Reference Manual

PMAC 2 Software Reference
112 PMAC I-Variable Specifiation
The possible value ranges of Ix81 and the position sources they specify are summarized in
the following table:
Ix81 Value Range Absolute Position Source Ix81 Address Type
$00xxxx - $07xxxx ACC-8D Opt 7 R/D Converter Multiplexer Port
$08xxxx - $18xxxx Parallel Data Y-Register PMAC Memory-I/O
$48xxxx - $58xxxx Parallel Data X-Register PMAC Memory-I/O
$73xxxx MACRO Station R/D Converter MACRO Node Number
$74xxxx MACRO Station Parallel Read MACRO Node Number
$80xxxx - $FFxxxx Hall Sensor Read PMAC Memory-I/O
The following section provides detail for each type of position feedback.
R/D Converter: If Ix81 contains a value from $0000xx to $0700xx, Motor x will expect
its absolute power-on phase position from an ACC-8D Opt. 7 R/D converter board. The
low 8 bits(last 2 hex digits) of Ix81 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 Ix81, 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:
Ix81 Value ACC-8D Opt. 7
SW1-1 Setting
# of R/D Converter
on ACC-8D Opt. 7
$0000xx CLOSED (0) 1
$0100xx CLOSED (0) 2
$0200xx CLOSED (0) 3
$0300xx CLOSED (0) 4
$0400xx OPEN (1) 1
$0500xx OPEN (1) 2
$0600xx OPEN (1) 3
$0700xx OPEN (1) 4
The following table shows the value of Ix81 for the multiplexer port addresses for the
ACC-8D Opt. 7 that can be used:
Board
Mux.
Addr.
Ix81 Board
Mux.
Addr.
Ix81 Board
Mux.
Addr.
Ix81 Board
Mux.
Addr.
Ix81
0 $0n0000* 64 $0n0040 128 $0n0080 192 $0n00C0
8 $0n0008 72 $0n0048 136 $0n0088 200 $0n00C8
16 $0n0010 80 $0n0050 144 $0n0090 208 $0n00D0
24 $0n0018 88 $0n0058 152 $0n0098 216 $0n00D8
32 $0n0020 96 $0n0060 160 $0n00A0 224 $0n00E0
40 $0n0028 104 $0n0068 168 $0n00A8 232 $0n00E8
48 $0n0030 112 $0n0070 176 $0n00B0 240 $0n00F0
56 $0n0038 120 $0n0078 184 $0n00B8 248 $0n00F8
‘n’ is a digit from 0 to 7 specifying the converter number at that address
* If ‘n’ is 0 and the multiplexer address is 0, the 4
th
hex digit should be set to 1, making
Ix81=$000100; otherwise with Ix10=0, no absolute position would be read.
Parallel Data Read: If Ix81 contains a value from $08xxxx to $18xxxx, or from $48xxxx
to $58xxxx, Motor x will do a parallel data read of the PMAC memory or I/O register at
the address specified by the low 16 bits of Ix81.