216MHz 2 n 0 7 9 11 ADC Clock Frequency Control n f 39 3216MHz 2 n 0 7 12 Phase Clock Direction O output 1 input This must be 0 in X 8004 1 in X 8044 if 2nd ASIC is used 13 Servo Clock Direction 0 output 1 input This must be 0 in X 8004 1 in X 8044 if 2nd ASIC is used 14 15 Reserved for future use report as zero X 8004 bits 16 19 is 1901 16 19 Phase Clock Frequency Control n f MAXPHASE n 1 n 0 15 value in X 8044 not used X C004 bits 20 23 is 1902 20 23 Servo Clock Frequency Control n f PHASE n 1 n 0 15 value in X 8044 not used Backplane Channel 2 X 800C Backplane Channel 6 X 804C DAC Strobe Word 24 bits X 800C contr
62. 9 83 MACRO CPU Node Addresses sarrien a a eae e aeaea e a E EE ode 86 Table of Contents 7 16 Axis MACRO CPU Software Reference Manual 16 AXIS MACRO STATION MI VARIABLE REFERENCE The 16 Axis MACRO Station is set up through its own set of initialization I variables which are distinct from the I variables on PMAC Usually they are referenced as MI variables e g MI900 to distinguish them from the PMAC s own I variables although they can be referenced just as I variables These MI variables can be accessed from the Turbo PMAC2 Ultralite through the on line MS node MI variable read and MS node MI variable constant write commands or the MSR node MI variable PMAC variable read copy and MSW node MI variable PMAC variable write copy commands either on line or background PLC where node specifies the MACRO node number 0 to 15 variable specifies the number of the Station MI variable 0 1999 constant represents the numerical value to be written to the Station MI variable or PMAC variable specifies the value to be copied to or from the Station MI variable For most Station MI variables the node specifier can take the number of any active node on the station usually the lowest numbered active node These variables have MS anynode in the header of their descriptions below However there are several node specific MI variables These variables are in the range MI910 to MI
63. 9 is greater than 0 its value sets the period in Phase clock cycles the same as MACRO communications cycles at which the transfer is done MS anynode MI20 Data Transfer Enable Mask Range 000000000000 FFFFFFFFFFFF Units Bits Default 0 MI20 controls which of 48 possible data transfer operations are performed at the data transfer period set by MI19 MI20 is a 48 bit value each bit controls whether the data transfer specified by one of the variables MI21 through MI68 is performed The relationship of MI20 bits to MI21 MI68 transfers is explained in the following table 16 Axis MACRO Station MI Variable Reference 7 16 Axis MACRO CPU Software Reference Manual MI20 Bit Bit Transfer MI20 Bit Bit Value Transfer Value Control Control MI Variable MI Variable 0 1 MI21 24 1000000 MI45 1 2 MI22 25 2000000 MI46 2 4 MI23 26 4000000 MI47 3 8 MI24 27 8000000 MI48 4 10 MI25 28 10000000 MI49 5 20 MI26 29 20000000 MI50 6 40 MI27 30 40000000 MI51 7 80 MI28 31 80000000 MI52 8 100 MI29 32 100000000 M153 9 200 MI30 33 200000000 MI54 10 400 MI31 34 400000000 MI55 11 800 MI32 35 800000000 MI56 12 1000 MI33 36 1000000000 MI57 13 2000 MI34 37 2000000000 MI58 14 4000 MI35 38 4000000000 MI59 15 8000 MI36 39 8000000000 MI60 16 10000 MI37 40 10000000000 MI61 17 20000 MI38 41 20000000000 MI62 18 40
64. 905D AT ACC 24E2x Y 8xxx or Y 9xxx Channel n ADC A Input Value MS node MI922 Bits 6 23 Serial ADC Value 0 5 Not used X S8xxx or X S9xxx Channel n Control Word Bits 0 3 MS node MI910 Bits 0 1 Encoder Decode Control 00 Pulse and direction decode 01 x1 quadrature decode 10 x2 quadrature decode 11 x4 quadrature decode 2 3 Direction amp Timer Control 00 Standard timer control external signal source no inversion 01 Standard timer control external signal source invert direction 10 Standard timer control internal PFM source no inversion 11 Alternate timer control external signal source 4 5 Position Capture Control MS node MI9 12 00 Software capture by setting bit 6 01 Use encoder index alone 10 Use capture flag alone 11 Use encoder index and capture flag 6 Index Capture Invert Control O no inversion 1 inversion T Flag Capture Invert Control 0 no inversion 1 inversion 8 9 Capture Flag Select Control MS node MI913 00 Home Flag HMFLn 01 Positive End Limit PLIMn 10 Negative End Limit MLIMn 11 User Flag USERn 10 Encoder Counter Reset Control 1 reset 11 Position Compare Initial State Write Enable MS node MI928 12 Position Compare Initial State Value MS node MI929 13 Position Compare Channel Select MS node MI911 0 use this channel s encoder 1 use first encoder on IC 14 AENAn output value 15 Gated Index Select for Position Capture MS node MI914 O ungated
65. 939 For these variables the node specifier must contain the specific node number for the MACRO node they affect These variables have MS node in the header of their descriptions below Global Ml Variables MS anynode MIl0 Station Firmware Version Read Only Range 1 200 9 999 Units Revision numbers Example MSO MIO 1 200 MS anynode MI1 Station Firmware Date Read Only Range 01 01 00 12 31 99 Units MM DD YY This variable when queried reports the date of implementation of the firmware on the 16 Axis MACRO Station The date is reported in the North American style of month day year with two decimal digits for each The PMAC command MSDATE which polls this value turns the year into a 4 digit value before reporting the value to the host computer MS anynode MI2 Station ID and User Configuration Word Range 000000 FFFFFF Units none Default 0 This variable permits the user to write a station identification number to the 16 Axis MACRO Station Typically when the software setup of a Station is complete a unique value is written to this MI variable in the station and saved with the other MI variables On power up reset the controller can query MI2 as a quick test to see if the Station has been set up properly for the application If it does not report the expected value the controller can download and save the setup values 16 Axis MACRO Station MI Variable Reference 1 16 Axis MA
66. 982 See Also MI900 M1992 MS anynode MI907 Hardware Clock Control Channels 5 8 Range 0 4095 Units MI907 Encoder SCLK Divider 8 PFM CLK Divider 64 DAC CLK Divider 512 ADC CLK Divider where Encoder SCLK Frequency 39 3216 MHz 2 Encoder SCLK Divider PFM_CLK Frequency 39 3216 MHz 2 PFM_CLK Divider DAC_CLK Frequency 39 3216 MHz 2 DAC_CLK Divider ADC CLK Frequency 39 3216 MHz 2 ADC_CLK Divider Default 2258 2 8 2 64 3 512 4 Encoder SCLK Frequency 39 3216 MHz 2 2 9 8304 MHz PFM_CLK Frequency 39 3216 MHz 2 2 9 8304 MHz DAC_CLK Frequency 39 3216 MHz 2 3 4 9152 MHz ADC CLK Frequency 39 3216 MHz 2 4 2 4576 MHz MI907 controls the frequency of four hardware clock frequencies for the second group of four machine interface channels on the 16 Axis MACRO Station channels 5 8 It is a 12 bit variable consisting of four independent 3 bit controls one for each of the clocks Each of these clock frequencies can be divided down from a starting 39 3216 MHz frequency by powers of 2 from to 128 times This means that the possible frequency settings for each of these clocks are Frequency Divide by Divider N in 1 24N 39 3216 MHz 1 0 19 6608 MHz 2 1 9 8304 MHz 4 2 4 9152 MHz 8 3 2 4576 MHz 16 4 1 2288 MHz 32 5 611 44 kHz 64 6 305 72 kHz 128 7 Very few 16 Axis MACRO Station users
67. A015 00A01D 6th 00A045 00A04D 00A055 00A05D 7th 00B005 00B00D 00B015 00B01D 8th 00B045 00B04D 00B055 00B05D A D Bias Term The third line of the entry contains the bias in the A D converter values This line should contain the value that the A D converters report when they should ideally report zero The 16 Axis MACRO Station subtracts this value from both A D readings before calculating the arctangent Many users will leave this value at 0 but it is particularly useful to remove the offsets of single ended analog encoder signals This line is scaled so that the maximum A D converter reading provides the full value of the 24 bit register 2 Generally it is set by reading the A D converter values directly as 24 bit values computing the average value over a cycle or cycles and entering this value here Conversion Result The result of the conversion is placed in the X register of the third line of the entry Careful attention must be paid to the scaling of this 24 bit result The least significant bit Bit 0 of the result represents 1 4096 of a line of the sine cosine encoder 18 16 Axis MACRO Station MI Variable Reference 16 Axis MACRO CPU Software Reference Manual When this data is passed to a PMAC and it reads this data for servo use with Ix03 Ix04 Ix05 or Ix93 it expects to find data in units of 1 32 of acount Therefore PMAC software regards this format as producing 128 counts per line The fact
68. A13 0 A12 0 16 Axis MACRO Station Memory and I O Map 16 Axis MACRO CPU Software Reference Manual X Y SB840 UBUS Port I O Base Address 2D CS12 A13 0 A12 1 X Y SB880 UBUS Port I O Base Address 4D CS14 A13 1 A12 0 X Y SB8CO UBUS Port I O Base Address 6D CS16 A13 1 A12 1 DSPGATE2 Registers Values shown are for MACRO IC 0 For MACRO IC 1 add 40 to the addresses Y C080 General I O Data Register Note The pins associated with this register are used for other purposes on the 16 Axis MACRO Station Bits 0 1 000 Data Value 23 1 023 Data Value X CcC080 General I O Data Direction Control Note The pins associated with this register are used for other purposes on the 16 Axis MACRO Station Bits 0 1 000 Direction Control 23 1 023 Direction Control All bits 0 Input 1 Output Y C081 General I O Data Register Bits 0 1 024 SELO pin Data Value 7 1 031 SEL7 pin Data Value 8 1 024 Latched Data Value 15 1 031 Latched Data Value 16 23 Not used X C081 General I O Direction Control Bits 0 1 024 SELO pin Direction Control 7 1 031 SEL7 pin Direction Control All bits 0 Input 1 Output 8 23 Not used Y C082 General I O Data Register Note The pins associated with this register are used for other purposes on the 16 Axis MACRO Station Bits 0 DATO Data Value 7 DAT7 Data Value 8 SELO Data Value 15 SEL7 Data Value 16 23 Not used 16 Axis MACRO Station Memory a
69. Bit Parallel in high 12 bits of Used for ACC 1E B2 or ACC 6E A D converter 24 bit word feedback 48 56 Single X Word Parallel 8 to 24 Value in B16 23 is number of bits to read C8 D6 bits 57 6A Double X Word Parallel 25 to Value in B16 23 is number of bits most D7 EA 42 bits significant bits are at address 1 71 F1 Yaskawa Absolute Encoder Used for ACC 8D Opt 9 connected to CPU board Converter thru Multiplexer Port JTHW port address is multiplexer port address 00 FF 72 F2 Yaskawa Absolute Encoder Used for ACC 8D Opt 9 connected to CPU board Converter thru RS 232 interface serial port If Bit 23 of MI1 1x is set to 1 providing the value for Bits 16 23 shown in parentheses then the position value read is sign extended to produce a signed position value If Bit 23 is set to 0 no sign extension is performed producing an unsigned positive position value Bit 23 of PMAC s Ix10 for the motor using this MACRO node must be the same as Bit 23 of the Station s MI1 1x MS anynode MI119 Reserved for Future Use MS anynode MI120 MI151 Encoder Conversion Table Entries Range 000000 FFFFFF Units Extended 16 Axis MACRO Station Addresses Default dependent on SW1 setting MI120 through MI151 form the 32 setup lines of the 16 axis MACRO Station s Encoder Conversion Table ECT The Encoder Conversion Table on the Station is similar in concept to that of the PMAC or PMAC2 itself it is ide
70. Bits Default FFFFFE MI940 specifies the strobe word for the serial A D converters connected to the first 4 axis interface board defined by MI179 The bits of the strobe word are shifted out one bit per ADC_CLK cycle MSB first starting on the rising edge of the phase clock The default value is suitable both for current feedback ADCs on ACC 8K boards or in most direct PWM amplifiers and for ACC 28B general purpose ADCs MS anynode MI941 ADC5 8 Strobe Word Range 000000 FFFFFF Units Individual Bits Default FFFFFE MI941 specifies the strobe word for the serial A D converters connected to the second 4 axis interface board defined by MI180 The bits of the strobe word are shifted out one bit per ADC_CLK cycle MSB first starting on the rising edge of the phase clock The default value is suitable both for current feedback ADCs on ACC 8K boards or in most direct PWM amplifiers and for ACC 28B general purpose ADCs MACRO IC Ml variables Each MACRO IC has a set of these variables and they are used to setup each MACRO IC MS anynode MI942 ADC Strobe Word Channel 1 amp 2 Not used Range 000000 FFFFFF Units Individual Bits Default FFFFFE 46 16 Axis MACRO Station MI Variable Reference 16 Axis MACRO CPU Software Reference Manual MS anynode MI943 Phase and Servo Direction Range 0 3 Units Individual Bits Default This MI variable is setup by MI14 and should not be written to
71. C CLK controls the serial data frequency to D A converters for the 2 axis board either the on board converters that come with Option A or the external converters on an ACC 8E board To determine the clock frequencies set by a given value of M1993 use the following procedure 1 Divide MI993 by 512 and round down to the nearest integer This value N1 is the ADC_CLK divider 2 Multiply N1 by 512 and subtract the product from M1993 to get MI993 Divide MI993 by 64 and round down to the nearest integer This value N2 is the DAC_CLK divider not relevant here 3 Multiply N2 by 64 and subtract the product from MI993 to get M1993 Divide MI993 by 8 and round down to the nearest integer This value N3 is the PFM_CLK divider 4 Multiply N3 by 8 and subtract the product from M1993 The resulting value N4 is the SCLK divider 16 Axis MACRO Station MI Variable Reference 51 16 Axis MACRO CPU Software Reference Manual Examples The maximum encoder count frequency in the application is 800 kHz so the 1 2288 MHz SCLK frequency is chosen A pulse train up to 500 kHz needs to be generated so the 2 4576 MHz PFM CLK frequency is chosen ADCs and DACs are not used so the default DAC CLK frequency of 4 9152 MHz and the default ADC_CLK frequency of 2 4576 MHz are chosen From the table SCLK Divider N 5 PFM_CLK Divider N 4 DAC_CLK Divider N 3 ADC_CLK Divider N 4 MI993 5 8 4 64 3 512 4 5 32 192 20
