Reference Manual

PMAC 2 Software Reference
68 PMAC I-Variable Specifiation
its power-on position from the Yaskawa Absolute Encoder converter board at the multiplexer
port address specified by ‘xx’.
Bit 23 of Ix10 specifies whether the position is interpreted as an unsigned value (Bit 23 = 0,
making the first hex digit a 7) or as a signed value (Bit 23 = 1, making the first hex digit an F).
Set Ix10 to $7100xx for unsigned, or to $F100xx for signed.
In this mode, I9x specifies the number of bits per revolution for a single turn of the Yaskawa
absolute encoder. (For example, with 8192 counts per revolution, there are 13 bits per
revolution.) It must be set greater than 0 to use the multi-turn absolute capability of this
encoder.
The following table shows the values of Ix10 for the ACC-8D Option 9:
Board
Mux.
Addr.
Ix10 for
Enc. 1
Ix10 for
Enc. 2
Ix10 for
Enc. 3
Ix10 for
Enc. 4
Board
Mux.
Addr.
Ix10 for
Enc. 1
Ix10 for
Enc. 2
Ix10 for
Enc. 3
Ix10 for
Enc. 4
0 $m10000 $m10002 $m10004 $m10006 128 $m10080 $m10082 $m10084 $m10086
8 $m10008 $m1000A $m1000C $m1000E 136 $m10088 $m1008A $m1008C $m1008E
16 $m10010 $m10012 $m10014 $m10016 144 $m10090 $m10092 $m10094 $m10096
24 $m10018 $m1001A $m1001C $m1001E 152 $m10098 $m1009A $m1009C $m1009E
32 $m10020 $m10022 $m10024 $m10026 160 $m100A0 $m100A2 $m100A4 $m100A6
40 $m10028 $m1002A $m1002C $m1002E 168 $m100A8 $m100AA $m100AC $m100AE
48 $m10030 $m10032 $m10034 $m10036 176 $m100B0 $m100B2 $m100B4 $m100B6
56 $m10038 $m1003A $m1003C $m1003E 184 $m100B8 $m100BA $m100BC $m100BE
64 $m10040 $m10042 $m10044 $m10046 192 $m100C0 $m100C2 $m100C4 $m100C6
72 $m10048 $m1004A $m1004C $m1004E 200 $m100C8 $m100CA $m100CC $m100CE
80 $m10050 $m10052 $m10054 $m10056 208 $m100D0 $m100D2 $m100D4 $m100D6
88 $m10058 $m1005A $m1005C $m1005E 216 $m100D8 $m100DA $m100DC $m100DE
96 $m10060 $m10062 $m10064 $m10066 224 $m100E0 $m100E2 $m100E4 $m100E6
104 $m10068 $m1006A $m1006C $m1006E 232 $m100E8 $m100EA $m100EC $m100EE
112 $m10070 $m10072 $m10074 $m10076 240 $m100F0 $m100F2 $m100F4 $m100F6
120 $m10078 $m1007A $m1007C $m1007E 248 $m100F8 $m100FA $m100FC $m100FE
m is 7 or F, depending on whether the data is to be interpreted as an unsigned or signed quantity.
MACRO Station Yaskawa Absolute Encoder Read: If Ix10 is set to $72000n or $F2000n,
Motor x will expect its power-on position from a Yaskawa Absolute Encoder through a
MACRO Station. In this mode, ‘n’ specifies the MACRO node number at which the position
value will be read by PMAC itself. Set-up variable MI11x for the MACRO Station tells the
Station how to read the Yaskawa Encoder converter connected to its own multiplexer port or
serial port.
Bit 23 of Ix10 specifies whether the position is interpreted as an unsigned value (Bit 23 = 0,
making the first hex digit a 7) or as a signed value (Bit 23 = 1, making the first hex digit an F).
Set Ix10 to $72000n for unsigned, or to $F2000n for signed.
In this mode, I9x specifies the number of bits per revolution for a single turn of the Yaskawa
absolute encoder. (For example, with 8192 counts per revolution, there are 13 bits per
revolution.) It must be set greater than 0 to use the multi-turn absolute capability of this
encoder.
MACRO Station R/D Converter Read: If Ix10 is set to $73000n or $F3000n, Motor x will
expect its power-on position from an ACC-8D Opt 7 R/D converter through a MACRO Station
or compatible device. In this mode, ‘n’ specifies the MACRO node number at which PMAC
will read the position value itself. Set-up variable MI11x for the matching node on the
MACRO Station tells the Station how to read the R/D converter connected to its own
multiplexer port.
Bit 23 of Ix10 specifies whether the position is interpreted as an unsigned value (Bit 23 = 0,
making the first hex digit a 7) or as a signed value (Bit 23 = 1, making the first hex digit an F).
Set Ix10 to $73000n for unsigned, or to $F3000n for signed.
If I9x is set greater than 0, the next higher numbered R/D converter at the same multiplexer