User's Manual

16-Axis MACRO CPU User Manual
Turbo PMAC2 Software Setup for MACRO Station 25
When Turbo PMAC2’s Ixx10 and Ixx95 are set to get absolute position over MACRO, it executes a
station auxiliary read command MS{node},MI920 to request the absolute position from the 16-Axis
MACRO CPU. The station then references its own MI11x value to determine the type, format, and
address of the data to be read. The data is returned to Turbo PMAC2 with up to 42 bits of data, sign
extended to 46 bits. Note that the Turbo PMAC’s Ixx95 and the Station’s MI11x must agree as to
whether the data is signed or unsigned.
Bit 48 is a Ready/Busy handshake bit and Bit 47 is a pass/fail status bit. If Bit 47 is set, the upper 24 bits
of the 48 bits returned are an error word and are stored in X:$00320E of the PMAC/PMAC2.
Ixx25, Ixx24: Flag Address and Mode
If the auxiliary functions for Node n of MACRO IC 0, 1, 2, or 3 have been enabled by setting Bit n of I70,
I72, I74, or I76, respectively, to 1, the flag information in Register 3 for the node is copied automatically
to and from PMAC RAM register $00347n, $00357n, $00367n, or $00377n, respectively. In this case,
Ixx25 should specify the address of the RAM copy, not the actual MACRO interface register.
The following table lists the default values for Ixx25 on a Turbo PMAC2 Ultralite, which shows the
address of the RAM copy register for each MACRO servo node:
Ixx25 Value Register Ixx25 Value Register
I125 $003440 MACRO Flag Register Set 0 I1725 $003460 MACRO Flag Register Set 32
I225 $003441 MACRO Flag Register Set 1 I1825 $003461 MACRO Flag Register Set 33
I325 $003444 MACRO Flag Register Set 4 I1925 $003464 MACRO Flag Register Set 36
I425 $003445 MACRO Flag Register Set 5 I2025 $003465 MACRO Flag Register Set 37
I525 $003448 MACRO Flag Register Set 8 I2125 $003468 MACRO Flag Register Set 40
I625 $003449 MACRO Flag Register Set 9 I2225 $003469 MACRO Flag Register Set 41
I725 $00344C MACRO Flag Register Set 12 I2325 $00346C MACRO Flag Register Set 44
I825 $00344D MACRO Flag Register Set 13 I2425 $00346D MACRO Flag Register Set 45
I925 $003450 MACRO Flag Register Set 16 I2525 $003470 MACRO Flag Register Set 48
I1025 $003451 MACRO Flag Register Set 17 I2625 $003471 MACRO Flag Register Set 49
I1125 $003454 MACRO Flag Register Set 20 I2725 $003474 MACRO Flag Register Set 52
I1225 $003455 MACRO Flag Register Set 21 I2825 $003475 MACRO Flag Register Set 53
I1325 $003458 MACRO Flag Register Set 24 I2925 $003478 MACRO Flag Register Set 56
I1425 $003459 MACRO Flag Register Set 25 I3025 $003479 MACRO Flag Register Set 57
I1525 $00345C MACRO Flag Register Set 28 I3125 $00347C MACRO Flag Register Set 60
I1625 $00345D MACRO Flag Register Set 29 I3225 $00347D MACRO Flag Register Set 61
Ixx24 specifies how the address in Ixx25 is to be used. Bit 0 of Ixx24 must be set to 1 to specify
PMAC2-style flag arrangements, which are used in the MACRO protocol. Bit 18 of Ixx24 must be set to
1 to specify that the flags are sent and received across MACRO. Bit 23 of Ixx24, which specifies the
polarity of the amplifier/node fault bit into the Turbo PMAC2, must be set to match the polarity defined
in the Station with the appropriate bit of MI18. If the bit n of MI18, and bit 23 of Ixx24 are set to 0, a
low-true fault (logical 0 means fault, regardless of the input voltage) is specified. If the bit n of MI18,
and bit 23 or Ixx24 are set to 1, a high-true fault (logical 1 means fault) is specified.
If no other bits of Ixx24 are set, the value of Ixx24 is $040001 or $840001. $040001 is the default value
for Ixx24 on Turbo PMAC2 Ultralite boards. Refer to the detailed description of Ixx24 in the Turbo
PMAC Software Reference for descriptions of the other bits.
When Bit 18 of Ixx24 is set to 1, and bit n of I1000 is set to 1, then the Motor xx flag information is
copied automatically between the holding registers at $00344n, $00345n, $00346n, or $00347n, and the
MACRO interface registers for node n of MACRO IC 0, 1, 2, or 3, respectively, on the Turbo PMAC2.
The command flags, such as amplifier enable, are held in the Y-register of $0034xn. The feedback flags,
such as overtravel limits and amplifier fault, are held in the X-registers of $0034xn. Monitoring of flag
values should use these holding registers in RAM, not the actual MACRO node registers.