72. C into which the value of the slave station variable is to be copied This command copies the value of the specified variable on PMAC into the specified MI MM or MP variable on the MACRO slave station or if a slave station C command number is specified it executes that command in which case the PMAC variable value is not really used The valid C commands are e C1 Clear station faults e C2 Reset station loading saved station MI variables e C3 Re initialize station loading default station MI variables e C4 Save station MI variables to non volatile memory The MI variable on the MACRO slave station can be global to the station or node specific The variable on the PMAC or PMAC2 can be any of the I P Q or M variable on the card If this command is issued to a PMAC while a PLC buffer is open it will be stored in the buffer as a PLC command not executed as an on line command Turbo PMAC Type 1 16 Axis MACRO Station Commands 69 16 Axis MACRO CPU Software Reference Manual Examples MSWO MI910 P35 Copies value of PMAC P35 into 16 Axis MACRO Station node 0 variable MI910 MSWO MP1 P35 Copies value of PMAC P35 into 16 Axis MACRO Station global variable MP1 MsW4 C4 P0 Causes 16 Axis MACRO Station with active node 4 to save its MI variable values to non volatile memory PO is a dummy variable here Turbo PMAC PLC Commands for Type 1 16 Axis MACRO Stations MS Variable Read Copy Syntax MACROSLVREAD node
73. CRO CPU Software Reference Manual MS anynode MI3 Station Rotary Switch Setting Range 00 FF Units none This variable when queried reports the setting of the two rotary hex switches on the 16 Axis MACRO Station The first hex digit reports the setting of SW1 the second reports the setting of SW2 Note It is possible to write a value to this variable but this should not be done MS anynode Ml4 Station Status Word Read Only Range 000000 FFFFFF Units Bits This variable when queried reports the value of the current status word bits for the 16 Axis MACRO Station The value reported should be broken into bits Each bit reports the presence or absence of a particular fault on the Station Ifthe bit is 0 the fault has not occurred since Station faults were last cleared If the bit is 1 the fault has occurred since Station faults were last cleared BITn Fault Description 0 CPU Fault No MACRO IC 1 detected 1 Ring Error Temporary 2 Ring Break 3 Station Fault Station Shutdown 4 Ring Fault Any permanent Ring fault 5 Spare 6 Amplifier Fault 7 Ring Break Received 8 Spare 9 Spare 10 Spare 11 Spare 12 Ring Active 13 Spare 14 Detected a MACRO or SERVO IC configuration change or SW1 change from last save 15 Detected UBUS SERVO IC 7 Attached to MACRO IC 0 amp 1 2 channels each 16 Detected UBUS SERVO IC 6 Attached to MACRO IC 1 17 Detected UBUS SERVO IC 5 Attached to
74. DAC Command Value 0 5 Not Used Channel n Encoder Servo Position Capture Register 0 Direction of last count O up 1 down 1 23 Position counter units of counts Chan 1 2 Hex c093 C09B Channel n Output B Command Value 8 23 PWM Command Value 6 23 Serial DAC Command Value 0 5 Not used Channel n Flag Position Capture Value 24 bits units of counts Chan 1 2 Hex C094 SCO9C Channel n Output C Command Value 8 23 PWM Command Value 0 23 PFM Command Value Channel 1 2 ADC Strobe Word 24 bits Shifted out MSB first one bit per DAC_CLK cycle starting on rising edge of phase clock Channel 1 2 PWM PFM MaxPhase Control Word 16 Axis MACRO Station Memory and I O Map 16 Axis MACRO CPU Software Reference Manual Bits Y SCO9x Bits X SCO9x Bits 0 7 8 23 6 23 PWM Dead Time 16 PWM CLK cycles also PFM pulse width PFM CLK cycles PWM Max Count Value PWM Frequency 117 96MHz 10 MaxCount 1 MaxPhase Frequency 2 PWM Frequency Chan 1 2 Hex c095 SCO9D Supplementary Channel n ADC A Input Value Serial ADC Value Not used 0 5 Channel n Control Word 0 1 2 3 4 5 Encoder Decode Control 00 Pulse and direction decode 01 x1 quadrature decode 10 x2 quadrature decode 11 x4 quadrature decode Direction amp Timer Control 00 St
75. Global Channel Status Setup Ml Variables Each MACRO IC 0 and 1 has its own set of these variables Therefore they are accessed through their MACRO IC For example MS0 MI16 accesses MACRO IC 0 s MI16 and MS16 MI16 accesses MACRO IC 1 s MI16 MACRO IC 1 s variables can be accessed can be accessed through MACRO IC 0 by adding 1000 to the MI variable For example MSO MI1016 accesses MACRO IC 1 s MI16 MS anynode MI16 Encoder Fault Reporting Control Range 0 1 Units none Default 0 MI16 permits the user to control which type of encoder error is reported back to PMAC in the channel status flag word for each servo interface channel If MI16 is set to 0 default then the encoder count error status bit bit 8 in the channel hardware status word for each encoder channel is copied into bit 8 of the matching node s status flag word for transmission back to the PMAC An encoder count error is reported when both A and B encoder signals have a transition in the same SCLK hardware sampling cycle 16 Axis MACRO Station MI Variable Reference 5 16 Axis MACRO CPU Software Reference Manual If MI16 is set to 1 then the ASIC s own encoder loss status bit bit 7 in the channel hardware status word for each encoder channel is copied into bit 8 of the matching node s status flag word for transmission back to the PMAC Note that this reporting function is unrelated to the automatic encoder loss shutdown function using external
76. I O nodes on the 16 Axis MACRO Station are nodes 2 3 6 7 10 and 11 which can be enabled by MI975 bits of these numbers Only bits 2 3 6 7 10 and 11 of MI975 should ever be set to 1 16 Axis MACRO Station MI Variable Reference 47 16 Axis MACRO CPU Software Reference Manual MI975 is used at the power on reset of the 16 Axis MACRO Station in combination with rotary switch SW1 and MI976 to determine which MACRO nodes are to be enabled The net result can be read in Station variable M1996 To get a value of MI975 to take effect the value must be saved MS SAVE node and the Station reset MS node Examples MSO MI975 4 Enable I O Node 2 alone MSO MI975 SC Enable I O Nodes 2 amp 3 MSO MI975 S 4C Enable I O Nodes 2 3 amp 6 MSO MI975 SCC Enable I O Nodes 2 3 6 amp 7 MSO MI975 S4CC Enable I O Nodes 2 3 6 7 amp 10 MSO MI975 SCCC Enable I O Nodes 2 3 6 7 10 amp 11 MS4 MI975 40 Enable I O Node 6 alone MS4 MI975 SCO Enable I O Nodes 6 amp 7 MS8 MI975 400 Enable I O Node 10 alone MS8 MI975 SC00 Enable I O Nodes 10 amp 11 MS anynode MI976 MACRO IC 0 Motor Node Disable Range 0000 FFFF Units none individual bits Default 0000 MI976 permits the disabling of MACRO IC 0 motor nodes that would be enabled by the setting of rotary switch SW1 MI976 is a 16 bit value bits 0 to 15 with bit n controlling the disabling of MACRO node n If the
77. IC Position Processing MI Vaables 13 MS anynode MI101 MI108 Ongoing Position Source Address cccccceccsecseesseeseeeseeseeeetesetenecuseseaetuseenseeaes 13 MSfanynode M1109 MI110 Reserved for Future Usel 14 MSfanynode MI111 MI118 Power Up Position Source Address esscr 14 MSfanynode MT119 Reserved for Future Usel 15 MSfanynode M1120 MI151_ Encoder Conversion Table Euties 15 MSfanynode M1152 MI153 Phase Clock Latched AO 21 MSfanynode M1154 MI160 Reserved for Future Usel 22 MSfanynode MT161 MI168 MLDT Frequency Control 22 MACRO IC VO Transfer MIE Variables ycs ssecscsssutaecotesesressgscgees cosegcess3sesreyssuess obsoseissiegeesedueae oxsgvess opedauguese obeguegeesesiess 23 MSfanynode M1169 AT 20 I O Board 72 Bit Transfer Control 23 MSfanynode M1171 M1172 MI173 1 O Board 144 Bit Transfer Control 24 MSfanynode M1174 MI175 12 Bit A D Transfer ecccccccceccccceseceeesceseeseesetseenecaeeecacensceseeseesesseeaeeteeeeneeeneegs 26 MACRO IC Node amp Servo Channel Address MI Vartables 26 MSfanynode MI176 MACRO IC Base Adcdrege 26 MS anynode MI177 MACRO IC Address for Node 3 26 MSfanynode M1178 MACRO IC Address for Node 3 26 MS anynode MI179 MACRO SERVO IC 1 Base Addreeg 26 MS anynode MI180 MACRO SERVO IC 2 Base Addreeg 27 MSfanynode M1181 MII88 MACRO SERVO Channels 1 8 Address 27 4 Table of Contents 16 Axis MACRO CPU Software Reference Manual MSfanynode M1189 MACRO Enc
78. 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 C0C0 23 Detected CPU MACRO IC 0 C080 Any of the fault bits that are set can be cleared with the MSCLRF anynode clear fault command or the MS anynode Station reset command 2 16 Axis MACRO Station MI Variable Reference 16 Axis MACRO CPU Software Reference Manual MS anynode MI5 Ring Error Counter Range 000000 FFFFFF Units Error Count This variable when queried reports the number of ring communications errors detected by the 16 Axis MACRO Station since the most recent power up or reset Note It is possible to write a value to this variable but this should not be done if you are using MI6 The ring error counter value can be cleared to zero using the or MS anynode commands MS anynode MI6 Maximum Permitted Ring Errors in One Second Range 0000000 FFFFFFF Units Errors per second Default This variable sets the maximum number of ring errors that can be detected by the 16 Axis MACRO Station in a one second period without causing it to shut down for ring failure MS anynode MI7 Reserved for future use Range 0 Units none Default 0 MS anynode MI8 MACRO Ring Check Period Range 0 255
79. MI913 for the node determines which flag Proper setup of this variable is essential for a successful home search which depends on the position capture function The following settings may be used Immediate capture Capture on Index CHCn high Capture on Flag high Capture on Index high AND Flag high Immediate capture Capture on Index CHCn low Capture on Flag high Capture on Index low AND Flag high Immediate capture 9 Capture on Index CHCn high 10 Capture on Flag low 11 Capture on Index high AND Flag low 12 Immediate capture 13 Capture on Index CHCn low 14 Capture on Flag low 15 Capture on Index low AND Flag low COS De E TE The trigger is armed when the position capture register is read After this as soon as the 16 Axis MACRO Station sees that the specified input lines are in the specified states the trigger will occur it is level trigger not edge triggered MS node MI913 Capture n Flag Select Control Range 0 3 Units none Default 0 This parameter determines which of the Flag inputs will be used for position capture if one is used see MI912 0 HMFLn Home Flag n 1 PLIMn Positive End Limit Flag n 2 MLIMn Negative End Limit Flag n 3 USERn User Flag n This parameter is typically set to 0 or 3 because in actual use the LIMn flags create other effects that usually interfere with what is trying to be accomplished by the position capture If you wish to capture
80. NT Inn variables and its fields are individually accessible by setting M1207 The table below provides a breakdown of MI209 The Rev field is used for CPU type as shown below Vendor ID 1207 1 1 Delta Tau Options Bit M 1207 2 Options 0 MACRO IC 0 amp 1 installed 1 ONLY MACRO IC 0 installed Rev 1207 3 CPU Type Options 1 DSP 56309 2 Reserved Card ID 1207 4 Lower 4 Digits of Card ID 3719 E87 Card Address 1207 5 Returns Zero 32 16 Axis MACRO Station MI Variable Reference 16 Axis MACRO CPU Software Reference Manual MS anynode M210 MI225 Servo IC Identification Variables Range 0 Units Modified 16 Axis MACRO Station Addresses Default 0 These are equivalent to Turbo 14910 14925 MS anynode M226 MI249 Reserved for Future Use Range 0 Units Modified 16 Axis MACRO Station Addresses Default 0 MS anynode M250 MI265 I O Card Identification Variables Range 0 Units Modified 16 Axis MACRO Station Addresses Default 0 These are equivalent to Turbo 14950 14965 MS anynode MI300 MI899 Reserved for future use MACRO SERVO IC 4 Axis Servo IC Ml variables Each MACRO IC has a set of these variables Up to two Servo IC are attached to each MACRO IC The base addresses of the two Servo ICs are defined by MI179 and MI180 MI179 defines the base address of the Servo IC that contains channe
81. S anynode MI154 MI160 Reserved for Future Use MS anynode MI161 MI168 MLDT Frequency Control Range 000000 FFFFFF Units PFMCLK cycles Default 0 MI161 1 motor node Node 0 MI162 2 motor node Node 1 MI163 3 motor node Node 4 MI164 4 motor node Node 5 MI165 5 motor node Node 8 MI166 6 motor node Node 9 MI167 7 motor node Node 12 MI168 8 motor node Node 13 MI161 through MI168 MI16x on the 16 Axis MACRO Station permit the C output channel associated with the MACRO motor node MI16x controls the xth motor node which usually corresponds to Motor x on PMAC to put out a specified output frequency starting immediately on power on reset for the purposes of creating an excitation signal for an MLDT sensor If MI16x is set to 0 this function is not enabled and the C output channel can be used for servo control functions such as PFM stepper control or direct PWM servo control 22 16 Axis MACRO Station MI Variable Reference 16 Axis MACRO CPU Software Reference Manual If MI16x is set to a value greater than 0 then the 24 bit value in MI16x is written automatically to the C output register of the machine interface channel associated with the MACRO node upon power up or reset of the 16 Axis MACRO Station In addition during the normal operation of the node the value in the third MACRO register is not copied into the C output register For the MLDT
82. Units Station phase cycles Default 8 MIS8 determines the period in phase cycles for the 16 Axis MACRO Station to evaluate whether there has been a MACRO ring failure or not Every phase cycle the Station checks the ring communications status In MI8 phase cycles or MACRO ring cycles the Station must receive at least MI10 sync packets and detect fewer than MI9 ring communications errors to conclude that the ring is operating correctly Otherwise it will conclude that the ring is not operating properly set its servo command output values to zero set its amplifier enable outputs to the disable state and force all of its digital outputs to their shutdown state as defined by I72 I89 and report a ring fault If MI8 is set to 0 at power on reset the 16 Axis MACRO Station will automatically set it to 8 MS anynode MI9 MACRO Ring Error Shutdown Count Range 0 255 Units none Default 4 MIO determines the number of MACRO communications errors detected that will cause a shutdown fault of the 16 Axis MACRO Station If the Station detects MI9 or greater MACRO communications errors in MI8 phase MACRO ring cycles it will shut down on a MACRO communications fault turning off all outputs The Station can detect one ring communications error per phase cycle Setting MI9 greater than MI8 means that the Station will never shut down for ring communications error 16 Axis MACRO Station MI Variable Reference 3 16
