User's Manual

16-Axis MACRO CPU User Manual
Turbo PMAC2 Software Setup for MACRO Station 27
Ixx81, Ixx91: Power-On Phase Position Address and Mode
Ixx81 permits an automatic read of an absolute position sensor for phase referencing of a synchronous
motor commutated by PMAC. This read can be done automatically at power-on/reset (if Ixx80 = 1 or 3),
or subsequently on the $ or $$ command. If Ixx81 is set to 0, the power-on/reset phase position for the
motor will be considered to be 0, regardless of the type of sensor used. If Ixx81 is set to a value greater
than 0, Turbo PMAC2 will use the address or node specified by Ixx81 to read an absolute phase position,
in a manner determined by Ixx91.
There are specific settings of Turbo PMAC2’s Ixx91 for each type of MACRO interface to the MACRO
Station. The 16-Axis MACRO CPU has a corresponding variable MI11x for each node that must be set.
Since the MACRO Station’s MI11x also affects the absolute servo position read by Ixx10 and Ixx95 on
the Turbo PMAC2, and that position can be signed or unsigned, MI11x bit 23 specifies whether the
absolute servo position is read as signed or unsigned. This bit does not matter for the purposes of
absolute phase position which is always treated as unsigned.
The following table shows the possible settings of Ixx81 and Ixx91, along with the required matching
settings of MI11x, for the different types of absolute phase position formats supported:
16-Axis MACRO CPU Feedback Type Ixx81
Value
Ixx91
Value
Station MI11x
Bits 16-23
Acc-8D Opt 7 Resolver/Digital Converter $0000mn $730000 $00-$07 ($80-$87)
Acc-8D Opt 9 Yaskawa Absolute Encoder Converter $07x4yy $bb0000 See Note 1
Acc-49 Sanyo Absolute Encoder Converter $0000mn $740000 $0D
Acc-28B/E Analog/Digital Converter $0000mn $740000 $31
MACRO Station Hall Sensor Flag Input $0034xn $vv0000 See Note 2
Acc-1E/6E/36E/59E A/D Converter (low 12 bits) $0000mn $740000 $0C ($8C)
Acc-1E/6E/36E/59E A/D Converter (high 12 bits) $0000mn $740000 $33 ($B3)
MACRO Station Parallel Input $0000mn $740000 $08-$30
($88-$B0)
MACRO Station MLDT Input $0000mn $740000 $08-$30
($88-$B0)
Acc-3E/14E Parallel Input from two consecutive lower bytes $0000mn $740000 $2B ($AB)
Acc-3E/14E Parallel Input from two consecutive middle bytes $0000mn $740000 $2C ($AC)
Acc-3E/14E Parallel Input from two consecutive upper bytes $0000mn $740000 $2D ($AD)
Acc-3E/14E Parallel Input from two consecutive lower bytes $0000mn $740000 $2E ($AE)
Acc-3E /14EParallel Input from two consecutive middle bytes $0000mn $740000 $2F ($AF)
Acc-3E /14EParallel Input from two consecutive upper bytes $0000mn $740000 $30 ($B0)
m is the number of the MACRO IC used: 0, 1, 2, or 3
n is the MACRO node number used for Motor xx: 0, 1, 4, 5, 8, 9, C(12), or D(13).
bb is the number of bits in a revolution of the encoder (e.g. 13 bits for 8192 counts) plus 5 (to account for the 5
fractional bits), expressed in hexadecimal format (e.g. for 8192 counts/rev, 13 + 5 = 18 = $12)
$07x4yy represents the address of the MACRO node’s Register 0, which contains the position information. x
is 8, 9, A, or B, for MACRO IC 0, 1, 2, or 3, respectively. yy varies with the node number.
vv is a value from $80 to $FF representing the Hall sensor offset and direction.
For purposes of absolute phase position, Turbo PMAC2 simply reads the encoder counter value in its own
MACRO node, communicated automatically by the servo node functions. The MI11x setting is not used
to obtain the phase position; usually it is set to $71xxxx or $F1xxxx for absolute servo position.
For purposes of absolute phase position, Turbo PMAC2 simply reads the hall sensor values in its own
MACRO node, communicated automatically by the auxiliary servo node functions. The MI11x setting is
not used here, but may be set to a non-zero value if an absolute servo position sensor is also used.
When Turbo PMAC2 has Ixx91 set to get absolute position over MACRO, it executes a station auxiliary
read command MS{node},MI920 to request the absolute position from the 16-Axis MACRO CPU.