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Macro Station Users Manual

1. Feedback input 24 bit 16 bit 16 bit 16 bit 0 1 2 3 7 0 5 8 bit 4 8 bit to 8 bit 2 8 bit 0 1 2 3 1 8 bit 24 bit 16 bit 16 bit 16 bit 0 8 bit Command output i Connectors Feedback input 24 bit 16 bit 16 bit 16 bit Bi directional 0 1 2 3 IOGATE Registers Note Any bit that has a zero command value written to it output off can be used as an input MACRO Node Registers Note command and feedback registers for a node share addresses MACRO station read operations access command registers write operations access feedback registers MI169 and MI170 can copy data between 2 48 bit IOGATE ICs although only using the first half of the second IC and the full 72 bits of a MACRO I O node the three 16 bit registers and the single 24 bit register The first IOGATE must be in the low byte of the address the second if used must be in the middle byte of this address The first IOGATE is matched to the 3 16 bit registers in the MACRO I O node whose address is specified and the half of the second IOGATE is matched to the 24 bit register MI171 MI172 and MI173 can copy data between 3 48 bit IOGATE ICs at the same base address and the full 72 bits of two consecutive MACRO I O nodes the three 16 bit registers and the single 24 bit register of each The first IOGATE must be in the low byte of the address the second must be in the middle byte of this addre
2. Register First Line Register First Line Value Value MACRO IC 0 Node 0 Reg 0 2F8420 MACRO IC 2 Node 0 Reg 0 2FA420 MACRO IC 0 Node 1 Reg 0 2F8424 MACRO IC 2 Node 1 Reg 0 2FA424 MACRO IC 0 Node 4 Reg 0 2F8428 MACRO IC 2 Node 4 Reg 0 2FA428 MACRO IC 0 Node 5 Reg 0 2F842C MACRO IC 2 Node 5 Reg 0 2FA42C MACRO IC 0 Node 8 Reg 0 2F8430 MACRO IC 2 Node 8 Reg 0 2FA430 MACRO IC 0 Node 9 Reg 0 2F8434 MACRO IC 2 Node 9 Reg 0 2FA434 MACRO IC 0 Node 12 Reg 0 2F8438 MACRO IC 2 Node 12 Reg 0 2FA438 MACRO IC 0 Node 13 Reg 0 2F843C MACRO IC 2 Node 13 Reg 0 2FA43C MACRO IC 1 Node 0 Reg 0 2F9420 MACRO IC 3 Node 0 Reg 0 2FB420 MACRO IC 1 Node 1 Reg 0 2F9424 MACRO IC 3 Node 1 Reg 0 2FB424 MACRO IC 1 Node 4 Reg 0 2F9428 MACRO IC 3 Node 4 Reg 0 2FB428 MACRO IC 1 Node 5 Reg 0 2F942C MACRO IC 3 Node 5 Reg 0 2FB42C MACRO IC 1 Node 8 Reg 0 2F9430 MACRO IC 3 Node 8 Reg 0 2FB430 MACRO IC 1 Node 9 Reg 0 2F9434 MACRO IC 3 Node 9 Reg 0 2FB434 MACRO IC 1 Node 12 Reg 0 2F9438 MACRO IC 3 Node 12 Reg 0 2FB438 MACRO IC 1 Node 13 Reg 0 2F943C MACRO IC 3 Node 13 Reg 0 2FB43C If Turbo PMAC2 is doing the commutation for the motor it is best to use the previous phase position register in RAM as the servo feedback register The commutation algorithm has already read the raw position data from the MACRO ring and copied it into this register storing it for calculations in its next cyc
3. If Motor x is used to produce a pulse and direction output on the MACRO Station to control a traditional stepper drive or a stepper replacement servo drive the command output should be written to Register 2 of the servo node In this mode the proper values of Ix02 are Node PMAC2 Node PMAC2 Ix02 Value Ix02 Value Node 0 COA2 Node 8 COB2 Node 1 COA6 Node 9 COB6 Node 4 COAA Node 12 COBA Node 5 COAE Node 13 COBE PMAC2 Software Setup for MACRO Station 21 UMAC MACRO and MACRO Stack User Manual 1x03 1x04 Feedback Address Ix03 and Ix04 specify the addresses of the registers that PMAC2 reads to get its position loop and velocity loop feedback values Usually this is a result register in the encoder conversion table Unless the motor uses dual feedback the values of Ix03 and Ix04 are the same which means the same sensor is used for both position loop and velocity loop feedback Note The automatic servo node functions on a MACRO Station do not support dual feedback in a single node For dual feedback either a second servo node must be used or one of the feedback values usually the velocity loop feedback position must be sent back to the PMAC2 as an I O value With either of the conversion tables suggested above the settings of x03 and x04 should be Node Ix03 4 Value Node Ix03 4 Value Node 0 072