83. ace channel mapped to the specified MACRO node by SW1 Refer to the Motor command status flag registers for their relationship to this value MS node MI922 ADC A Input Value Read Only Range 000000 FFFFFF Units Bits of a 24 bit ADC MI922 reports the value of the serial ADC input register A for the machine interface channel mapped to the specified MACRO node number The value is reported as a 24 bit number even though there are a maximum of 18 real bits in the register the most significant bits and existing hardware provides 12 or 16 bits of true input MS node MI923 Compare Auto Increment Value Range 8 388 608 8 388 607 Units Encoder counts Default 0 MI923 specifies the value of the position compare auto increment register for the machine interface channel mapped to the specified MACRO node number MS node MI924 ADC B Input Value Read Only Range 8 388 608 8 388 607 Units Bits of a 24 bit ADC MI924 reports the value of the serial ADC input register B for the machine interface channel mapped to the specified MACRO node number The value is reported as a 24 bit number even though there are a maximum of 18 real bits in the register the most significant bits and existing hardware provides 12 or 16 bits of true input MS node MI925 Compare A Position Value Range 8 388 608 8 388 607 Units Encoder counts Default 0 MI925 specifies the value of the A compare register of
84. andard timer control external signal source no inversion 01 Standard timer control external signal source invert direction 10 Standard timer control internal PFM source no inversion 11 Alternate timer control external signal source Position Capture Control 00 Software capture by setting bit 6 01 Use encoder index alone 10 Use capture flag alone 11 Use encoder index and capture flag Index Capture Invert Control 0 no inversion 1 inversion Flag Capture Invert Control 0 no inversion 1 inversion Capture Flag Select Control 00 Home Flag HMFLn 01 Positive Limit PLIMn 10 Negative Limit MLIMn 11 User Flag USERn Encoder Counter Reset Control 1 reset Position Compare Initial State Write Enable Position Compare Initial State Value Position Compare Channel Select 0 use this channel s encoder 1 use first encoder on IC AENAn output value Gated Index Select for Position Capture 0 ungated index 1 gated index Invert AB for Gated Index 0 Gated Signal A amp B amp C 1 Gated Signal A amp B amp C Index channel demultiplex control O no demux 1 demux Reserved for future use reports as 0 Invert PFM Direction Control 0 no inversion 1 invert Invert A amp B Output Control 0 no inversion 1 invert Invert C Output Control O no inversion 1 invert Output A amp B Mode Select O PWM 1 DAC 16 Axis MACRO Station Memory and I O Map 85 16 Axis MACRO CPU Software Reference Manual Y X
85. c setup and troubleshooting Most users will not utilize this port instead sending commands only through the MACRO ring The following commands can be sent to the 16 Axis MACRO Station through the serial port or over the MACRO ring Station Reset The command will reset the 16 Axis MACRO Station and restore all station MI variables to their last saved values Station Re initialize The command will reset the 16 Axis MACRO Station and restore all station MI variables to their factory default values CHN Report Channel Number The CHN command causes the 16 Axis MACRO Station to report its present channel number CID Report Card ID Number The CID command causes the 16 Axis MACRO Station CPU to report its part number 602804 CLRF Clear Station Faults The CLRF command will clear all faults on the 16 Axis MACRO Station and prepare it for further operation DATE Report Firmware Date The DATE command causes the 16 Axis MACRO Station to report the date of its firmware Example DATE 07 10 97 DISABLE PLCC or CNTRL D Disables PLCC The MACRO PLCC are disabled Example DIS PLCC D ENABLE PLCC Enables PLCC The MACRO PLCC are enabled if MI15 1 Example ENA PLCC Mi constant Report Station Ml Variable Value The MI constant command causes the 16 Axis MACRO Station to report the current value of the specified MI variable 16 Axis MACRO Station Serial Commands 63
86. cnesseeecnseesceseeeeeeseenecneserenseesesaees 3 MSfanynode MI10 MACRO Sync Packet Shutdown Coumnt 4 MSfanynode MI11 Station Order Number ccccccecsccecescseteesseseenseescuseeseusecseeeeseeseeseceeeecnseeseeseeseeseseeeeeneeerees 4 MSfanynode MT12 Card Identification cceccccccecceceescesessseseeseseecnseescuseescesecseeseceseecnceeseesecseeseseseecnsseeeeseeneeaees 2 MSfanynode M113 Display Enable and Tune 5 MS anynode MIl4 MACRO IC Source of Phase Clock 5 MSfanynode MT15 Enable MACRO Dice J MACRO IC Global Channel Status Setup MI Variables ccccecscescceseceseceseceeecseeeaeeseecaeeeaeeeeeeeeeseeenseeneeneenaeenaes 5 MS anynode MI16 Encoder Fault Reporting Control 3 MS anynode MI17 Amplifier Fault Disable Control 6 MS anynode MI18 Amplifier Fault Polen 7 Global VO Transier MI V ariables wsicscciesehicecckes acesesceacenes iencesesceacesesscaceicenzacenca EU SA ETRE 7 MSfanynode MT19 NVO Data Transfer Period 7 MS anynode MI20 Data Transfer Enable Mask 7 MS anynode MI21 MI68 Data Transfer Source and Destination Address 8 MACRO IC I O Transfer MI Variables AAA 9 MS anynode MI69 MI70 I O Board 16 Bit Transfer Control 9 MS anynode MI71 1 O Board 24 Bit Transfer Control 11 MS anynode MI72 MI89 Output Power On Shutdown State 12 MS anynode MI90 Y MTR Servo Channel Disable and MI996 Enable 12 MS anynode MI9 MI98 Phase Interrupt 24 Bit Data Com 13 MS anynode MI99 Reserved for Future Usel 13 MACRO
87. components or causing 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 exposed to hazardous or conductive materials and or environments we cannot guarantee their operation REVISION HISTORY REV DESCRIPTION DATE CHG APPVD UPDATED Ml4 FAULT DESCRIPTION P 2 04 04 07 CP B PEDERSEN 16 Axis MACRO CPU Software Reference Manual Table of Contents 16 AXIS MACRO STATION MI VARIABLE REFERENCE Wu ccsssssssssssssssssesessessssessessesesseesssesseesesesseseeseeseees 1 Global MIEV aria EE 1 MSfanynode MI0 Station Firmware Version Read On H MSfanynode MI1 Station Firmware Date Read Ob 1 MSfanynode MI2 Station ID and User Configuration Word oeseri 1 MSfanynode MI3 Station Rotary Switch Setting 2 MSfanynode MI4 Station Status Word Read On 2 MSfanynode MI5 Ring Error Counter cccccccccceecceseeseesetseeseeeeeeceesceseeseesecseeaecuseeeceeesesseeeeeaeeeeeeeneseeenaeereeates 3 MSfanynode MI6 Maximum Permitted Ring Errors in One Second 3 MSfanynode MI7 Reserved for future sel 3 MSfanynode MI8 MACRO Ring Check Period 3 MSfanynode MI9 MACRO Ring Error Shutdown Count ccccccceccesesssesessseee
88. ddress 7 Specified MACRO Node X Address 0 Byte on Matching MACRO Node X ACC 9E Register 10E 11E 12E High Specified MACRO Node X Address 4 16 Axis MACRO Station MI Variable Reference 25 16 Axis MACRO CPU Software Reference Manual The following table shows the mapping of I O points on the I O backplane boards to the MACRO node registers Board at E6x Rows Byte on UO Point Matching MACRO X Register Set Connected Data Bus s on Address Board 1 1 amp 2 Low 0 15 Specified MACRO X Address 1 1 1 amp 2 Low 16 31 Specified MACRO X Address 2 1 1 amp 2 Low 32 47 Specified MACRO X Address 3 gm 2 amp 3 Middle 0 15 Specified MACRO X Address 5 2 amp 3 Middle 16 31 Specified MACRO X Address 6 SH 2 amp 3 Middle 32 47 Specified MACRO X Address 7 3 4 amp 5 High 0 23 Specified MACRO X Address 0 an 4 amp 5 High 24 47 Specified MACRO X Address 4 Rows 3 and 4 connected creates same setting Note The ACC 14E backplane I O board can only be set up for the low byte on the data bus MS anynode MI174 MI175 12 Bit A D Transfer MACRO IC Node amp Servo Channel Address MI Variables Each MACRO IC 0 and 1 has its own set of these variables Therefore they are accessed through their MACRO IC These MI Variables determine the servo channel transfer addresses Most are read only va
89. de 10 Activate 11 Node 11 Activate 12 Node 12 Activate 13 Node 13 Activate 14 Node 14 Activate 15 Node 15 Activate 16 19 Packet Sync Node Slave Address 0 15 20 23 X00000 Config Master Station Number 0 15 Bits 0 to 15 are individual control bits for the matching node number 0 to 15 If the bit is set to 1 the node is activated if the bit is set to 0 the node is de activated On power up reset these bits are set as defined by the SW1 setting with some motor nodes possibly disabled by MI976 and some I O nodes possibly enabled by MI975 Node 15 should always be activated to support the Type 1 auxiliary communications Bits 16 19 specify the slave number of the packet which will generate the sync pulse on the 16 Axis MACRO Station This is always set to 15 F on the 16 Axis MACRO Station Bits 20 23 specify the master number 0 15 for the 16 Axis MACRO Station At power up reset these bits get the value set by SW2 The number must be specified whether the card is a master station or a slave station Hex 0 0 0 0 0 0 Bit Slave node Enables Sync node Address 0 15 Master Address 0 15 54 16 Axis MACRO Station MI Variable Reference 16 Axis MACRO CPU Software Reference Manual MS anynode MI997 Phase Clock Frequency Control
90. de Code 8 16 Axis MACRO Station MI Variable Reference 16 Axis MACRO CPU Software Reference Manual The following table shows the 2 digit hex format codes and the portions of the address that each one selects Code XorY Bit Width Bit Range Notes 40 Y 8 0 7 48 Y 8 8 15 50 Y 8 16 23 54 Y 12 0 11 Lower 12 bit ADC registers 60 Y 12 12 23 Upper 12 bit ADC registers 64 Y 16 0 15 6C Y 16 8 23 16 bit MACRO Servo Node Registers 78 Y 24 0 23 24 bit MACRO Servo Node Registers 7E NA NA NA Use the MM variable definition for the decode of the variable and address and the address being the MM variable number B0 X 8 0 7 B8 X 8 8 15 SCH X 8 16 23 C4 X 12 0 11 D0 X 12 12 23 D4 X 16 0 15 DC X 16 8 23 16 bit MACRO I O Node Registers E8 X 24 0 23 24 bit MACRO I O Node Registers The memory and I O map at the back of this Software Reference manual provides a detailed list of registers that can be copied using these MI variables Note For copying data between digital I O cards with byte wide data paths ACC 9E 10E 11E 12E 14E 65E 66E 67E and 68E and MACRO nodes it is generally better to use MI69 MI71 and MI169 MI172 Example MI21 780200E8COA0 copies 24 bit data from Station address Y 0200 to X COAO MI21 7E00027E0003 copies MM2 into MM3 MM3 MM2 MACRO IC I O Transfer Ml Variab
91. dor ID Number The VID command causes the 16 Axis MACRO Station to report its vendor identification number for Delta Tau this number is 1 W address value Write Value to Station Address The W address value command causes the 16 Axis MACRO Station to write the value to the specified address es address consists of a register type X Y L or P and the numerical address of the register The optional value specifies the value to be written to the address Examples wWx 20 5 Write X register 20 5 16 Axis MACRO Station Serial Commands 65 16 Axis MACRO CPU Software Reference Manual 66 16 Axis MACRO Station Serial Commands 16 Axis MACRO CPU Software Reference Manual TURBO PMAC TYPE 1 16 AXIS MACRO CPU STATION COMMANDS The following commands from the Turbo PMAC controllers can be used for Type 1 auxiliary communication with the 16 Axis MACRO Station On Line Commands MS Command Syntax MS command node where command is one of the following text strings normal station reset SSS station reset and re initialize CLRF station fault clear for CONFIG report station configuration value DATE report station firmware date SAVE save station setup VER report station firmware version node isa constant representing the number of the node to be commanded if the command affects the entire station the number of any active node on the station may be used This PMAC
92. e is 1 4 of the PFM_CLK frequency The PFM_CLK frequency should optimally be set to the lowest value that can generate pulses at the maximum frequency required The DAC CLK controls the serial data frequency into D A converters If these converters are on Delta Tau provided accessories the DAC _CLK setting should be left at the default value The ADC_CLK controls the serial data frequency from A D converters If these converters are on Delta Tau provided accessories the ADC_CLK setting should be left at the default value To determine the clock frequencies set by a given value of MI903 use the following procedure 1 Divide M1903 by 512 and round down to the nearest integer This value N1 is the ADC_CLK divider 2 Multiply N1 by 512 and subtract the product from M1903 to get MI903 Divide MI903 by 64 and round down to the nearest integer This value N2 is the DAC_CLK divider 3 Multiply N2 by 64 and subtract the product from M1903 to get M1903 Divide MI903 by 8 and round down to the nearest integer This value N3 is the PFM_CLK divider 4 Multiply N3 by 8 and subtract the product from M1903 The resulting value N4 is the SCLK divider Examples The maximum encoder count frequency in the application is 800 kHz so the 1 2288 MHz SCLK frequency is chosen A pulse train up to 500 kHz needs to be generated so the 2 4576 MHz PFM CLK frequency is chosen The default serial DACs and ADCs provided by Delta Tau are used so the default
