Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Global I-Variables 153
The possible values of Ixx95 and the absolute position feedback devices they reference are summarized in
the following table:
Ixx95 Value Range
Absolute Position Source
Ixx10 Address Type
Format
$000000 - $070000
Acc-8D Opt 7 R/D Converter
Multiplexer Port
Unsigned
$080000 - $300000
Parallel Data Y-Register
Turbo PMAC Memory-I/O
Unsigned
$310000
Acc-28 A/D Converter
Turbo PMAC Memory-I/O
Unsigned
$320000
Acc-49 Sanyo Abs. Encoder
Turbo PMAC Memory-I/O
Unsigned
$480000 - $700000
Parallel Data X-Register
Turbo PMAC Memory-I/O
Unsigned
$710000
Acc-8D Opt 9 Yaskawa Abs. Enc.
Multiplexer Port
Unsigned
$720000
MACRO Station Yaskawa Abs. Enc.
MACRO Node Number
Unsigned
$730000
MACRO Station R/D Converter
MACRO Node Number
Unsigned
$740000
MACRO Station Parallel Read
MACRO Node Number
Unsigned
$800000 - $870000
Acc-8D Opt 7 R/D Converter
Multiplexer Port
Signed
$880000 - $B00000
Parallel Data Y-Register
Turbo PMAC Memory-I/O
Signed
$B10000
Acc-28 A/D Converter
Turbo PMAC Memory-I/O
Signed
$B20000
Acc-49 Sanyo Abs. Encoder
Turbo PMAC Memory-I/O
Signed
$C80000 - $F00000
Parallel Data X-Register
Turbo PMAC Memory-I/O
Signed
$F10000
Acc-8D Opt 9 Yaskawa Abs. Enc.
Multiplexer Port
Signed
$F20000
MACRO Station Yaskawa Abs. Enc.
MACRO Node Number
Signed
$F30000
MACRO Station R/D Converter
MACRO Node Number
Signed
$F40000
MACRO Station Parallel Read
MACRO Node Number
Signed
The following section provides details for each type of position feedback.
R/D Converter: If Ixx95 contains a value from $000000 to $070000, or from $800000 to $870000,
Motor xx will expect its absolute power-on position from an Acc-8D Option 7 R/D converter board.
Ixx10 should contain the address of the board on the multiplexer port, as set by the DIP switches on the
board.
The first hex digit of Ixx95, which can take a value of 0 or 8 in this mode, specifies whether the position
is interpreted as an unsigned value (first digit = 0) or as a signed value (first digit = 8).
The second hex digit of Ixx95, 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.
The following table shows the Ixx95 values for this mode and the R/D converter each specifies at the
Ixx10 address:
Ixx95 Value for
Unsigned Position
Ixx95 Value for
Signed Position
Acc-8D Opt. 7
SW1-1 Setting
# of R/D Converter
on Acc-8D Opt. 7
$000000
$800000
CLOSED (0)
1
$010000
$810000
CLOSED (0)
2
$020000
$820000
CLOSED (0)
3
$030000
$830000
CLOSED (0)
4
$040000
$840000
OPEN (1)
1
$050000
$850000
OPEN (1)
2
$060000
$860000
OPEN (1)
3
$070000
$870000
OPEN (1)
4
If Ixx99 is set greater than 0, the next higher numbered R/D converter at the same multiplexer port
address is also read and treated as a geared-down resolver, with Ixx99 specifying the gear ratio. Ixx98 is
also set greater than 0, the following R/D converter at the same multiplexer port address is read and
treated as a third resolver geared down from the second, with Ixx98 specifying that gear ratio.