4. 0 1 2 7 0 24 bit 16 bit 16 bit 16 bit an 4 8 bit k Command output 3 8 bit N 2 8 bit Feedback input i 1 8 bit 24 bit 16 bit 16 bit 16 bit 0 8 bit 0 1 2 3 Bi directional Connectors IOGATE Registers MACRO Node Registers Note Any bit that has a zero command value Note command and feedback registers for a node written to it output share addresses MACRO station read operations off can be used as an access command registers write operations access input feedback registers MI71 can copy data between 1 2 or 3 48 bit IOGATE ICs at the same base address and pairs of 24 bit registers in adjacent MACRO I O nodes The first IOGATE must be in the low byte of the address the second if used must be in the middle byte of this address and the third if used must be in the high byte The first IOGATE is matched to the 24 bit register in the MACRO I O node whose address is specified and the 24 bit register in the next MACRO I O node the second IOGATE if used is matched to the 24 bit registers in the next pair of MACRO I O nodes and the third if used is matched to the 24 bit registers in the following pair of MACRO I O nodes 66 Software Setup of 3U MACRO Station From_ PMAC To PMAC From PMAC To PMAC UMAC MACRO and MACRO Stack User Manual MI71 bi directional copying action 0 1 2 24 bit 16 bit 16 bit 16 bit Command output
5. Note The master number of a MACRO IC on a Turbo PMAC2 is not necessarily the same as the MACRO IC number 0 1 2 or 3 itself However if there is only a single Turbo PMAC2 on the ring it is probable that each MACRO IC on the Turbo PMAC 2 will be assigned a master number equal to the IC number 3U MACRO Station Hardware Setup 13 UMAC MACRO and MACRO Stack User Manual 14 3U MACRO Station Hardware Setup UMAC MACRO and MACRO Stack User Manual PMAC2 SOFTWARE SETUP FOR MACRO STATION Setting up the non Turbo PMAC2 board to work with a MACRO Station requires the proper setup of several I variables for MACRO specific features The variables that have special considerations for use with MACRO stations are listed below The comparable setup for Turbo PMAC2 controllers is covered in the next section Note These are I variables on the PMAC2 controller itself The MACRO Station has its own set of setup I variables called MlI variables which are detailed in a different section Typically the P2Setup program for PCs is used to set up these I variables It walks you through each step and confirms the proper operation of each setting MACRO Ring Update Frequency Setup All stations on the MACRO ring must be set to the same ring update frequency The ring update frequency is fundamentally controlled by the ring controller or synchronizing master If the ring controller is a PMA
6. Node PMAC2 Node PMAC2 Node 0 12COAO Node 8 12COBO Node 1 12COA4 Node 9 12COB4 Node 4 12COA8 Node 12 12COB8 Node 5 12COAC Node 13 12COBC When PMAC72 has x81 set to get absolute position over MACRO it executes a station auxiliary read command MS node MI 920 to request the absolute position from the MACRO Station The station then references its own MI11x value to determine the type format and address of the data to be read The data is returned to PMAC2 with up to 42 bits of data sign extended to 46 bits Bit 48 is a Ready Busy handshake bit and Bit 47 is a pass fail status bit If Bit 47 is set the upper 24 bits of the 48 bits returned are a fail word and are stored in X 0798 of the PMAC2 1x82 Current Loop Feedback Address If Motor x of the PMAC2 is being operated in direct PWM mode Ix82 must specify the address of the Phase B current feedback register If it is not being operated in direct PWM mode Ix82 must be set to 0 The proper settings of Ix82 for each node number for direct PWM use with a MACRO station are Node Ix82 Value Node Ix82 Value Node 0 COA2 Node 8 COB2 Node 1 COA6 Node 9 COB6 Node 4 COAA Node 12 COBA Node 5 COAE Node 13 COBE 1x83 Commutation Feedback Address If the PMAC2 is performing commutation for Motor x providing either 2 phase current commands sine wave output or 3 PWM phase voltage commands dire