93. e values to non volatile memory PO is a dummy variable here Turbo PMAC Type 1 16 Axis MACRO Station Commands 71 16 Axis MACRO CPU Software Reference Manual 72 Turbo PMAC Type 1 16 Axis MACRO Station Commands 16 Axis MACRO CPU Software Reference Manual 16 AXIS MACRO CPU STATION MEMORY AND I O MAP In the listing below the hexadecimal address is listed first followed by the decimal address in parentheses Global Servo Calculation Registers X Y 0000 SO00F Encoder Conversion Interpolation Table X 0010 S002F Converted encoder and time base data 1824 1855 Y 0010 S002F Encoder conversion source and format The format of the conversion table is Bits Y word 16 23 Conversion format 00 1 T incremental encoder 10 A D register conversion 20 Unfiltered parallel Y word source 30 Filtered parallel Y word source 40 Time base 50 Integrated A D register conversion 60 Unfiltered parallel X word source 70 Filtered parallel X word source 80 parallel interp of incremental 90 Triggered time base frozen SAO Triggered time base running SBO Triggered time base armed SCH no interp of incremental encoder DO Exponential filter SEO Sum or difference of two entries 0 15 Address of source data Next Y word contains user set constant for conversion this is a double entry conversion Next two Y words contain user set constants for conver
94. ead on the 16 Axis MACRO Station for a motor node MI1 1x controls the xth motor node which usually corresponds to Motor x on PMAC and sent back to the PMAC or PMAC2 If MI1 1x is set to 0 no power on reset absolute position value will be returned to PMAC If MI11x is set to a value greater than 0 then when the PMAC requests the absolute position because its Ix10 and or Ix81 values are set to obtain absolute position through MACRO sending an auxiliary MS node M1I920 or MS node MI930 command the 16 Axis MACRO Station will use MI1 1x to determine how to read the absolute position and report that position back to PMAC as an auxiliary response MI11x consists of two parts The low 16 bits last four hexadecimal digits specify the address on the 16 axis MACRO Station from which the absolute position information is read The high eight bits first two hexadecimal digits tell the 16 axis MACRO Station how to interpret the data at that address the method The following table shows the possible values for MI1 1x organized by the first two digits MI11n Bits Type of Feedback Notes 16 23 for Unsigned Signed 00 07 Resolver to Digital Converter Used for ACC 8D Opt 7 connected to CPU board 80 87 JTHW connector address is multiplexer port address 00 FF 08 18 Single Y Word Parallel 8 to 24 Used for MDLT feedback 88 98 bits Value in B16 21 is number of bits to read 17 2A Doub
95. es N 0 to 7 This means that the possible frequency settings for each of these clocks are Frequency Divide by Divider N in 1 2N 39 3216 MHz 1 0 19 6608 MHz 2 1 9 8304 MHz 4 2 4 9152 MHz 8 3 2 4576 MHz 16 4 1 2288 MHz 32 5 611 44 kHz 64 6 305 72 kHz 128 7 Very few 16 Axis MACRO Station users will be required to change the setting of MI993 from the default value The encoder sample clock signal SCLK controls how often 2 axis board s digital hardware looks at the encoder inputs PMAC2 can take at most one count per SCLK cycle so the SCLK frequency is the absolute maximum encoder count frequency SCLK also controls the signal propagation through the digital delay filters for the encoders and flags the lower the SCLK frequency the greater the noise pulse that can be filtered out The SCLK frequency should optimally be set to the lowest value that can accept encoder counts at the maximum possible rate The pulse frequency modulation clock DEM CLK controls the PFM circuitry on the 2 axis board that can create pulse and direction outputs The maximum pulse frequency possible is 1 4 of the PFM_ CLK frequency The PFM_ CLK frequency should optimally be set to the lowest value that can generate pulses at the maximum frequency required The ADC_CLK controls the serial data frequency from A D converters either for digital current loop closure or from an ACC 28B A D converter board The DA
96. excitation to work properly the 16 Axis MACRO Station variable MI916 for the node must be set for 2 or 3 to get PFM style output from the C output channel MI910 for the node must be set to 12 to use the timer for the MLDT feedback To compute the output frequency as a function of MI16x the following formula can be used Output_Freq Hz PFMCLK Freq Hz MI16x 16 777 216 To compute the value of MI16x required to produce a desired output frequency the following formula can be used MI16x 16 777 216 Output_Freq Hz PFMCLK_ Freq Hz The PFMCLK frequency is set by MI903 for machine interface channels 1 4 by MI907 for machine interface channels 5 8 and by MI993 for machine interface channels 9 10 MACRO IC I O Transfer Ml Variables Each MACRO IC 0 and 1 has its own set of these variables Therefore they are accessed through their MACRO IC For example MS0 MI169 accesses MACRO IC 0 s MI169and MS16 MI169 accesses MACRO IC 1 s MI169 MACRO IC 1 s variables can be accessed can be accessed through MACRO IC 0 by adding 1000 to the MI variable For example MSO MI1169 accesses MACRO IC 1 s MI169 MS anynode MI169 M1170 O Board 72 Bit Transfer Control Range 000000000000 SFFFFFFFFFFFF Units Extended addresses Default 0 MI69 and MI70 specify the registers used in 72 bit I O transfers between MACRO node interface registers and I O registers on the ACC 9E 10E 11E 12E and 14E I O boards on a 16 Axis
97. f MACRO I O node first COA8 Node 6 COAC Node 7 of three 16 bit registers COBO Node 10 COB4 Node 11 Number of 24 bit I O sets to use 1x24 2x24 0 disables a consecutive address read Base 1000 2000 8880 88C0 When this function is active the 16 Axis MACRO Station will copy values from the MACRO command input node registers to the I O board addresses it will copy values from the I O board addresses to the MACRO feedback output node registers Writing a 0 to a bit of the I O board enables it as an input letting the output pull high Writing a 1 to a bit of the I O board enables it as an output and pulls the output low The following table shows the mapping of I O points on the I O backplane boards to the MACRO node registers Board at E6x Rows Byte on UO Point Matching MACRO X Register Set Connected Data Bus s on Address Board 1 1 amp 2 Low 0 23 Specified MACRO X Address 0 E 1 amp 2 Low 24 47 Specified MACRO X Address 4 SE 2 amp 3 Middle 0 23 Specified MACRO X Address 8 Ke 2 amp 3 Middle 24 47 Specified MACRO X Address 12 EW 4 amp 5 High 0 23 Specified MACRO X Address 16 am 4 amp 5 High 24 47 Specified MACRO X Address 20 Rows 3 and 4 connected creates same setting 16 Axis MACRO Station MI Variable Reference 16 Axis MACRO CPU Software Reference Manual MS anynode MI72 MI89
98. feedback brought in through the ACC 14E 48 I O board e x 8 Process the data from the source register without any shifting so the least significant bit of the source register as specified in the bits used mask word is place in bit 0 of the processed result Time Base Entries 4x A time base entry performs a scaled digital differentiation of the value in the source register It is a two line entry The first line contains a 4 in the first hex digit and the address of the source register in the last four hex digits Usually the source register is the result register of an incremental encoder entry higher in the table addresses 0020 to 003F The second line in the entry is the time base scale factor The result value equals 2 Time Base Scale Factor New Source Value Old Source Value When this entry is used to synchronize a motion program to a master encoder creating an electronic cam function this scale factor should be set equal to 2 Real Time Input Frequency where the RTIF is expressed in counts per millisecond The program is then written if the master encoder is always putting out this RTIF Triggered Time Base Entries 9x Ax Bx A triggered time base entry is like a regular time base entry except that it is easy to freeze the time base then start it exactly on receipt of a trigger that captures the starting master position or time The source register for triggered time base must be the starting X addres
99. he pack marked with a dot is at the opposite end from pin 1 of the socket marked with a bold outline and square solder pin The shutdown function on encoder loss will work as long as the resistor pack has been reversed from factory default However proper reporting of the exactly where the loss occurred requires double wiring of the encoder into the flags so MI927 can detect the loss This encoder loss status bit for each channel is copied into bit 8 of the flag status word of the matching MACRO node for reporting back to PMAC if MI16 for the 16 Axis MACRO Station is set to 1 If the T U V and W flags are used for other purposes such as Hall commutation sensors or analog encoder sub count data the status of MI927 should be ignored MS node MI928 Compare State Write Enable Range 0 1 Units none Default 0 When MI928 is set to 1 the value of MI929 if forced onto the position compare output for the channel associated with the specified node MI928 is automatically reset to 0 immediately after this occurs MS node MI929_ Compare Output Initial State Range 0 1 Units none Default 0 The value of MI929 is forced onto the position compare output for the channel associated with the specified node when MI928 is set to 1 After this each time the channel s encoder counter position matches the value of MI925 or MI926 the output state is toggled MS node MI930 Absolute Power On Position Read Only Range
100. ith the station downstream of the ring controller getting station order number 1 This does not have to be the case however Unordered stations have the station order number 0 When the ring controller executes a MACROSTASCII255 command the first unordered station in the ring will respond MI11 can also be set with the ASCII command STN constant The value of MI11 can also be queried with the ASCII command STN 4 16 Axis MACRO Station MI Variable Reference 16 Axis MACRO CPU Software Reference Manual MS anynode MI12 Card Identification Range 0 FFFFFF Units none Default 936747 603719 This returns the card part number The same as the CID ASCII command MS anynode MI13 Display Enable and Type Range 0 3 Units none Default 0 0 No Display output 1 LCD Display Output 3 Vacuum Display Output MS anynode MI14 MACRO IC Source of Phase Clock Range 0 1 Units none Default 1 Default MACRO 1 is the default source of the Phase clock Setting MI14 0 sets MACRO IC 0 as the source of the Phase clock Normally the second MACRO IC 1 receives its node information after MACRO IC 0 so it should be the source of the phase clock This insures that both MACRO ICs receive the ring node data before a phase interrupt is generated MS anynode MI15 Enable MACRO Plcc Range 0 1 Units none Default 0 MI15 enables and disables the PLCCs running in the 16 Axis MACRO CPU MACRO IC
101. its 8 23 bits 0 7 not used ode 11 2nd 16 bit command write and feedback read register bits 8 23 bits 0 7 not used ode 9 3rd 16 bit command write and feedback read register bits 8 23 bits 0 7 not used ode 11 3rd 16 bit command write and feedback read register bits 8 23 bits 0 7 not used ode 12 24 bit command write and feedback read register ode 14 24 bit command write and feedback read register ode 12 1st 16 bit command write and feedback read register bits 8 23 bits 0 7 not used ode 14 1st 16 bit command write and feedback read register bits 8 23 bits 0 7 not used ode 12 1st 16 bit command write and feedback read register bits 8 23 bits 0 7 not used ode 14 2nd 16 bit command write and feedback read register bits 8 23 bits 0 7 not used ode 12 3rd 16 bit command write and feedback read register bits 8 23 bits 0 7 not used ode 14 3rd 16 bit command write and feedback read register bits 8 23 bits 0 7 not used ode 13 24 bit command write and feedback read register ode 15 24 bit command write and feedback read register ode 13 1st 16 bit command write and feedback read register bits 8 23 bits 0 7 not used 16 Axis MACRO Station Memory and I O Map 16 Axis MACRO CPU Software Reference Manual X SCOBD MACRO Node 15 Ist 16 bit command write and feedback read register bits 8 23 bits 0 7 not used Y SCOBE MACRO Node 13
102. l n Status Word 0 2 3 4 7 8 9 Captured Hall Effect Device UVW State Invalid demultiplex of C U V and W Not used reports as 0 Encoder Count Error 0 on counter reset 1 on illegal transition Position Compare EQUn output value 16 Axis MACRO Station Memory and I O Map 83 16 Axis MACRO CPU Software Reference Manual Y SCO9x X SCO9x Y SCO9x Bits X SCO9x Bits Y SCO9x Bits X SCO9x Y SCO9x Bits X SC094 X CO9C 84 10 Position Captured On Gated Index Flag 0 on read of captured position register 1 on trigger capture 11 Position Captured Flag on any trigger 0 on read of captured position register 1 on trigger capture 12 Handwheel 1 Channel A HWAn Input Value 13 Handwheel 1 Channel B HWBn Input Value 14 Handwheel 1 Channel C Index HWCn Input Value ungated 15 Amplifier Fault FAULTn Input Value 16 Home Flag HMFLn Input Value 17 Positive End Limit PLIMn Input Value 18 Negative End Limit MLIMn Input Value 19 User Flag USERn Input Value 20 FlagWn Input Value 21 FlagVn Input Value 22 FlagUn Input Value 23 FlagTn Input Value Chan 1 2 Hex C091 C099 Channel n Encoder Time Since Last Encoder Count SCLK cycles Channel n Encoder Phase Position Capture Register counts Chan 1 2 Hex C092 C094A Channel n Output A Command Value 8 23 PWM Command Value 6 23 Serial
103. lave variable constant where node isa constant 0 14 representing the number of the node whose variable is to be written to if the variable is not node specific the number of any active node on the station may be use slave MI MM or MP variable is the name of the MI MM MP or C variable on the slave station whose value is to be reported constant is a number representing the value to be written to the specified MI MM or MP variable This command causes PMAC to write the specified constant value to the MACRO slave station MI MM MP variable or if a C command is specified it causes the station to execute the specified command number in which case the constant value does not matter The valid C commands are e C1 Clear station faults e C2 Reset station loading saved station MI variables e C3 Re initialize station loading default station MI variables e C4 Save station MI variables to non volatile memory Examples MSO MI910 7 sets Node 0 variable MI910 to 7 MS8 C4 0 Clears faults on 16 Axis MACRO Station with active node 8 MSO MM1 7 sets global variable MM1 to 7 68 Turbo PMAC Type 1 16 Axis MACRO Station Commands 16 Axis MACRO CPU Software Reference Manual MS Variable Read Copy Syntax MACROSLVREAD node slave MI variable PMAC variable MSR node slave MI MM or MP variable PMAC variable where node is a constant 0 14 representing the number of the node whose variable is
