Reference Manual

PMAC 2 Software Reference
64 PMAC I-Variable Specifiation
Ix10 Motor x Power-Up Servo Position Address
Range
$000000 - $FFFFFF
Units
Extended PMAC Addresses
Default
0
Remarks
Ix10 controls whether PMAC reads an absolute position sensor for Motor x on power-up/reset
and/or with the $* command. If an absolute position read is to be done, Ix10 specifies what
register is read for that absolute position data and how the data in this register is interpreted.
If Ix10 is set to 0, no absolute power-on/reset position read is performed. The power-on/reset
position is considered to be zero, even if an absolute sensor reporting a non-zero value is used.
Ix10 should be set to 0 when an incremental position sensor is used; typically a homing search
move is then executed to establish a position reference.
If Ix10 is set to a non-zero value, an absolute position read is performed for Motor x at power-
on/reset (unless Bit 2 of Ix80 is set to 1), or on the $* command, from the register whose
address is specified in Ix10. The motor’s position is set to the value read from the sensor
minus the Ix26 “home” offset value.
Ix10 consists of two parts. The low 16 bits, represented by four hex digits, contain the address
of the register containing the power-on position information, either a PMAC memory-I/O
address, an address on the multiplexer (“thumbwheel”) port, or the number of the MACRO
node on the PMAC, depending on the setting of the high 8 bits. The high 8 bits, represented
by two hex digits, specify how to read the information at this address.
Note:
It is easier to specify this parameter in hexadecimal form ($ prefix). If
I9 is set to 2 or 3, the value of this variable will be reported back to the
host in hexadecimal form.
The possible values of Bits 16 – 23 of Ix10 and the absolute position feedback devices they
reference are summarized in the following table:
Ix10 Value
Range
Absolute Position Source Ix10 Address Type Format
$00xxxx - $07xxxx ACC-8D Opt 7 R/D Converter Multiplexer Port Unsigned
$08xxxx - $30xxxx Parallel Data Y-Register PMAC Memory-I/O Unsigned
$31xxxx ACC-28 A/D Converter PMAC Memory-I/O Unsigned
$32xxxx ACC-49 Sanyo Abs. Encoder PMAC Memory-I/O Unsigned
$48xxxx - $70xxxx Parallel Data X-Register PMAC Memory-I/O Unsigned
$71xxxx ACC-8D Opt 9 Yaskawa Abs. Enc. Multiplexer Port Unsigned
$72xxxx MACRO Station Yaskawa Abs. Enc. MACRO Node Number Unsigned
$73xxxx MACRO Station R/D Converter MACRO Node Number Unsigned
$74xxxx MACRO Station Parallel Read MACRO Node Number Unsigned
$75xxxx EnDat Data Read (Geo PMAC) Geo PMAC Unsigned
$80xxxx - $87xxxx ACC-8D Opt 7 R/D Converter Multiplexer Port Signed
$88xxxx - $B0xxxx Parallel Data Y-Register PMAC Memory-I/O Signed
$B1xxxx ACC-28 A/D Converter PMAC Memory-I/O Signed
$B2xxxx ACC-49 Sanyo Abs. Encoder PMAC Memory-I/O Signed
$C8xxxx - $F0xxxx Parallel Data X-Register PMAC Memory-I/O Signed
$F1xxxx ACC-8D Opt 9 Yaskawa Abs. Enc. Multiplexer Port Signed
$F2xxxx MACRO Station Yaskawa Abs. Enc. MACRO Node Number Signed