7. channel 00C090 Encoder 10 ACC 1E 2 channel 00C098 The following table shows the conversion table MI variable values for this type of feedback with channels in the UMAC MACRO pack configuration Encoder Which Backplane Axis Location On Board Conversion Board Used Table MI variable Value Encoder 1 ACC 24E2x w S1 1 2 ON 1 channel 00C040 Encoder 2 ACC 24E2x w S1 1 2 ON 2 channel 00C048 Encoder 3 ACC 24E2x w S1 1 2 ON 3 channel 00C050 Encoder 4 ACC 24E2x w S1 1 2 ON 4 channel 00C058 Encoder 5 ACC 24E2x w S1 1 2 OFF 1 channel 00C060 Encoder 6 ACC 24E2x w S1 1 2 OFF 2 channel 00C068 Encoder 7 ACC 24E2x w S1 1 2 OFF 3 channel 00C070 Encoder 8 ACC 24E2x w S1 1 2 OFF 4 channel 00C078 If it is desired not to use the 1 T extension of the encoder value the first hex digit of the MI variable value should be changed from 0 to C This setting is recommended when using the simulated feedback from a pulse and direction output Analog Encoder Feedback If an analog sine wave encoder is used for servo feedback processed through an external ACC 8D Opt 8 analog encoder interpolator board or 3U format ACC 8DE or 8FE breakout board with on board interpolator option and brought into a stack axis interface board the 80 conversion method is used for parallel sub count extension of incremental encoders yielding 128 or 256 s
8. The ACC 14E board always occupies the low byte only of the data bus so it is possible to put ACC 9E 10E 11E or 12E boards at the same address in the middle or high bytes Hybrid Stack Pack Interface Configurations It is possible although rare to use both stack and pack interface boards with a MACRO CPU There are several special considerations however On stack boards the 96 pin P1 connector is for field wiring not for the UBUS backplane bus If a P1 field wiring connector is inserted into the UBUS backplane the system will not operate at all and there can be possible damage to any board in the system To configure this kind of hybrid system you must use an ACC Jx backplane board without an integrated power supply connection The MACRO CPU board must be installed in the rightmost connector In this configuration the interface boards that stack on the MACRO CPU board mount to the right of the backplane board so there is no conflict with their P1 connectors The power supply whether mounted in the rack or not must be connected to the ACC Jx backplane at screw points 3U MACRO Station Hardware Setup 9 UMAC MACRO and MACRO Stack User Manual In addition even though the logical addressing scheme of the MACRO CPU supports two Servo ASICs on the stack and two more on the backplane the Station firmware only supports automatic servo transfers and set up variable support for a total of two Servo ASIC
9. USER MANUAL UMAC MACRO amp MACRO STACK AN DELTA TAU NV Data Systems Inc NEW IDEAS IN MOTION Single Source Machine Control Power Flexibility Ease of Use 21314 Lassen Street Chatsworth CA 91311 Tel 818 998 2095 Fax 818 998 7807 www deltatau com Copyright Information 2003 Delta Tau Data Systems Inc All rights reserved This document is furnished for the customers of Delta Tau Data Systems Inc Other uses are unauthorized without written permission of Delta Tau Data Systems Inc Information contained in this manual may be updated from time to time due to product improvements etc and may not conform in every respect to former issues To report errors or inconsistencies call or email Delta Tau Data Systems Inc Technical Support Phone 818 717 5656 Fax 818 998 7807 Email support deltatau com Website http www deltatau com Operating Conditions All Delta Tau Data Systems Inc motion controller products accessories and amplifiers contain static sensitive components that can be damaged by incorrect handling When installing or handling Delta Tau Data Systems Inc products avoid contact with highly insulated materials Only qualified personnel should be allowed to handle this equipment In the case of industrial applications we expect our products to be protected from hazardous or conductive materials and or environments that could cause harm to the controller by damaging
10. ACC 24E2 2 4 Channel PWM Servo Interface Breakout Board ACC 24E2A 2 4 Channel Analog Servo Interface Breakout Board ACC 24E2S 4 Channel Stepper Encoder Interface Breakout Board ACC 51E High Resolution Encoder Interpolator Board ACC 9E Isolated 48 Input Board ACC 10E Isolated 48 Output Board ACC 11E Isolated 24 In 24 Out Board ACC 12E Isolated 24 In 24 High Power Out Board ACC 14E 48 TTL Output Board ACC 28E 2 4 Channel 16 Bit ADC Board ACC 36E 16 Channel 12 Bit ADC Board V1 115 or newer firmware required ACC 53E SSI Encoder Interface Board ACC 59E 8 Chan 12 Bit ADC 8 Chan 12 Bit DAC Board V1 115 or newer firmware required ACC 65E Self Protected Sourcing 24 In 24 Out Board