104. le Y Word Parallel 25 to Value in B16 21 is number of bits most 97 AA 42 bits significant bits are at address 1 2B AB Double Byte Parallel 16 bits in Used for ACC 3E parallel feedback low bytes of 24 bit words Most significant byte is at address 1 2C AC Double Byte Parallel 16 bits in Used for ACC 3E parallel feedback middle bytes of 24 bit words Most significant byte is at address 1 2D AD Double Byte Parallel 16 bits in Used for ACC 3E parallel feedback middle bytes of 24 bit words Most significant byte is at address 1 2E AE Triple Byte Parallel 24 bits in Used for ACC 3E parallel feedback low bytes of 24 bit words Middle byte is at address 1 Most significant byte is at address 2 2F AF Triple Byte Parallel 24 bits in Used for ACC 3E parallel feedback middle bytes of 24 bit words Middle byte is at address 1 Most significant byte is at address 2 14 16 Axis MACRO Station MI Variable Reference 16 Axis MACRO CPU Software Reference Manual 30 B0 Triple Byte Parallel 24 bits in Used for ACC 3E parallel feedback middle bytes of 24 bit words Middle byte is at address 1 Most significant byte is at address 2 31 B1 16 Bit Parallel in high 16 bits of Used for ACC 28B A D converter feedback 24 bit word 32 B2 Double 13 Bit Parallel Used for Sanyo Absolute Encoder Interface 33 B3 12
105. le factor Ix66 for Motor x which determines the maximum PWM command magnitude is set to MI900 10 To set MI900 for a desired PWM frequency the following formula can be used MI900 117 964 8 kHz 4 PWM Freq kHz 1 rounded down 16 Axis MACRO Station MI Variable Reference 33 16 Axis MACRO CPU Software Reference Manual Example To set a PWM frequency of 10 kHz MI900 117 964 8 kHz 4 10 kHz 1 2948 To set a PWM frequency of 7 5 kHz MI900 117 964 8 kHz 4 7 5 kHz 1 3931 MS anynode MI903 Hardware Clock Control Channels 1 4 Range 0 4095 Units MI903 Encoder SCLK Divider 8 PFM CLK Divider 64 DAC CLK Divider 512 ADC CLK Divider where Encoder SCLK Frequency 39 3216 MHz 2 Encoder SCLK Divider PFM_CLK Frequency 39 3216 MHz 2 PFM_CLK Divider DAC_CLK Frequency 39 3216 MHz 2 DAC_CLK Divider ADC_CLK Frequency 39 3216 MHz 2 ADC_CLK Divider Default 2258 2 8 2 64 3 512 4 Encoder SCLK Frequency 39 3216 MHz 2 2 9 8304 MHz PFM_CLK Frequency 39 3216 MHz 2 2 9 8304 MHz DAC_CLK Frequency 39 3216 MHz 2 3 4 9152 MHz ADC_CLK Frequency 39 3216 MHz 2 4 2 4576 MHz MI903 controls the frequency of four hardware clock frequencies SCLK PFM_CLK DAC CLK and ADC CLK for channels 1 4 on a 16 Axis MACRO Station on a 4 axis piggyback board with jumper El connecting 1 2 It is a 12 bit variable consis
106. les Each MACRO IC 0 and 1 has its own set of these variables Therefore they are accessed through their MACRO IC For example MS0 MI69 accesses MACRO IC 0 s MI69 and MS16 MI69 accesses MACRO IC 1 s MI69 MACRO IC 1 s variables can be accessed can be accessed through MACRO IC 0 by adding 1000 to the MI variable For example MS0 MI1069 accesses MACRO IC 1 s MI69 MS anynode MI69 MI70 1 O Board 16 Bit Transfer Control Range Units Default 000000000000 FFFFFFFFFFFF Extended addresses MI69 and MI70 specify the registers used in 16 bit I O transfers between MACRO node interface registers and I O registers on the 9E 10E 11E 12E 14E 65E 66E 67E and ACC 68E I O boards on a 16 Axis MACRO Station They are used only if MI19 is greater than 0 16 Axis MACRO Station MI Variable Reference 16 Axis MACRO CPU Software Reference Manual MI69 and M170 are 48 bit variables represented as 12 hexadecimal digits The first six digits specify the number and address of 48 bit 3 x 16 real time MACRO node register sets to be used The second six digits specify the number and address of 16 bit I O sets on an UMAC IO board to be used The individual digits are specified as follows Digit Possible Values 0 1 2 3 Number of MACRO I O nodes to use 0 disables this should also match the number of 48 bit I O sets you intend to use see Digit 7 6 COA1 Node 2 COA5 Node 3 MACRO Station X Add
107. ls 1 4 and MI180 defines the base address of the Servo IC that contains channels 5 8 MlI variables in the range MI900 to MI909 control multi channel aspects of the hardware setup for these two Servo ICs ACC 24E2x s MS anynode MI900 PWM 1 4 Frequency Control Range 0 32767 Units PWM Frequency 117 964 8 kHz 4 MI900 6 Default 6527 PWM Frequency 117 964 8 26114 4 5173 kHz MI900 controls the PWM frequency for 16 Axis MACRO Station machine interface channels 1 4 It does this by setting the limits of the PWM up down counter which increments and decrements at the PWMCLEK frequency of 117 964 8 kHz 117 9648 MHz The PWM frequency determines the actual switching frequency of amplifiers connected to any of the 16 Axis MACRO Station s first four machine interface channels with the direct PWM command It is only important if the direct PWM command signal format is used Generally MI900 is set to the same value as MI992 Ifa different PWM frequency is desired for channels 1 to 4 MI900 should be set so that it is an odd integer multiple e g 3x 5x 7x of MI992 or that MI992 is an odd integer multiple of MI900 This will keep the PWM hardware on channels 1 4 in synchronization with the software algorithms driven by the PHASE clock The maximum value that can be written into the PWM command register without full saturation is MI900 1 on the positive end and M1I900 2 on the negative end Generally the PWM sca
108. lways 1 there is no alternate mode for these pins 12 23 Not used Data Inversion Control Register 0 DISPO Inversion Control 7 DISP7 Inversion Control 8 CTRLO Inversion Control 11 CTRL3 Inversion Control All bits 0 Non inverting 1 Inverting All bits must be 0 to use standard port accessories 12 23 Not used C088 C08B Not used CO88 SCO8B Not used SCO8C Pure binary conversion from gray code input on I O00 to 1 023 Note The pins associated with this register are used for other purposes on the 16 Axis MACRO Station SCO8C SCO8D DAC Strobe Word 24 bits Shifted out MSB first one bit per DACCLK cycle starting on rising edge of phase clock Gray to binary conversion bit length control Note The pins associated with this register are used for other purposes on the 16 Axis MACRO Station Bits Bits 0 3 Bit length of less significant word portion 1 000 I Onn 4 1 specifies 16 bit lower 8 bit upper conversion 5 23 Not used Not used MACRO Node Enable Control 1996 0 Node 0 enable control 15 Node 15 enable control O node disable 1 node enable 16 Axis MACRO Station Memory and I O Map 16 Axis MACRO CPU Software Reference Manual X SCO8E Y SCO8F Bits X SCO8F Bits 16 19 Sync packet slave node number control 20 23 Master number control Not used MACRO Ring Status and Control OMANI CL PS GA Ara 10 11 12 13 14 15 Data overrun er
109. mplies that MACRO16 CPU will perform 12 bit ADC operations on the Accessory card loacated at 9800 MACRO IC MI Variables MI Variables numbered in the MI990s control hardware aspects of the MACRO IC and the handwheel channels 1 and 2 Each MACRO IC has its own set of these variables MS anynode MI992 MaxPhase Frequency Control Range 0 32767 Units MaxPhase Frequency 117 964 8 kHz 2 MI992 3 PWM Frequency 117 964 8 kHz 4 MI992 6 Default 6527 MaxPhase Frequency 117 964 8 13057 9 0346 kHz PWM Frequency 117 964 8 26114 4 5173 kHz MI992 controls the maximum phase clock frequency for the 16 Axis MACRO Station and the PWM frequency for supplementary handwheel interface channels and 2 It does this by setting the limits of the PWM up down counter which increments and decrements at the PWMCLK frequency of 117 964 8 kHz 117 9648 MHz The actual phase clock frequency is divided down from the maximum phase clock according to the setting of MI997 The phase clock frequency must be the same as the ring update frequency as set by the ring controller usually a PMAC or PMAC2 If the ring controller is a PMAC2 Ultralite MI992 and MI997 on the 16 Axis MACRO Station should be set to the same values as MI992 and MI997 on the PMAC2 Ultralite To set MI992 for a desired maximum phase clock frequency the following formula can be used MI992 117 964 8 kHz 2 MaxPhase kHz 1 rounded down Examples
110. nd I O Map 79 16 Axis MACRO CPU Software Reference Manual X SC082 General I O Data Direction Control Register Note The pins associated with this register are used for other purposes on the 16 Axis MACRO Station Bits Y C083 Bits X C083 Bits Y SC084 80 Bits 0 DATO Direction Control 7 DATT Direction Control 8 SELO Direction Control 15 SEL7 Direction Control All bits 0 Input 1 Output 16 23 Not used General I O Port Data Register 0 DISPO DATO pin Data Value 7 DISP7 DAT7 pin Data Value 8 CTRLO Data Value 11 CTRL3 Data Value 12 23 Not used General I O Port Data Direction Control Register 0 DISPO Direction Control H DISP7 Direction Control 8 CTRLO Direction Control 11 CTRL3 Direction Control Must be 1 for to function All bits 0 Input 1 Output 12 23 Not used Data Type Control Register 0 1 000 Data Type Control 0 FlagW9 1 I O00 1 001 Data Type Control 0 FlagV9 1 I O01 1 002 Data Type Control 0 FlagU9 1 I O02 1 003 Data Type Control 0 FlagT9 1 1 003 1 004 Data Type Control 0 USER9 1 1 004 1 005 Data Type Control O MLIM9 1 I 005 1 006 Data Type Control 0 PLIM9 1 1 006 1 007 Data Type Control O HMFL9 1 I 007 1 008 Data Type Control O PWM_B BOTS 1 1 008 1 009 Data Type Control O PWM_B_ TOP9 1 I O09 10 1 010 Data Type Control O PWM_A_ BOT9 1 I O10 11 1 O11 Data Type Control O PWM_A_ TOP9 1 I O11 12 1 012 Data Type Control
111. nel n Flag Set 4 9000 9008 9010 9018 3 ACC 24E2x Channel n Flag Set 5 9040 9048 9050 9058 AT ACC 24E2x Channel n Flag Set Y S8xxx or Y S9xxx Channel n Time between last two encoder counts SCLK cycles X 8xxx or X 9xxx Channel n Status Word Bits 0 2 Capture Hall Effect Device State 3 Invalid demultiplex of C U V and W 4 7 Not used reports as 0 8 Encoder Count Error 0 on counter reset 1 on illegal transition MS node MI927 9 Position Compare EQUn output value 10 Position Captured On Gated Index Flag 0 on read of captured position register 1 on trigger capture 11 Position Captured Flag on any trigger 0 on read of captured position register 1 on trigger capture 12 Encoder Channel A CHAn Input Value 13 Encoder Channel B CHBn Input Value 14 Encoder Channel C Index CHCn Input Value ungated 15 Amplifier Fault FAULTn Input Value 16 Home Flag HMFLn Input Value 17 Positive End Limit PLIMn Input Value 18 Negative End Limit MLIMn Input Value 19 User Flag USERn Input Value 20 FlagWn Input Value 21 FlagVn Input Value 22 FlagUn Input Value 23 FlagTn Input Value 74 16 Axis MACRO Station Memory and I O Map 16 Axis MACRO CPU Software Reference Manual Servo Chan 1 Chan 2 Chan 3 Chan 4 Notes IC 2 8001 8009 8011 8019 1 ACC 24E2x 3 8041 8049 8051 8059 2 ACC 24E2x 4 9001 9009 9011 9019 3 ACC 24E2x 5 9041 9049 905
112. ntical in structure to the Encoder Conversion Table of the Turbo PMAC The 16 axis MACRO Station s table is executed every ring cycle to prepare the feedback data to be sent back to the PMAC over the MACRO ring where it will likely be passed through the PMAC s own table The ECT consists of a series of entries with each entry processing one feedback value An entry in the ECT can have one two or three lines therefore one two or three of these 24 bit MI variables Each MI variable occupies a fixed register in the 16 axis MACRO Station s memory map The register addresses are important because the results of the ECT are accessed by address Table Addresses The following table shows the Station Y address for each of the MI variables in the table The processed feedback value for an entry resides in the X register of the same address as the last line of the entry Variable MI10x for the xth motor node on the Station should contain the address of this X register for the feedback it wants to send back to PMAC over the MACRO ring 16 Axis MACRO Station MI Variable Reference 15 16 Axis MACRO CPU Software Reference Manual MACRO IC 0 MI Var Address MI Var Address MI Var Address MI Var Address MI120 0010 MI128 0018 MI136 0020 MI144 0028 MI121 0011 MI129 0019 MI137 0021 MI145 0029 MI122 0012 MI130 001A MI138 0022 MI146 002A MI123
113. ode MI910 Encoder Timer n Decode Control Range 0 15 Units None Default H MI910 controls how the input signal for the encoder mapped to the specified node is decoded into counts As such this defines the sign and magnitude of a count The following settings may be used to decode an input signal gt Pulse and direction CW xl quadrature decode CW x2 quadrature decode CW x4 quadrature decode CW Pulse and direction CCW xl quadrature decode CCW x2 quadrature decode CCW x4 quadrature decode CCW Internal pulse and direction 9 Not used 10 Not used 11 x6 hall format decode CW 12 MLDT pulse timer control internal pulse resets timer external pulse latches timer 13 Not used 14 Not used 15 x6 hall format decode CCW COS Oy Ne 16 Axis MACRO Station MI Variable Reference 39 16 Axis MACRO CPU Software Reference Manual In any of the quadrature decode modes PMAC is expecting two input waveforms on CHAn and CHBn each with approximately 50 duty cycle and approximately one quarter of a cycle out of phase with each other Times one x1 decode provides one count per cycle x2 provides two counts per cycle and x4 provides four counts per cycle The vast majority of users select x4 decode to get maximum resolution The clockwise CW and counterclockwise CCW options simply control which direction counts up If you get the wrong direction sense simply change to the other option e g from 7 to 3 or
