User's Manual

16-Axis MACRO CPU User Manual
56 How to use the 16-Axis MACRO CPU
Using the JHW Port Encoder Inputs
The 16-Axis MACRO CPU has the ability to read two supplemental channels of quadrature/pulse and
direction encoders. The user has access to these inputs on the 20-pin JHW. These encoders can be read
at rates up to 40 MHz. The only limitation on this port is that port does not allow the user to input an
index pulse. Therefore, these inputs are ideal for handwheel encoders or for pure position/velocity
feedback.
The data for the encoders are processed from the $C090 for supplemental channel 1 and from $C098 for
supplemental channel 2. The two encoders can be processed using the MI990 and MI991 to determine
the type of decode. The maximum encoder sample clock frequency is determined by MI993.
To use these supplemental inputs for encoders, typically the Encoder Conversion Table (ECT) must be
modified at the MACRO CPU (MI120-MI151) and the encoder node transfer variables (MI101-MI108)
must be modified. Typically since most users of the 16-Axis MACRO CPU will have more than eight
servo channels being used, Delta Tau recommends modifying the ECT registers and Encoder Node
Transfer variables associated with channels 9-16 (MACRO IC1).
Example: If there are ten axes and the two supplemental channels need to be used as channels 11 and 12
for dual feedback for channels 1 and 2. To read the data from the supplemental channels activate the nodes
associated with channels 11 and 12 and modify the Encoder Conversion Table at the MACRO CPU.
MS0,MI990=7 ; Supplemental Channel 1 is setup for x4 CCW decode
MS0,MI991=7 ; Supplemental Channel 2 is setup for x4 CCW decode
;*** ECT Modification at MACRO IC1 (Channels 9-16)
MS16,MI120=$009000 ; 1/T Interpolation from Encoder 9 ($90) (Default)
MS16,MI121=$009008 ; 1/T Interpolation from Encoder 10 ($91) (Default)
..
MS16,MI126=$009050 ; 1/T Interpolation from Encoder 15 ($96) (Default)
MS16,MI127=$009058 ; 1/T Interpolation from Encoder 16 ($97) (Default)
MS16,MI128=$00C090 ; 1/T Interpolation from Supplemental Channel1 ($98)
MS16,MI129=$00C098 ; 1/T Interpolation from Supplemental Channel2 ($99)
;*** Encoder Node Transfer Modification at MACRO IC1 (Channels 9-16)
MS16,MI101=$90 ;Transfer ECT data from $90 to Node 16 (default)
MS16,MI102=$91 ;Transfer ECT data from $91 to Node 17 (default)
MS16,MI103=$98 ;Transfer ECT data from $90 to Node 20
MS16,MI104=$99 ;Transfer ECT data from $90 to Node 21
Once this is information is modified at the MACRO CPU, use the data from feedback devices 11 and 12
for dual feedback or handwheel-master-slave-following purposes. The data for supplemental channels 1
and 2 will be processed at the Ultralite at locations $3516 and $3518 respectively.
Using the JHW Pulse and Direction Outputs
The 16-Axis MACRO CPU has the ability to send pulse and direction signals on its two supplemental
channels. The user has access to these inputs on the 20-pin JHW. These outputs are ideal step and
direction style amplifiers or general purpose pulse and direction outputs.
The outputs for the Pulse and Direction signals are processed from the $C094 for supplemental channel 1
and from $C09C for supplemental channel 2. The maximum Pulse Frequency is determined by MI993
and the Pulse Frequency pulse-width is determined by MI994.
To use these supplemental pulse and direction outputs, set up the output mode for pulse and direction.
The default output for the output mode for the supplemental channels is PWM. Unfortunately, there is not
a MI-variable at the MACRO CPU to put its supplemental channels into pulse and direction mode, so
write to this location over the ring.