ACC 66E Self Protected Sourcing 48 Input Board ACC 67E Self Protected Sourcing 48 Output Board ACC 68E Self Protected Sinking 24 In 24 Out Board All of these boards provide their own breakout connectors so no additional breakout boards are required for the field wiring Consult the manual for each of these accessory boards for detailed pin out information 3U MACRO Station Hardware Setup 11 UMAC MACRO and MACRO Stack User Manual MACRO CPU SW1 Setting SW1 establishes how many servo nodes and which servo nodes will be used by default on the MACRO station It also establishes the mapping of MACRO node numbers to MACRO Station channel numbers the second mapping step explained in the overview This mapping information will be important in estab
11. If the bit n of MI18 and bit 23 or Ixx24 are set to 1 a high true fault logical 1 means fault is specified If no other bits of Ixx24 are set the value of Ixx24 is 040001 or 840001 040001 is the default value for Ixx24 on Turbo PMAC2 Ultralite boards Refer to the detailed description of Ixx24 in the Turbo PMAC Software Reference for descriptions of the other bits When Bit 18 of Ixx24 is set to 1 and bit n of 11000 is set to 1 then the Motor xx flag information is automatically copied between the holding registers at 00344n 00345n 00346n or 00347n and the MACRO interface registers for node n of MACROIC 0 1 2 or 3 respectively on the Turbo PMAC2 The command flags such as amplifier enable are held in the Y register of 0034xn The feedback flags such as overtravel limits and amplifier fault are held in the X registers of 0034xn Monitoring of flag values should use these holding registers in RAM not the actual MACRO node registers 42 Turbo PMAC2 Software Setup for MACRO Station UMAC MACRO and MACRO Stack User Manual The following tables show the locations of the individual flags in these registers Motor Command Flags Y 0034xn for MACRO IC x 4 Node n Bit Function Notes 0 Position Capture Prepare Flag Must be set to 1 to prepare for hardware capture over ring to 0 when done 1 7 Not Used 8 10 reserved for future use 11 Position Capture
12. MACRO Node Auxiliary Function Enable w cccesccecsceceesseesseeseesseeeseeeceeseceseceseeeeeaeenseceaeeneeens 17 11002 MACRO Node Protocol Type Control csccsscssssscssssssseensesecuseeecuseesesaeeasesecacesecueeeeeeaeeeeeaeeaseneeas 17 11001 11004 11005 MACRO Ring Check Period and Limits c ccccccescceecceeceeseeeeceeeesecnseenseesneeseees 18 11003 MACRO Master Slave Auxiliary Timeout ccccsccesceesceesseseeeeeseeeeeeeeeceeceaeceaecaecaaecaaeeseeeaeees 18 MACRO Node Addresses ssiccictsciecusiscacscessacesicesstsbtesdcataeasttesieaiecsebesobuswesdesadcanessadsastasiscbareszssuncenieesseeseecees 18 PMAC2 Conversion Table Setup c ccssccceessisessscteesscossacesesetesocescuncesesesscessesobsaeseuberesseeesssssonssessse bas 19 PMAC Motor Variables cionan estonia Secaietiiienscuddessccdbecsasshs cusstebveciasencascevieeeseesete 21 Tc02 Command Output Address lt istisini aiian eaa i aneia niei Ra aa a ieii 21 Oz POA Feedback AGA OSS a a a Ea eevee seat 22 Ix10 Power On Feedback ACAreSS uo cccccccccecscesseeseeecusecusecasecacecsceeseeeseescensceeeceseseaeeuseceaeeaeeeaeenseenaeens 22 TX2 9 Flag Addres Sereen AR E E AER E a E A R 23 1x70 Ix71 Commutation Cycle Silesiensis inoin a a ii iae iei 24 1x73 Absolute Phase Position Offset cccccccsssscsssescesscssesccnsesscesseseesecseesecscesecsaeeaceaecseesecaeeseseaeeeseaeeneeas 24 Ix81 Power On Phase Position Address s cesccesseescessceseeseeaseenseeseeeseess
13. or an ACC 24E2x backplane axis board with switches S1 1 and S1 2 OFF PWM Frequency M1906 controls the PWM frequency of Channels 5 8 Its setting is only important if the PWM outputs are used through the PMAC2 style connectors The equation for the frequency is PWM Frequency kHz 117 964 8 4 MI906 6 Generally MI906 is set to the same value as MI992 which controls the PWM frequency for Channels 9 amp 10 and the MaxPhase clock frequency The PWM frequency set by M1906 must be equal to N 2 times the Phase clock frequency set by MI992 and MI997 where N is a positive integer Hardware Clock Frequencies M1907 controls the frequencies of the 4 hardware clock signals for Channels 5 8 the encoder sample SCLK the pulse and direction PFMCLK the analog output DACCLK and the analog input ADCCLK MI907 is a 12 bit value consisting of 4 independent 3 bit parts each controlling one of the clock frequencies The equation is MI907 SCLK Divider 8 PFMCLK Divider 64 DACCLK Divider 512 ADCCLK Divider The value of each clock divider can take a value of 0 to 7 and the frequency of each clock signal is Clock Frequency 39 3216 MHz 2 Clock Divider Software Setup of 3U MACRO Station 51I UMAC MACRO and MACRO Stack User Manual The default value for MI907 of 2258 is suitable for almost all applications Refer to the detailed description in the MACRO Station Hardware Reference Manual if you wish to change any of these freq