114. oder IC 3 Base Address coenen 27 MSfanynode M1190 MACRO Encoder IC 4 Base Address cccceccscseceesetseeteeneeeecuseeseuseeseesecseesecueeeeenseesents 27 MS anynode MI191 MI196 Encoder Channels 9 14 Base Address n 27 MSfanynode MI197 Reserved for Future use 27 MACRO IC W O Transfer MI V arta bles zouseet fe CES EENS ovtesess dee susosevensesedveshest svensegesvegsdsvess sbenuestsveesess 28 MSfanynode M1198 Direct Read Write Format and Address 28 MSfanynode MI199 Direct Read Write Horioble 30 Global MACRO SERVO IC I O Identification and Status MI Variables ccccccscccessecsssceeseecessceeseecseseeeaeeeees 30 MSfanynode MI200 MACRO SERVO ICs Detected amp Soe 30 MSfanynode M201 MI202 Reserved for Future Deel 31 MSfanynode MI203 Phase Period 31 MSfanynode MI204 Phase Execution Time ccccccceccssssseseeseesecsseeecuseeseesecseeaecaeeeeceeesenseeseesecseeaeeneseeeneeenengs 31 MSfanynode MI205 Background Cycle Time 32 MSfanynode MI206 Maximum Background Cycle Time 32 MSfanynode MI207 Identification break dom 32 MSfanynode MI208 User Ram Stot 32 MSfanynode MI209 CPU Jdeutttieotion 32 MSfanynode M210 MI225 Servo IC Identification Variables 33 MSfanynode M226 MI249 Reserved for Future Deel 33 MS anynode M250 MI265 I O Card Identification Variables c ccccccccccceccseesseeseesseeetenseeseceseenseenaeenseeaes 33 MSfanynode M1300 MI899 Reserved for future
115. ogram 4 IF AND OR ELSE ENDIF WHILE ENDW 16 Axis MACRO Station MacPLCCs 59 16 Axis MACRO CPU Software Reference Manual Special MACRO Program Commands CHAN Exp limited to 1 8 Sets channel f or MI910 939 amp 950 969 or MI1910 1939 amp 1950 1969 If Exp is lt 1 CHAN is not updated and if Exp is gt 8 it is limited to 8 Valid Math Assignment and Conditional Operators SS and gt lt gt lt Valid Expressions and Arrays OpenPicc Ln integer variable array expression Example L L2 L3 L3 L4 L7 L5 L3 or LI L1 L3 L4 L8 Note the index of the array must be an integer and it is limited to the range of the defined Ln array It will be run through preprocessor so labels are allowed define Mtr1Gain MP1 Ln Arrays Definition Examples LS gt X 600 64 L6 gt Y 600 64 MM MM1 MP2 MP3 amp MP MP2 MP4 MM5 MP MM1 MP2 MP3 MM MP2 MP4 MMS The following is allowed for the Ln array index LS5 L1 L2 L3 amp L6 L4 L2 L4 L5 L5 L1 L2 L3 amp L6 L4 L2 L4 L5 Note MI Int Exp MM Int Exp MP Int Exp and Lnn Int Exp must use integer variable indexes Example Program MM1 gt X 00700 24 MM2 gt Y 500700 24 MM3 gt X 00701 24 OPEN MACPLCC MM3 MM1 MM2 CLS MACRO PLCC Code Memory Memory Data Information Location 4000 End of PLCC Program 1
116. ols stack channels 1 4 X 804C controls stack channels 5 8 X 900C controls stack channels 9 12 X 904C controls stack channels 13 16 Shifted out MSB first one bit per DAC_CLK cycle starting on rising edge of phase clock Backplane Channel 3 X 8014 Backplane Channel 7 X 8054 Backplane Channel 11 X 9014 Backplane Channel 15 X 9054 ADC Strobe Word 24 bits X 8014 controls backplane channels 1 4 X 8054 controls backplane channels 5 8 Shifted out MSB first one bit per ADC_CLK cycle starting on rising edge of phase clock Backplane Channel 4 X 801C BackplaneChannel 8 X 805C Backplane Channel 12 X 901C BackplaneChannel 16 X 905C PWM PFM MaxPhase Control Word X 801C controls backplane channels 1 4 X 805C controls backplane channels 5 8 X COIC bits 0 7 is 1904 X C03C bits 0 7 is 1908 Bits 0 7 PWM Dead Time 16 PWM CLK cycles also PFM pulse width PFM CLK cycles X COIC bits 8 23 is 1900 X C03C bits 8 23 is 1906 8 23 PWM MaxCount Value PWM Frequency 117 9648 MHz 4 MaxCount 6 MaxPhase Frequency 2 PWM Frequency 117 9648 MHz 2 MaxCount 3 16 Axis MACRO Station Memory and I O Map 16 Axis MACRO CPU Software Reference Manual Servo Chan 1 Chan 2 Chan 3 Chan 4 Notes IC 2 8005 800D 8015 801D 1 ACC 24E2x 3 8045 804D 8055 805D 2 ACC 24E2x 4 9005 900D 9015 901D 3 ACC 24E2x 5 9045 904D 9055
117. on R address Read Station Address The R H address count command causes the 16 Axis MACRO Station to report the value stored at the specified addresses If H is used the contents of the register s are reported back in hexadecimal otherwise they are reported back in decimal form address consists of a register type X Y L or P and the numerical address of the register The optional count value specifies the number of registers to be reported starting at the specified address and counting up If no count value is specified in the command one register value is reported Examples RX 20 Read X register 20 64 CMS responds in decimal RHX 20 Read X register 20 in hex 40 CMS responds in hex RHY SFFCO 3 Read Y registers FFCO FFC1 FFC2 FFFFA4 FFFFO1 FFFFC7 CMS responds in hex SAVE Save Station Ml variables The SAVE command causes the 16 Axis MACRO Station to copy its MI variable values from volatile active memory to the non volatile flash memory On the next power up or reset these values will be copied back from flash memory to active memory 64 16 Axis MACRO Station Serial Commands 16 Axis MACRO CPU Software Reference Manual SID Reports Serial Identification Number The reports the SID of the Dallas ID chip VERS Report Firmware Version The VERS command causes the 16 Axis MACRO Station to report its firmware version number Example VERS 1 106 VID Report Ven
118. onversion table MI106 6 motor node Node 9 0095 6 line of encoder conversion table MI107 7 motor node Node 12 0096 127 line of encoder conversion table MI108 8 motor node Node 13 0097 8 line of encoder conversion table MI101 through MI108 MI10x determine what registers are used for feedback for the eight possible motor nodes MI10x controls the xth motor node which usually corresponds to Motor x on PMAC on a 16 Axis MACRO Station For each active motor node the value in the specified register is copied into the 24 bit position feedback MACRO register Typically the addresses specified are those from the 16 Axis MACRO Station s encoder conversion table at Station registers X 0010 to X 002F corresponding to Station MI variables MI120 to MI151 respectively 16 Axis MACRO Station MI Variable Reference 13 16 Axis MACRO CPU Software Reference Manual MS anynode MI109 MI110 Reserved for Future Use MS anynode MI111 M1I118 Power Up Position Source Address Range 000000 FFFFFF Units Extended 16 Axis MACRO Station Addresses Default 0 MI111 1 motor node Node 0 MI112 2 motor node Node 1 MI113 3 motor node Node 4 MI 14 4 motor node Node 5 MI115 5 motor node Node 8 MI116 6 motor node Node 9 MI117 7 motor node Node 12 MI118 8 motor node Node 13 MI111 through MI118 MI1 1x specify whether where and how absolute position is to be r
119. port its firmware date 03 27 97 PMAC reports 16 Axis MACRO Station firmware date to host MS SAVE 4 Causes 16 Axis MACRO Station to save setup variables MS VER 8 Causes 16 Axis MACRO Station to report its firmware version 1 200 PMAC reports 16 Axis MACRO Station firmware version to host Turbo PMAC Type 1 16 Axis MACRO Station Commands 67 16 Axis MACRO CPU Software Reference Manual MS Variable Read Syntax MACROSLAVE node slave MI MM or MP variable MS node slave MI variable where node isa constant 0 14 representing the number of the node whose variable is to be read if the variable is not node specific the number of any active node on the station may be used slave MI MM or MP variable isthe name of the MI MM or MP variable on the slave station whose value is to be reported This command causes PMAC to query the MACRO slave station at the specified node and report back the value of the specified slave station MI variable to the host computer Examples MSO MI910 Causes 16 Axis MACRO Station to report value of Node 0 variable MI910 7 PMAC reports this value back to host MS1 MI997 Causes 16 Axis MACRO Station to report value global variable MI997 6258 PMAC reports this value back to host MS1 MM1 Causes 16 Axis MACRO Station to report value global variable MM1 8 PMAC reports this value back to host MS Variable Write Syntax MACROSLAVE node slave variable constant MS node s
120. put letting the output pull high Writing a 1 to a bit of the I O board enables it as an output and pulls the output low Since most of the Backplane IO accessories are only 48 bits this variable will waste some IO node space unless three IO cards are placed at the same address utilizing the low middle and high bites If one of the above transfer variables is utilized only if one card at the address the transfers take the low byte of 5 consecutive addresses starting at the address specified in the low 16 bits of this variable as well as the middle byte of first three consecutive addresses It places the data on a full node that is specified with the node address in bits 24 39 of this variable Examples Accessory 11E at base address 8800 in the low byte and a 9E at base address 8800 in the middle byte MI169 00C0A0008800 transfers 72 bit I O between an I O board set at 8800 and MACRO Node 2 COA0 C0A3 MI170 10C0A4008800 transfers 72 bit I O between an I O board set at 8800 in the middle byte and MACRO Node 2 C0A4 C0A7 Card Address High Byte Middle Byte Low Byte Destination Address Destination Address Destination Address 8800 X C0A5 X C0A2 X C0A0 78425_on_Turbo 78422 on_Turbo 78420_on_Turbo 8801 X C0A5 X C0A3 X C0A0 78425_on_Turbo 78423_on_Turbo 78420_on_Turbo
121. r loss hardware status bit for a channel can be polled with MI927 for the node mapped to the channel If it has been set it can be cleared by writing a 0 value to MI927 Note As long as the socketed resistor pack for an encoder is reversed from the factory default configuration the 16 Axis MACRO Station will be able to detect differential encoder loss and shut down on it even without wiring the encoder signals into T U V and W However unless the signals are wired into these flag lines and MI16 is set to 1 the 16 Axis MACRO Station will not be able to notify PMAC exactly which encoder sustained the loss MS anynode MI17 Amplifier Fault Disable Control Range 00 FF Units none Default 00 amplifier function enabled for all axes This variable controls whether the amplifier input to the machine interface channel mapped to each servo node by SW1 is used as one of the conditions that creates a node fault to be sent back to the PMAC over the MACRO ring The variable consists of eight bits each bit controls the disabling of the amplifier fault input for one of the nodes on the Station A 0 in the bit specifies that the amplifier fault input is to be used enabled a 1 in the bit specifies that the amplifier fault input is not to be used disabled The corresponding bit of MI18 determines the polarity of the input if it is enabled 6 16 Axis MACRO Station MI Variable Reference 16 Axis MACRO CPU Software Reference
122. ress of MACRO I O node first COA9 Node 6 COAD Node 7 of three 16 bit registers COB1 Node 10 COBS Node 11 1 7 0 1 2 3 Number of 16 bit I O sets to use 1x16 2x16 3x16 0 disables TI Ier 153000 consecutive address read Base 1000 2000 8880 88C0 When this function is active the 16 Axis MACRO Station will copy values from the MACRO command input node registers to the I O board addresses it will copy values from the I O board addresses to the MACRO feedback output node registers Writing a 0 to a bit of the I O board enables it as an input letting the output pull high Writing a 1 to a bit of the I O board enables it as an output and pulls the output low The following table shows the mapping of I O points on the I O backplane boards to the MACRO node registers Board at E6x Rows Byte on VO Point Matching MACRO X Register Set Connected Data Bus s on Address Board 1 1 amp 2 Low 0 15 Specified MACRO X Address 0 E 1 amp 2 Low 16 31 Specified MACRO X Address 1 1 1 amp 2 Low 32 47 Specified MACRO X Address 2 Se 2 amp 3 Middle 0 15 Specified MACRO X Address 4 2 amp 3 Middle 16 31 Specified MACRO X Address 5 2 2 amp 3 Middle 32 47 Specified MACRO X Address 6 EW 4 amp 5 High 0 15 Specified MACRO X Address 8 EN 4 amp 5 High 16 31 Specified MACRO X Address 9 3 4 amp 5 High 32 47 Specified
123. result value equals 2 Time Base Scale Factor New Source Value Old Source Value When this entry is used to synchronize a motion program to a master encoder creating an electronic cam function this scale factor should be set equal to 2 Real Time Input Frequency where the RTIF is expressed in counts per millisecond The program is then written assuming that the master encoder is always putting out this RTIF Addition Subtraction of Entries GEO E8 The Ex entry is used to add or subtract two other entries in the Table If the method byte is SEO the two specified entries are added If the method byte is SES the second entry is subtracted from the first Bits 0 7 of the entry specify the address offset from this entry to the first entry to be used as a signed 8 bit quantity Bits 8 15 of the entry specify the offset from this entry to the second entry to be used For example MI131 is to be used to subtract the result values with MI121 from that of MI120 the offset to the first entry is 11 F5 and the offset to the second entry is 10 F6 Therefore MI131 E8F6F5 MS anynode MI152 MI153 Phase Clock Latched UO Range 000000000000 FFFFFFFFFFFF Units Extended 16 Axis MACRO Station Y Addresses Default 000000000000 MI152 and MI153 permit the use of inputs latched by the phase clock on Station I O boards This function is used to get reliable parallel data feedback on the 16 Axis MACRO Station It is useful mainly
124. riable is not node specific the number of any active node on the station may be used slave variable is the name of the MI MM MP variable or C command on the slave station whose value is to be reported PMAC variable is the name of the variable on the PMAC into which the value of the slave station variable is to be copied This command copies the value of the specified variable on PMAC into the specified MI variable on the MACRO slave station or if a slave station C command number is specified it executes that command in which case the PMAC variable value is not really used 70 Turbo PMAC Type 1 16 Axis MACRO Station Commands 16 Axis MACRO CPU Software Reference Manual The valid C commands are e C1 Clear station faults e C2 Reset station loading saved station MI variables e C3 Re initialize station loading default station MI variables e C4 Save station MI variables to non volatile memory The MI MM or MP variable on the MACRO slave station can be global to the station or node specific The variable on the PMAC or PMAC 2 can be any of the I P Q or M variable on the card If this command is issued to a PMAC while no PLC buffer is open it will be executed as an on line command not stored in the buffer as a PLC command Examples MSWO MI910 P35 Copies value of PMAC P35 into 16 Axis MACRO Station node 0 variable MI910 MsW4 C4 P0 Causes 16 Axis MACRO Station with active node 4 to save its MI variabl
