Reference Manual
Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Global I-Variables 94
Ixx10 for MACRO Absolute Position Reads
(Ixx95=$720000 - $740000, $F20000 - $F40000)
Addresses are MACRO Node Numbers
MACRO
Node Number
Ixx10 for
MACRO IC 0
Ixx10 for
MACRO IC 1
Ixx10 for
MACRO IC 2
Ixx10 for
MACRO IC 3
0
$000100
$000010
$000020
$000030
1
$000001
$000011
$000021
$000031
4
$000004
$000014
$000024
$000034
5
$000005
$000015
$000025
$000035
8
$000008
$000018
$000028
$000038
9
$000009
$000019
$000029
$000039
12
$00000C
$00001C
$00002C
$00003C
13
$00000D
$00001D
$00002D
$00003D
If obtaining the absolute position through a Delta Tau MACRO Station or equivalent, MACRO Station
setup variable MI11x for the matching node must be set properly to obtain the type of information
desired.
Motor Safety I-Variables
Ixx11 Motor xx Fatal Following Error Limit
Range: 0 - 8,388,607
Units: 1/16 count
Default: 32,000 (2000 counts)
Ixx11 sets the magnitude of the following error for Motor xx at which operation will shut down. When
the magnitude of the following error exceeds Ixx11, Motor xx is disabled (killed). If the motor’s
coordinate system is executing a program at the time, the program is aborted. It is optional whether other
PMAC motors are disabled when this motor exceeds its following error limit; bits 21 and 22 of Ixx24
control what happens to the other motor (the default is that all PMAC motors are disabled).
A status bit for the motor, and one for the coordinate system (if the motor is in one) are set. On Turbo
PMAC, if this coordinate system is hardware-selected on JPAN (with I2=0), or software-addressed by the
host (with I2=1), the ERLD/ output on JPAN is turned on. On ISA bus cards, the following error input to
the interrupt controller is triggered.
Setting Ixx11 to zero disables the fatal-following error limit for the motor. This may be desirable during
initial development work, but it is strongly discouraged in an actual application. A fatal following error
limit is a very important protection against various types of faults, such as loss of feedback, that cannot be
detected directly, and that can cause severe damage to people and equipment.
Note:
The units of Ixx11 are 1/16 of a count. Therefore, this parameter must hold a value
16 times larger than the number of counts at which the limit will occur. For
example, if the limit is to be 1000 counts, Ixx11 should be set to 16,000.
Ixx12 Motor xx Warning Following Error Limit
Range: 0 - 8,388,607
Units: 1/16 count
Default: 16,000 (1000 counts)
Ixx12 sets the magnitude of the following error for Motor xx at which a warning flag goes true. If this
limit is exceeded, status bits are set for the motor and the motor's coordinate system (if any). The
coordinate system status bit is the logical OR of the status bits of all the motors in the coordinate system.