Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Global I-Variables 118
Ixx44 Motor xx MACRO Slave Command Address
Range: $0, $078400 - $3787FF
Units: Modified Turbo PMAC Addresses
Default: $0
Ixx44 permits Motor xx to act as a slave motor on a MACRO ring, specifies the address of the register
where the MACRO data is to be exchanged, and what type of command (position, servo output, phase
command) is accepted.
If Ixx44 is set to its default value of 0, the motor will not respond to MACRO commands.
If Ixx44 is set to a non-zero value, bits 0 – 19 of Ixx44 specify the address of the “flag register” (Register
3) of the MACRO node from which the motor will accept its commands and return its feedback (for
method digits $0 and $1), or the base register (Register 0) of the node (for method digit $2).
Bits 20 – 23 of Ixx44, which form the first hex digit, specify the type of command to be accepted from the
specified MACRO node. If this digit is $0, the motor treats the command data as phase commands
(usually “direct PWM”) and simply outputs these to three registers starting at the address specified by
Ixx02.
If this digit is $1, the motor treats the command data as servo-output commands (usually torque).
If this digit is $2, the motor treats the command data as position commands. Note that Turbo PMAC as a
master does not support sending position commands over MACRO, so the MACRO master in this case
would have to be something other than a Turbo PMAC.
With MACRO ICs in the standard addresses, the following table shows the appropriate settings for Ixx44
for accepting direct-output or servo-output commands. The “n” in the first hex digit of Ixx44 represents
the command type.
Ixx44
MACRO IC and Node
Ixx44
MACRO IC and Node
$n78423
MACRO IC 0 Node 0
$n7A423
MACRO IC 2 Node 0
$n78427
MACRO IC 0 Node 1
$n7A427
MACRO IC 2 Node 1
$n7842B
MACRO IC 0 Node 4
$n7A42B
MACRO IC 2 Node 4
$n7842F
MACRO IC 0 Node 5
$n7A42F
MACRO IC 2 Node 5
$n78433
MACRO IC 0 Node 8
$n7A433
MACRO IC 2 Node 8
$n78437
MACRO IC 0 Node 9
$n7A437
MACRO IC 2 Node 9
$n7843B
MACRO IC 0 Node 12
$n7A43B
MACRO IC 2 Node 12
$n7843F
MACRO IC 0 Node 13
$n7A43F
MACRO IC 2 Node 13
$n79423
MACRO IC 1 Node 0
$n7B423
MACRO IC 3 Node 0
$n79427
MACRO IC 1 Node 1
$n7B427
MACRO IC 3 Node 1
$n7942B
MACRO IC 1 Node 4
$n7B42B
MACRO IC 3 Node 4
$n7942F
MACRO IC 1 Node 5
$n7B42F
MACRO IC 3 Node 5
$n79433
MACRO IC 1 Node 8
$n7B433
MACRO IC 3 Node 8
$n79437
MACRO IC 1 Node 9
$n7B437
MACRO IC 3 Node 9
$n7943B
MACRO IC 1 Node 12
$n7B43B
MACRO IC 3 Node 12
$n7943F
MACRO IC 1 Node 13
$n7B43F
MACRO IC 3 Node 13