Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Global I-Variables 150
The possible values of Ixx91 and the position sources they specify are summarized in the following table:
Ixx91 Value Range
Absolute Position Source
Ixx81 Address Type
$000000 - $070000
Acc-8D Opt 7 R/D Converter
Multiplexer Port
$080000 - $180000
Parallel Data Y-Register
Turbo PMAC Memory-I/O
$480000 - $580000
Parallel Data X-Register
Turbo PMAC Memory-I/O
$730000
MACRO Station R/D Converter
MACRO Node Number
$740000
MACRO Station Parallel Read
MACRO Node Number
$800000 - $FF0000
Hall Sensor Read
Turbo PMAC Memory-I/O
R/D Converter: If Ixx91 contains a value from $000000 to $070000, Motor xx will expect its absolute
power-on phase position from an Acc-8D Option 7 R/D converter board. Ixx81 should contain the
address of the board on the multiplexer port, as set by the DIP switches on the board.
The second hex digit of Ixx91, which can take a value from 0 to 7 in this mode, specifies the number of
the individual R/D converter at that multiplexer port address. This is a function of the DIP switch setting
on the board and the location of the converter on the board, as specified in the following table:
Ixx91 Value
Acc-8D Opt. 7
SW1-1 Setting
# of R/D Converter
on Acc-8D Opt. 7
$000000
CLOSED (0)
1
$010000
CLOSED (0)
2
$020000
CLOSED (0)
3
$030000
CLOSED (0)
4
$040000
OPEN (1)
1
$050000
OPEN (1)
2
$060000
OPEN (1)
3
$070000
OPEN (1)
4
Parallel Data Read: If Ixx91 contains a value from $08000n to $18000n, or from $48000n to $58000n,
Motor xx will do a parallel data read of the Turbo PMAC memory or I/O register at the address specified
by Ixx81.
In this mode, bits 16 to 21 specify the number of bits to be read. If the last hex digit of Ixx91 is 0,
consecutive bits will be read from the address specified by Ixx81, with the least significant bit read from
bit 0. This format is used for registers and I/O devices with 24-bit interfaces.
If the last hex digit of Ixx91 is 4, 5, or 6, data will be read in byte-wide pieces, with the least significant
byte at the address specified in Ixx81, the next byte at one address higher, and the next byte (if used) at
one more address higher. This format is intended for getting parallel data from the Acc-3E 3U-format
stack I/O board or the Acc-14E 3U-format pack (UMAC) I/O board, which have byte-wide interfaces.
For this format, the last hex digit of Ixx91 determines which byte of the 24-bit word is used, according to
the following table:
Ixx91 Last Digit
Byte
Bits
4
Low
0 – 7
5
Middle
8 – 15
6
High
16 – 23
In this mode, bit 22 of Ixx91 specifies whether a Y-register is to be read, or an X-register. A value of 0 in
this bit, yielding Ixx91 values from $080000 to $180000, specifies a Y-register; a value of 1, yielding
Ixx91 values from $480000 to $580000, specifies an X-register.
For the Acc-8D Option 9 Yaskawa Absolute Encoder Converter, Turbo PMAC’s 24-bit encoder phase
position register, an X-register, is read, so Ixx91 is set to $580000 ($180000 + $400000).
For the Acc-49 Sanyo Absolute Encoder Converter, the encoder provides a 13-bit value within one motor
revolution, and the data is read from a Y-register, so Ixx91 is set to $0D0000.