Reference Manual

PMAC 2 Software Reference
PMAC I-Variable Specification 65
$F3xxxx MACRO Station R/D Converter MACRO Node Number Signed
$F4xxxx MACRO Station Parallel Read MACRO Node Number Signed
$F4xxxx EnDat Data Read (Geo PMAC) Geo PMAC Signed
The following section provides details for each type of position feedback.
R/D Converter: If Ix10 contains a value from $0000xx to $0700xx, or from $8000xx to
$8700xx, Motor x will expect its absolute power-on position from an ACC-8D Opt. 7 R/D
converter board. The low 8 bits (last 2 hex digits) of Ix10 should contain the address of the
board on the multiplexer port, as set by the DIP switches on the board.
The first hex digit of Ix10, which can take a value of 0 or 8 in this mode, specifies whether the
position is interpreted as an unsigned value (1
st
digit = 0) or as a signed value (1
st
digit = 8).
The second hex digit of Ix10, 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. The following table
shows the Ix10 values for this mode and the R/D converter each specifies at the ‘xx’
multiplexer-port address:
Ix10 Value for
Unsigned
Position
Ix10 Value for
Signed Position
ACC-8D Opt. 7
SW1-1 Setting
# of R/D
Converter on
ACC-8D Opt. 7
$0000xx* $8000xx CLOSED (0) 1
$0100xx $8100xx CLOSED (0) 2
$0200xx $8200xx CLOSED (0) 3
$0300xx $8300xx CLOSED (0) 4
$0400xx $8400xx OPEN (1) 1
$0500xx $8500xx OPEN (1) 2
$0600xx $8600xx OPEN (1) 3
$0700xx $8700xx OPEN (1) 4
*If ‘xx’ is ‘00’, the fourth hex digit should be set to 1(making Ix10=$000100);
otherwise no absolute position will be read because Ix10=0.
If I9x is set greater than 0, the next higher numbered R/D converter at the same multiplexer
port address is also read and treated as a geared-down resolver, with I9x specifying the gear
ratio. I8x is also set greater than 0, the following R/D converter at the same multiplexer port
address is read and treated as a third resolver geared down from the second, with I8x
specifying that gear ratio.
The following table shows the values of Ix10 for the multiplexer port addresses for the ACC-
8D Opt. 7 that can be used:
Board
Mux.
Addr.
Ix10 Board
Mux.
Addr
Ix10 Board
Mux.
Addr
Ix10 Board
Mux.
Addr
Ix10
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
Ix10=$000100; otherwise with Ix10=0, no absolute position would be read.