User's Manual

16-Axis MACRO CPU User Manual
16-Axis MACRO CPU Software Setup 41
Station Encoder Conversion Table Setup
The 16-Axis MACRO CPU has its own Encoder Conversion Table (ECT) that permits pre-processing of
feedback data before it is transmitted back to the PMAC controller. This can simplify the transmission
and reduce the amount of data to be transmitted.
Note:
The Turbo PMAC2 has its own Encoder Conversion Table that has much the same
capabilities as that of the MACRO Station. However, when PMAC is getting its
data from the MACRO Station, the Turbo PMAC2’s table simply uses the parallel
data format to copy the feedback data from the MACRO node. Refer to the
PMAC2 Software Setup for MACRO Station section, above.
The ECT on the MACRO Station has a series of entries in 32 lines. Each line occupies one double word
of MACRO Station memory. The Y-word has set-up information; the X-word has result information
which is pointed normally to the position feedback MI-Variables MI101 to MI108.
Each line’s Y-word has a MACRO Station MI-Variable assigned to it, so setting MI-Variable values
completes the set up. The setup word for the first line of the table is assigned MI120; the setup word for
the second line for the second line is assigned MI121, and so on, to the 32
nd
line, whose set-up word is
assigned MI151.
An entry in the table can occupy one, two, or three lines, which means that one, two, or three MI-
Variables are used to define the set-up words for the entry. If the entry occupies more than one line, the
final result of the entry is in the last (highest-numbered address) X-word of the entry, matching the last
(highest-numbered) set-up MI-variable for the entry. Other X-words in the entry contain intermediate
results.
The following table shows the relationship between ECT line numbers, MI-Variable numbers, and result
addresses for MACRO IC 0:
Table Line # Set-up MI-
Variable
Result
Address
Table Line # Set-up MI-
Variable
Result
Address
1 MI120 X:$0010 17 MI136 X:$0020
2 MI121 X:$0011 18 MI137 X:$0021
3 MI122 X:$0012 19 MI138 X:$0022
4 MI123 X:$0013 20 MI139 X:$0023
5 MI124 X:$0014 21 MI140 X:$0024
6 MI125 X:$0015 22 MI141 X:$0025
7 MI126 X:$0016 23 MI142 X:$0026
8 MI127 X:$0017 24 MI143 X:$0027
9 MI128 X:$0018 25 MI144 X:$0028
10 MI129 X:$0019 26 MI145 X:$0029
11 MI130 X:$001A 27 MI146 X:$002A
12 MI131 X:$001B 28 MI147 X:$002B
13 MI132 X:$001C 29 MI148 X:$002C
14 MI133 X:$001D 30 MI149 X:$002D
15 MI134 X:$001E 31 MI150 X:$002E
16 MI135 X:$001F 32 MI151 X:$002F