User manual

Accessory 24E2A
MLDT Feedback for UMAC-MACRO 37
Ultralite is used, Ixx95 must also be set appropriately. The Compact MACRO Station has a
corresponding variable I11x for each node that must be set.
Absolute Position for Ultralite
Compact MACRO Station Feedback Type
(firmware version 1.16H and above)
Ix10 (Unsigned) Ix10 (Signed)
Acc-8D Opt 7 Resolver/Digital Converter $73000n $F3000n
Acc-8D Opt 9 Yaskawa Absolute Encoder Converter $72000n $F2000n
Acc-8D Opt 10 Sanyo Absolute Encoder Converter $74000n $F4000n
Acc-28B or Acc-28E Analog/Digital Converter $74000n $F4000n
MACRO Station Option 1C/Acc-6E A/D Converter $74000n $F4000n
MACRO Station Parallel Input $74000n $F4000n
MACRO Station MLDT Input $74000n $F4000n
n is the MACRO node number used for Motor x: 0, 1, 4, 5, 8, 9, C(12), or D(13).
Absolute Position for Turbo Ultralite (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
Compact MACRO Station Feedback Type Ixx95 (Unsigned) Ixx95 (Signed)
Acc-8D Opt 7 Resolver/Digital Converter $730000 $F30000
Acc-8D Opt 9 Yaskawa Absolute Encoder Converter $720000 $F20000
Acc-8D Opt 10 Sanyo Absolute Encoder Converter $740000 $F40000
Acc-28B Analog/Digital Converter $740000 $F40000
MACRO Station Option 1C/Acc-6E A/D Converter $740000 $F40000
MACRO Station Parallel Input, MLDT, SSI
$740000 $F40000
When PMAC or PMAC2 has Ix10 set to get absolute position over MACRO, it executes a station auxiliary
read command MS{node},I920 to request the absolute position from the Compact MACRO Station. The
station then references its own I11x value to determine the type, format, and address of the data to be read.
MACRO Parallel Absolute Position Setup
MI111 through MI118 (MI11x) specify whether, where, and how absolute position is to be read on the
Compact MACRO Station for a motor node (MI11x controls the xth motor node, usually which
corresponds to Motor x on PMAC) and sent back to the Ultralite.
If MI11x is set to 0, no power-on reset absolute position value will be returned to PMAC. If MI11x is set
to a value greater than 0, then when the PMAC requests the absolute position because its Ix10 and/or Ix81
values are set to obtain absolute position through MACRO (sending an auxiliary MS{node},MI920
command), the Compact MACRO Station will use MI11x to determine how to read the absolute position,
and report that position back to PMAC as an auxiliary response.
For an MLDT, take the output from the encoder conversion table (ECT) at the MACRO Station and
process it as an absolute position because the information in the ECT is synchronized properly.