125. riables and cannot be changed MS anynode MI176 MACRO IC Base Address Range 000000 OOFFFF Units Modified 16 Axis MACRO Station Addresses Default C080 for MACRO IC 0 and C0C0 for MACRO IC 1 MS anynode MI177 MACRO IC Address for Node 14 Range 000000 00FFFF Units Modified 16 Axis MACRO Station Addresses Default COB8 for MACRO IC 0 and 0 for MACRO IC 1 Not used MS anynode MI178 MACRO IC Address for Node 15 Range 000000 OOFFFF Units Modified 16 Axis MACRO Station Addresses Default COBC for MACRO IC 0 and COFC for MACRO IC 1 MS anynode MI179 MACRO SERVO IC 1 Base Address Range 000000 00FFFF Units Modified 16 Axis MACRO Station Addresses Default 8000 for MACRO IC 0 and 9000 for MACRO IC 1 This is the base address of the first SERVO IC attached to the MACRO IC 26 16 Axis MACRO Station MI Variable Reference 16 Axis MACRO CPU Software Reference Manual MS anynode MI180 MACRO SERVO IC 2 Base Address Range 000000 00FFFF Units Modified 16 Axis MACRO Station Addresses Default 8040 for MACRO IC 0 and 9040 for MACRO IC 1 This is the base address of the second SERVO IC attached to the MACRO IC MS anynode MI181 MI188_ MACRO SERVO Channels 1 8 Address Range 000000000000 00FFFFOOFFFF Units Modified 16 Axis MACRO Station Addresses Default These are 48 bit read only MI variables The Servo IC Y part is generated from MI179 and MI
126. ror cleared when read Byte violation error cleared when read Packet parity error cleared when read Data underrun error cleared when read Master station enable Synchronizing master station enable Sync packet received cleared when read Sync packet phase lock enable Node 8 master address check disable Node 9 master address check disable Node 10 master address check disable Node 11 master address check disable Node 12 master address check disable Node 13 master address check disable Node 14 master address check disable Node 15 master address check disable DSPGATE2 clock control register Bits 0 11 comprise 1993 0 2 3 5 6 8 9 11 12 13 14 15 16 19 20 23 SCLK Frequency Control n f 39 3216MHz 2 n 0 7 PFM Clock Frequency Control n f 39 3216MHz 2 n 0 7 DAC Clock Frequency Control n f 39 3216MHz 2 n 0 7 ADC Clock Frequency Control n f 39 3216MHz 2 n 0 7 Phase Clock Direction O output 1 input This must be 1 Servo Clock Direction O output 1 input This must be 1 Not used report as zero Phase Clock Frequency Control n 1997 f _MAXPHASE n 1 n 0 15 Servo Clock Frequency Control n f PHASE n 1 n 0 15 DSPGATE2 Channel 1 and Channel 2 These are the Auxiliary channels that support the JHW Port Y SCO9x X SCO9x Bits Chan 1 2 Hex C090 C098 Channel n Time between last two encoder counts SCLK cycles Channe
127. s Check Disable 15 32768 8000 Config Node 15 Master Address Check Disable WIAD NALR WIN Re o A 16 Axis MACRO Station is a slave on the ring in all normal operation so configuration bits 4 and 5 are set to 0 It should synchronize itself to the sync node so configuration bit 7 should be set to 1 In most applications it will only accept packets from its own master so bits 8 to 15 are all set to 0 All other bits are status bits that are normally 0 This makes the usual setting of M1995 equal to 0080 MS anynode MI996 MACRO Node Activate Control Range 000000 to FFFFFF 0 to 8 388 607 Units none Default 0 See SWI table MI996 controls which of the 16 MACRO nodes on the 16 Axis MACRO Station are activated It also controls the master station number and the node number of the packet that creates a synchronization signal On a power up or reset of the 16 Axis MACRO Station MI996 for MACRO IC 0 is set automatically by Station firmware as a function of SW1 and SW2 switch settings plus the saved values of MI975 and MI976 16 Axis MACRO Station MI Variable Reference 53 16 Axis MACRO CPU Software Reference Manual The bits of MI996 are arranged as follows Bit Value Type Function 0 CAEC 1 Node 1 Activate 2 Node 2 Activate 3 Node 3 Activate 4 Node 4 Activate 5 Node 5 Activate 6 Node 6 Activate 7 Node 7 Activate 8 Node 8 Activate 9 Node 9 Activate 10 No
128. s class are e 2x Y word parallel no filtering 2 line entry e 3x Y word parallel with filtering 3 line entry e 6x X word parallel no filtering 2 line entry e 7x X word parallel with filtering 3 line entry The second digit in the first line of the entry represented above by x specifies how the parallel data at the specified address is to be processed Currently there are 5 valid values of x e x 0 Shift data so that the least significant bit of the source register as specified in the bits used mask word is placed in bit 5 of the processed result e x 4 Read the least significant byte from the low byte of the specified address read the middle byte from the low byte of the specified address 1 read the most significant byte from the low byte of the specified address 2 This is used for feedback brought in through the ACC 14E 48 I O board e x 5 Read the least significant byte from the middle byte of the specified address read the middle byte from the middle byte of the specified address 1 read the most significant byte from the middle byte of the specified address 2 This is used for feedback brought in through the ACC 14E 48 I O board e x 6 Read the least significant byte from the high byte of the specified address read the middle byte from the high byte of the specified address 1 read the most significant byte from the high byte of the specified address 2 This is used for
129. s for one of the machine interface channels on the Station 20 16 Axis MACRO Station MI Variable Reference 16 Axis MACRO CPU Software Reference Manual The following table shows the addresses for each channel on the ACC 24E2x backplane axis boards and the corresponding ECT entry The m represents the method either 9 A or B Machine 16 Axis Conversion Machine 16 Axis Conversion Interface MACRO Table Entry Interface MACRO Table Entry Channel Station Base Channel Station Base Address Address 1 8000 m08000 9 9000 m09000 2 8008 m08008 10 9008 m09008 3 8010 m08010 11 9010 m09010 4 8018 m08018 12 9018 m09018 5 8040 m08040 13 9040 m09040 6 8048 m08048 14 9048 m09048 7 8050 m08050 15 9050 m09050 8 8058 m08058 16 9058 m09058 In use the method byte is changed as needed by setting of the MI variable Itis set to 90 e g MI129 908808 before the calculations of the triggered move are started to freeze the time base It is set to B0 e g MI129 B08808 after the calculations of the triggered move are finished to arm the time base for the trigger When the Table sees the trigger the capture trigger for the machine interface channel as defined by MI912 and MI913 for the channel it automatically sets the method byte to A0 for running time base The second line in the entry is the time base scale factor The
130. s which are to 24 bit integer data types The MP variables are general purpose 24 bit integer data types The MM types can be used in the MI21 MI68 copy variables and the PLCC The MP variables can only be used in the PLCC 16 Axis MACRO Station Mm and MP Variables 57 16 Axis MACRO CPU Software Reference Manual 58 16 Axis MACRO Station Mm and MP Variables 16 Axis MACRO CPU Software Reference Manual 16 AXIS MACRO CPU STATION MACPLCCS The Open MACPIcc compiler in PeWinPro is used to compile the MACRO PLCC program that runs in the 16 axes MACRO CPU It is designed to handle a limited version of the standard PMAC PLCC programming commands and it will include some new ones The MACPIcc code is run in the background process of the 16 Axis MACRO CPU The additions and limitations to the standard PMAC PLC commands are defined below Requirements Turbo PMAC CPU with version 1 939 and greater and the 16 Axis MACRO station It is restricted to 8K of PLCC memory and from X Y 700 13FF of data memory Arithmetic Data Types 1 Integer 24 bit signed integer unsigned is not available 2 Integer 1 4 8 12 16 20 bit unsigned or signed MACRO MI Integer Variables n 0 1099 1 MACRO MIn Variable Converted to 1 to 24 bit signed unsigned integer variable A function of MI variable 2 MACRO MI Index Exp Array of MI Variables Indexes into MIn arrays are limited to 0 1999 Ona read of
131. se variables Therefore they are accessed through their MACRO IC For example MS0 MI101 accesses MACRO IC 0 s MI101 and MS16 MI101 accesses MACRO IC 1 s MI101 MACRO IC 1 s variables can be accessed can be accessed through MACRO IC 0 by adding 1000 to the MI variable For example MS0 MI1101 accesses MACRO IC 1 s MI101 MS anynode MI101 M1108 Ongoing Position Source Address Range 0000 FFFF Units 16 Axis MACRO Station X Addresses Default MACRO IC 0 MI101 1 motor node Node 0 0010 1 line of encoder conversion table MI102 2 motor node Node 1 0011 2 line of encoder conversion table MI103 3 motor node Node 4 0012 3 line of encoder conversion table MI104 GU motor node Node 5 0013 4 line of encoder conversion table MI105 5 motor node Node 8 0014 5 line of encoder conversion table MI106 ef motor node Node 9 0015 6 line of encoder conversion table MI107 7 motor node Node 12 0016 7 line of encoder conversion table MI108 8 motor node Node 13 0017 8 line of encoder conversion table Default MACRO IC 1 MI101 1 motor node Node 0 0090 1 line of encoder conversion table MI102 2 motor node Node 1 0091 2 line of encoder conversion table MI103 3 motor node Node 4 0092 3 line of encoder conversion table MI104 4 motor node Node 5 0093 4 line of encoder conversion table MI105 5 motor node Node 8 0094 5 line of encoder c
132. sion this is a triple entry conversion X word 0 4 Fractional bits of converted data 5 23 Integer bits of converted data if last entry in conversion Intermediate value if not last entry in conversion Refer to the detailed description of the encoder conversion table under Feedback Features Display Output Buffer Y 00210 0025F Display 80 Character Output buffer ASCII UO Buffer X 00300 003FF ASC nput buffer Y 00300 SOO3FF ASC Output buffer 16 Axis MACRO Station Memory and I O Map 73 16 Axis MACRO CPU Software Reference Manual MM and MP Variables Table X 00400 SOOS5FF MP Variables 0 511 Y 00400 SOOS5FF MM Variable Definitions 0 511 Open Memory X 00700 SOO7FF Open Memory Y 00700 SOO7FF Open Memory DSPGATE1 Registers Note The 16 Axis MACRO Station can support with its automatic servo functions up to 16 servo interface channels on four 4 channel DSPGATE 1 ICs Four Servo IC boards with DSPGATE1 ICs can be installed on the backplane Registers on boards not used by automatic servo functions can be used with Station I O copying operations e UBUS Addresses are selected using SW1 through SW6 on the Servo IC card Servo Chan 1 Chan 2 Chan 3 Chan 4 Notes IC 2 8000 8008 8010 8018 IT ACC 24E2x Channel n Flag Set 3 8040 8048 8050 8058 2 ACC 24E2x Chan
133. so they can shut down properly 48 16 Axis MACRO Station MI Variable Reference 16 Axis MACRO CPU Software Reference Manual MI977 is a 16 bit value bits 0 to 15 with bit n controlling the enabling of MACRO node n on a ring break If the bit is set to 0 the node will not be enabled on a ring break if the bit is set to 1 the node will be enabled on a ring break The motor nodes on the 16 Axis MACRO Station are nodes 0 1 4 5 8 9 12 and 13 which can be enable on ring break by MI977 bits of these numbers Only bits 0 1 4 5 8 9 12 and 13 of MI975 should ever be set to 1 Examples MSO MI977 3300 Enable Motor Nodes 8 9 12 and 13 on ring break MS8 MI977 S0033 Enable Motor Nodes 0 1 4 and 5 on ring break MS anynode MI978 MI986 Reserved for future use MACRO IC A D Converter Demultiplex Control Each MACRO IC 0 and 1 has its own set of these variables and is accessed from each MACRO IC MS anynode MI987 A D Input Enable Range 0 1 Units none Default 0 MI987 controls whether the 16 Axis MACRO Station will read an A D backplane board If M1987 is set to 1 the Station will read these A D converters at a high rate copying new data every phase cycle into each of the Y registers 0200 to 0207 for MACRO IC 0 and amp 208 to 20F for MACRO IC 1 If MI987 is set to 0 the Station will ignore the A D converters even if they are physically present on the Station MS anynode M1988 A
134. ssscsssserssessrsesssesesssesserssesersoesoes 59 UE WEE 59 EE EE Ee heey reer err a E reer errr 59 MACRO MI Integer Variables n 0 1000 59 MACRO MM and MP Integer Variables n 0 511 woe eeceeeceseeeeeeeseeseceeesecneeeeceaeceessecaeeeecnavenesaeseeeaeaeeeeeneees 59 MACROPIcc Ln Integer Variables n 0 S11 eeeceeeeccseeeeceseeeeeaeceeesecaeveecsaeeeceaecaessesaeeatssecaeearsnaeeaesaeeeeeneees 59 Direct Memory Addressing for Integer Ln amp Lol Variable Dettntfrtons 59 Standard MACRO Program Commands ssesecesecssesecseeececeeeceseeeceaecaeesecaeeseceavenceaecaeeaecaeesesnaeeecaeaaeeaesaeeeeeneeeees 59 Special MACRO Program Commandes 60 Valid Math Assignment and Conditional Operators ccccecscessceescesceseceseceseceaeceaeceaecaeecaeeeseeeeeseeeeeeeeesneeeneenaees 60 Valid Expressions and ArrayS ssssssssssscesscssseceseeeecesecoseseeseesnenasscenaesasecesaesasenecaesesenaesnenaesssssasecesaeasenecaneeeeneees 60 Ln Arrays Definition Examples s ci ccci cccccsieccecseieeciessceccececescoaseescseddesscesceevscsadecdeceadesdascadecddensdectasandedcscesdeddencavecdaeets 60 Example Programie oi a E EEO EEA TE EO EE OEE ETE A E EEEE EETA EEE 60 MACRO PLCG Code Memory osise nenin i sose e EA E EE OREI AEE EEEE EETA EESE 60 MAC PLCC Related ASCII Commandes 61 16 AXIS MACRO CPU STATION SERIAL COMMANDS cssssssssssssssssssssssessccssessessseesssssesssssesscsseesesssesoes 63 Staton Reso EE 63
135. st starting on rising edge of phase clock Default 7FFF00 for 16 bit DAC data MI909 controls the DAC strobe signal for machine interface channels 5 8 The 24 bit word set by MI909 is shifted out serially on the DAC_STROB lines MSB first one bit per DAC_CLK cycle starting on the rising edge of the phase clock The value in the LSB is held until the next phase clock cycle ACC 24E2A backplane analog axis interface boards have 18 bit DACs MI909 should be set to 7FFFCO See Also MI905 MI999 MACRO SERVO IC Node Specific Gate Array Ml variables Each MACRO IC has a set of these node related variables Up to two Servo IC are attached to each MACRO IC The base addresses of the two Servo ICs are defined by MI179 and MI180 MI179 defines the SERVO IC base address for channels 1 4 from it the lower 24 bits Y part of MI181 MI184 are generated MI180 defines the SERVO IC base address for channels 5 8 from it the lower 24 bits Y part of MI185 MI188 are generated The lower 24 bits Y part of MI181 MI188 define the base address for each of the eight node specific hardware interface channels MI variables M1910 through MI919 on the 16 Axis MACRO Station control the hardware setup of these channels These variables are accessed using the MS station auxiliary read and write commands The number immediately after the MS specifies the node number and therefore the channel number mapped to that node by the SW setting MS n
