Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Global I-Variables 104
and I77 must be set properly to determine whether the Type 0 or Type 1 MACRO protocol is being used
on the particular node (all Delta Tau products use Type 1).
Bit 20: Amplifier Fault Use Bit: If bit 20 of Ixx24 is 0, the amplifier-fault input function through the
FAULTn input is enabled. If bit 20 (value $100000, or 1,048,576) is 1 (e.g. I1924=$100000), this
function is disabled. General-purpose use of this input is then possible by assigning an M-variable to the
input.
Bits 21 & 22: Action-on-Fault Bits: Bits 21 (value $200000, or 2,097,152) and 22 (value $400000, or
4,194,304) of Ixx24 control what action is taken on an amplifier fault for the motor, or on exceeding the
fatal following error limit (as set by Ixx11) for the motor:
Bit 22
Bit 21
Function
Bit 22=0
Bit 21=0:
Kill all PMAC motors
Bit 22=0
Bit 21=1:
Kill all motors in same coordinate system
Bit 22=1
Bit 21=0:
Kill only this motor
Bit 22=1
Bit 21=1:
(Reserved for future use)
Regardless of the setting of these bits, a program running in the coordinate system of the offending motor
will be halted on an amplifier fault or the exceeding of a fatal following error.
Bit 23: Amplifier-Fault Polarity Bit: Bit 23 (value $800000, or 8,388,608) of Ixx24 controls the
polarity of the amplifier-fault input. A zero in this bit specifies that a zero read in the fault bit means a
fault; a one in this bit specifies that a one read in the fault bit means a fault. The actual state of the input
circuitry for a fault depends on the actual interface circuitry used. If a Delta Tau-provided optically
isolated fault interface is used, when the fault driver from the amplifier is drawing current through the
isolator, either sinking or sourcing, the fault bit will read as zero; when it is not drawing current through
the isolator, the fault bit will read as one.
In both the standard direct-PWM interface and the standard MACRO interface, bit 23 should be set to
one, to specify that a one in the fault bit means a fault. (The actual polarity of the signal into the remote
MACRO Station is programmable at the station).
Bit 23 is only used if bit 20 of Ixx24 is set to 0, telling Turbo PMAC to use the amplifier fault input.
Ixx25 Motor xx Flag Address
Range: $000000 - $FFFFFF
Units: Turbo PMAC Addresses
Default:
Turbo PMAC Ixx25 Defaults
Ixx25
Value
Register
Ixx25
Value
Register
I125
$078000
PMAC Flag Set 1
I1725
$079200
2
nd
Acc-24P/V Flag Set 1
I225
$078004
PMAC Flag Set 2
I1825
$079204
2
nd
Acc-24P/V Flag Set 2
I325
$078008
PMAC Flag Set 3
I1925
$079208
2
nd
Acc-24P/V Flag Set 3
I425
$07800C
PMAC Flag Set 4
I2025
$07920C
2
nd
Acc-24P/V Flag Set 4
I525
$078100
PMAC Flag Set 5
I2125
$079300
2
nd
Acc-24P/V Flag Set 5
I625
$078104
PMAC Flag Set 6
I2225
$079304
2
nd
Acc-24P/V Flag Set 6
I725
$078108
PMAC Flag Set 7
I2325
$079308
2
nd
Acc-24P/V Flag Set 7
I825
$07810C
PMAC Flag Set 8
I2425
$07930C
2
nd
Acc-24P/V Flag Set 8
I925
$078200
First Acc-24P/V Flag Set 1
I2525
$07A200
3
rd
Acc-24P/V Flag Set 1
I1025
$078204
First Acc-24P/V Flag Set 2
I2625
$07A204
3
rd
Acc-24P/V Flag Set 2
I1125
$078208
First Acc-24P/V Flag Set 3
I2725
$07A208
3
rd
Acc-24P/V Flag Set 3
I1225
$07820C
First Acc-24P/V Flag Set 4
I2825
$07A20C
3
rd
Acc-24P/V Flag Set 4
I1325
$078300
First Acc-24P/V Flag Set 5
I2925
$07A300
3
rd
Acc-24P/V Flag Set 5
I1425
$078304
First Acc-24P/V Flag Set 6
I3025
$07A304
3
rd
Acc-24P/V Flag Set 6
I1525
$078308
First Acc-24P/V Flag Set 7
I3125
$07A308
3
rd
Acc-24P/V Flag Set 7
I1625
$07830C
First Acc-24P/V Flag Set 8
I3225
$07A30C
3
rd
Acc-24P/V Flag Set 8