136. that the hardware counter used produces 4 counts per line is not relevant to the actual use of this format this fact would only be used when reading the actual hardware counter for debugging purposes Example This format is used to interpolate a linear scale with a 40 micron pitch 40pm line producing a resolution of about 10 nanometers 40 000 4096 used as position feedback for a motor PMAC considers a count to be 1 128 of a line yielding a count length of 40 128 0 3125 um To set user units of millimeters for the axis the axis scale factor would be lmm 10004m count _ counts User Unit mm 0 3125 um UserUnit ACC 28 Style A D Entries 1x 5x The A D feedback entries read from the high 16 bits of the specified address and shift the data right three bits so that the least significant bit of the processed result in bit 5 Unlike the parallel feedback methods this method will not roll over and extend the result This data typically comes from an ACC 28E backplane A D board AxisScaleFactor The 1x method processes the information directly essentially a copying with shift The 5x integrates the input value as it copies and shifts it That is it reads the input value shifts it right three bits adds the bias term in the second line and adds this value to the previous processed result If the second digit x of the entry is 0 the 16 bit source value is treated as a signed quantity if it is 8 the 16
137. the index value outside this range the returned value is zero On a write of the index value outside this range no value is written MACRO MM and MP Integer Variables n 0 511 1 MACRO MMn Variable Assumed to be defined as MMn gt lt X Y Addr offset width SignType gt 2 MACRO MPn Variable 24 bit signed integer variable 3 MACRO MM Index Exp Array to MM Pointer Variables 4 MACRO MP Index Exp Array of 24 bit signed Integer MP Variables Index expression into the MMn and MPn arrays are forced to a modulo 512 MACROPIcc Ln Integer Variables n 0 511 1 PLCC Ln Variable Address must be defined Accessed with inline code 2 PLCC Ln Index Exp Array 24 bit signed integer data Address must be defined Index expressions into the Ln arrays are forced to a modulo of the size of the array Direct Memory Addressing for Integer Ln amp Ln Variable Definitions MACROPIcc_ Ln gt X Y Address size Accesses entire 24 bit integer data value The array size range is 2 8192 and must be a power of two If the definition is put after the OPEN MACPlcc the size range is limited to 2 512 This is the recommended limitation The current PLCC Ln gt definitions which access portions of the 24 bit word are still available Standard MACRO Program Commands 1 OPEN MACPLCC begins the MACPicc the program 2 CLOSE closes MACPicc the program 3 RETURN Returns from PLCC pr
138. the position compare function for the machine interface channel mapped to the specified MACRO node number The units are encoder counts referenced to the position at the latest power on or reset MS node MI926 Compare B Position Value Range 8 388 608 8 388 607 Units Encoder counts Default 0 MI926 specifies the value of the B compare register of the position compare function for the machine interface channel mapped to the specified MACRO node number The units are encoder counts referenced to the position at the latest power on or reset 44 16 Axis MACRO Station MI Variable Reference 16 Axis MACRO CPU Software Reference Manual MS node MI927 Encoder Loss Status Bit Range 0 1 Units none Default 0 MI927 reports whether the Servo IC on the 16 Axis MACRO Station has detected loss of a differential encoder signal for the machine interface channel mapped to the specified MACRO node number It is a single bit variable that reports 0 if no loss has been detected or a 1 if a loss has been detected It will still report a value of after a loss has been detected even if the signal has been recovered until a zero value has been written to M1927 to clear the bit For this bit to work properly the A A B and B encoder inputs must also be wired into the T U V and W flags for the channel Also the resistor pack for the encoder channel must be reversed from the standard configuration so that pin 1 of t
139. ting of four independent 3 bit controls one for each of the clocks Each of these clock frequencies can be divided down from a starting 39 3216 MHz frequency by powers of 2 2N from 1 to 128 times N 0 to 7 This means that the possible frequency settings for each of these clocks are Frequency Divide by Divider N in 1 2N 39 3216 MHz 1 0 19 6608 MHz 2 1 9 8304 MHz 4 2 4 9152 MHz 8 3 2 4576 MHz 16 4 1 2288 MHz 32 5 611 44 kHz 64 6 305 72 kHz 128 7 Very few 16 Axis MACRO Station users will be required to change the setting of MI903 from the default value The encoder sample clock signal SCLK controls how often the 16 Axis MACRO Station s digital hardware looks at the encoder and flag inputs The 16 Axis MACRO Station can take at most one count per SCLK cycle so the SCLK frequency is the absolute maximum encoder count frequency SCLK also controls the signal propagation through the digital delay filters for the encoders and flags the lower the SCLK frequency the greater the noise pulse that can be filtered out The SCLK frequency should optimally be set to the lowest value that can accept encoder counts at the maximum possible rate 34 16 Axis MACRO Station MI Variable Reference 16 Axis MACRO CPU Software Reference Manual The pulse frequency modulation clock PFM_CLK controls the PFM circuitry that is commonly used for stepper drives The maximum pulse frequency possibl
140. tion Compare n Channel Select Range 0 1 Units None Default 0 0 Use channel n encoder counter for position compare function 1 Use first encoder counter on IC encoder 1 for channels 1 to 4 encoder 5 for channels 5 to 8 for position compare function MI911 determines which encoder input that the position compare circuitry for the machine interface channel mapped to the specified node uses When MI911 is set to 0 the channel s position compare register is tied to the channel s own encoder counter and the position compare signal appears only on the EQUn output When MI911 is set to 1 the channel s position compare register is tied to the first encoder counter on the ASIC Encoder 1 for channels 1 4 Encoder 5 for channels 5 8 or Encoder 9 for channels 9 10 and the position compare signal appears both on EQUn and combined into the EQU output for the first channel on the IC EQU1 or EQUS executed as a logical OR MI911 for the first channel on an ASIC performs no effective function so is always 1 It cannot be set to 0 40 16 Axis MACRO Station MI Variable Reference 16 Axis MACRO CPU Software Reference Manual MS node MI912 Encoder n Capture Control Range 0 15 Units none Default 1 This parameter determines which signal or combination of signals and which polarity triggers a position capture of the counter for the encoder mapped to the specified node Ifa flag input home limit or user is used
141. tion has changed form the saved on a bit is set CONFIG ERROR in the System Status word MI4 If new GATES are detected at Power On X MI200 that were not previously saved Y MI200 in the FLASH they will be loaded with their DEFAULT values MS anynode M201 MI202 Reserved for Future Use Range 0 Units Modified 16 Axis MACRO Station Addresses Default 0 MS anynode MI203 Phase Period Range 0 Units Clock units 2 Default 0 MS anynode MI204 Phase Execution Time Range 0 Units Clock units 2 Default 0 Phase duty cycle MI203 MI1204 100 It should be lt 50 16 Axis MACRO Station MI Variable Reference 31 16 Axis MACRO CPU Software Reference Manual MS anynode MI205 Background Cycle Time Range 0 Units Clock units 2 Default 0 The last background cycle time MS anynode M1206 Maximum Background Cycle Time Range 0 Units Clock units 2 Default 0 The maximum background cycle time MS anynode MI207 Identification break down Range 0 Units Bits Default 0 Same as Turbo 39 MS anynode M1208 User Ram Start Range 0 Units N A Default 700 This area is available for scratch pad use in the MACRO PLCC MS anynode MI209 CPU Identification Range 0 Units Bits Default 0003A1C40001 Similar to Turbo 14909 and decoded using MI207 The MACRO CPU 16x MI209 IDENT variable is formatted like the accessory card IDE
142. to be read if the variable is not node specific the number of any active node on the station may be used slave MI MM or MP variable is the name of the MI MM or MP variable on the slave station whose value is to be reported PMAC variable is the name of the variable on the PMAC into which the value of the slave station variable is to be copied This command copies the value of the specified MI MM or MP variable on the MACRO slave station into the specified variable on PMAC The variable on the PMAC or PMAC2 can be any of the I P Q or M variable on the card If this command is issued to a PMAC while a PLC buffer is open it will be stored in the buffer as a PLC command not executed as an on line command Examples MSO MI910 P1 Copies value of 16 Axis MACRO Station Node 0 variable MI910 into PMAC variable P1 MS1 MM9 M10 Copies value of 16 Axis MACRO Station global variable MM9 into PMAC variable M10 MS Variable Write Copy Syntax MACROSLVWRITE node slave variable PMAC variable MSW node slave MI MM or MP variable PMAC variable where node isa constant 0 14 representing the number of the node whose variable is to be read if the variable is not node specific the number of any active node on the station may be used slave variable is the name of the MI MM MP variable or C command on the slave station whose value is to be reported PMAC variable is the name of the variable on the PMA
143. ved for future use 3 6 C0A0 Node 2 16 Axis MACRO Station X Address of MACRO I O node COA4 Node 3 first of four registers COA8 Node 6 COAC Node 7 COBO Node 10 COB4 Node 11 7 0 Reserved for future use 8 0 1 Set to 1 for ACC 14E ACC 65E ACC 66E ACC 67E consectutive address read Base 1000 2000 9 12 8800 8840 8880 16 Axis MACRO Station Y Base Address of ACC 9E 10E 88C0 11E 12E 14E 65E 66E OR 67E UMAC I O board as set by jumpers switches on board 9800 9840 9880 98C0 When this function is active the 16 axis MACRO Station will copy values from the MACRO command input node registers to the I O board addresses it will copy values from the I O board addresses to the MACRO feedback output node registers Writing a 0 to a bit of the I O board enables it as an input letting the output pull high Writing a 1 to a bit of the I O board enables it as an output and pulls the output low The following table shows the mapping of I O points on the I O piggyback boards to the MACRO node registers T O Point s 1 000 1 015 1 016 1 031 1 032 1 047 1 048 1 063 1 064 1 079 1 080 1 095 1 096 1 0119 1 0120 1 0143 ACC 3E Part Option C Specified MACRO Node X Address 1 Specified MACRO Node X Address 2 Specified MACRO Node X Address 3 Specified MACRO Node X Address 5 Specified MACRO Node X Address 6 Specified MACRO Node X A
144. write and feedback read register bits 8 23 bits 0 7 not used ode 10 Ist 16 bit command write and feedback read register bits 8 23 bits 0 7 not used ode 1 Ist 16 bit command write and feedback read register bits 8 23 bits 0 7 not used 16 Axis MACRO CPU Software Reference Manual X COB2 Y SCOB3 X SCOB3 Y SCOB4 X SCOB4 Y SCOB5 X SCOB5 Y SCOB6 X SCOB6 Y SCOB7 X SCOB7 Y SCOB8 X SCOB8 Y SCOB9 X SCOB9 Y SCOBA X SCOBA Y SCOBB X SCOBB Y SCOBC X SCOBC Y SCOBD 88 MACRO N MACRO N MACRO N MACRO N MACRO N MACRO N MACRO N MACRO N MACRO N MACRO N MACRO N MACRO N MACRO N MACRO N MACRO N MACRO N MACRO N MACRO N MACRO N MACRO N MACRO N MACRO N ode 10 2nd 16 bit command write and feedback read register bits 8 23 bits 0 7 not used ode 8 3rd 16 bit command write and feedback read register bits 8 23 bits 0 7 not used ode 10 3rd 16 bit command write and feedback read register bits 8 23 bits 0 7 not used ode 9 24 bit command write and feedback read register ode 11 24 bit command write and feedback read register ode 9 Ist 16 bit command write and feedback read register bits 8 23 bits 0 7 not used ode 11 1st 16 bit command write and feedback read register bits 8 23 bits 0 7 not used ode 9 Ist 16 bit command write and feedback read register b
145. xx MACRO UBUS Port I O Registers MS node MI925 MS node MI926 Channel n Encoder Compare A Value 24 bits units of counts Channel n Encoder Compare B Value 24 bits units of counts X Y X Y X Y X Y X Y X Y X Y X Y X Y X Y X Y X Y X Y 78 Note Presently ACC 9E 10E 11E and 12E boards make no distinction between A B C and D base addresses because they do not use address lines A13 and A12 If one of these boards is set up for a certain base address 0 2 4 or 6 it will respond to any of the four possible settings for this address A B C or D and no other board may be placed at any of the settings for this numerical base address 8800 8840 8880 88C0 9800 9840 9880 98C0 SA800 SA840 SA880 SA8CO B800 CS Ce Se BUS Port I O Base Address 0A CS10 A13 0 A12 0 BUS Port I O Base Address 2A CS12 A13 0 A12 1 BUS Port I O Base Address 4A CS14 A13 1 A12 0 BUS Port I O Base Address 6A CS16 A13 1 A12 1 BUS Port I O Base Address 0B CS10 A13 0 A12 0 UBUS Port I O Base Address 2B CS12 A13 0 A12 1 UBUS Port I O Base Address 4B CS14 A13 1 A12 0 UBUS Port I O Base Address 6B CS16 A13 1 A12 1 UBUS Port I O Base Address DC CS10 A13 0 A12 0 UBUS Port I O Base Address 2C CS12 A13 0 A12 1 UBUS Port I O Base Address 4C CS14 A13 1 A12 0 UBUS Port I O Base Address 6C CS16 A13 1 A12 1 UBUS Port I O Base Address 0D CS10

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