14. setting Bit 5 of global status register X 0003 11003 must be set greater than 0 if any auxiliary communications is desired with a MACRO Station A value of 32 is suggested If a value of 11003 greater than 0 has been saved into PMAC2 s non volatile memory then at subsequent power up resets bit 15 of 11000 is forced to 0 regardless of the value saved for 11000 This reserves Node 15 for the Type 1 Auxiliary Communications and it cannot be used for flag transfer MACRO Node Addresses The MACRO ring operates by copying registers at high speed across the ring Therefore the each PMAC2 controller on the ring communicates with its slave stations by reading from and writing to registers in its own address space MACRO hardware automatically handles the data transfers across the ring 18 PMAC2 Software Setup for MACRO Station UMAC MACRO and MACRO Stack User Manual The following table gives the addresses of the MACRO ring registers for PMAC2 controllers Note that the addresses of the MACRO ring registers in the PMAC2 are the same as the addresses of the matching ring registers in the 3U MACRO Station PMAC2 Addresses Node Reg 0 Reg 1 Reg 2 Reg 3 0 Y COAO Y COAI Y COA2 Y C0A3 1 Y C0A4 Y C0A5 Y C0A6 Y C0A7 2 X C0A0 X C0A1 X C0A2 X C0A3 3 X C0A4 X C0A5 X C0A6 X C0A7 4 Y COA8 Y COA9 Y COAA Y COAB 5 Y COAC Y COAD Y COAE
15. you will not be able to talk to this board individually The only command you can send is a broadcast message like MS 15 which will reset the card s to default allowing you to talk to it using one of the nodes enabled by SW1 Motor Node Disable MI976 permits the disabling of motor servo nodes that would otherwise be enabled by the SW1 setting This permits their use on other devices on the ring Setting Bit n of MI976 to 1 forces the disabling of Node n even if the SW1 setting would normally enable it T O Node Enable MI975 permits the enabling of I O nodes in addition to the motor nodes that are automatically enabled by the SW1 setting This permits the automatic real time transmission of I O data between the PMAC and the MACRO Station through dedicated I O nodes Multi channel Servo Interface Setup Several MI variables on the 3U MACRO Station affect the hardware setup of multiple machine interface channels on the Station Because these variables are not specific to one channel or node they can be accessed with an MS anynode command where anynode is the number of any active node on the Station that is not active on another Station as well Channels 1 4 1 4 Axis Board There are several variables that affect all of the machine interface channels to 4 which are present on the ACC 2E 4 axis piggyback board with jumper E1 connecting pins 1 and 2 or an ACC 24E2x backplane axis board with switches S1 1 and S1 2 ON PWM
16. 11 Reg 0 6F 8434 MACRO IC 2 Node 11 Reg 0 6FA434 MACRO IC 1 Node 2 Reg 0 6F9420 MACRO IC 3 Node 2 Reg 0 6FB420 MACRO IC 1 Node 3 Reg 0 6F9424 MACRO IC 3 Node 3 Reg 0 6FB424 MACRO IC 1 Node 6 Reg 0 6F9428 MACRO IC 3 Node 6 Reg 0 6FB428 MACRO IC 1 Node 7 Reg 0 6F942C MACRO IC 3 Node 7 Reg 0 6FB42C MACRO IC 1 Node 10 Reg 0 6F9430 MACRO IC 3 Node 10 Reg 0 6FB430 MACRO IC 1 Node 11 Reg 0 6F9434 MACRO IC 3 Node 11 Reg 0 6FB434 The second line of one of these entries is 018018 The first 018 specifies a 24 bit width The second 018 specifies a 24 bit offset from the Y register s bit 0 which puts the least significant bit used at the X register s bit 0 Turbo PMAC2 Motor I Variables The following section lists Motor setup variables that have particular considerations when using MACRO Stations Ixx01 Commutation Enable Ixx01 specifies whether Turbo PMAC2 performs commutation for Motor xx and whether it uses X or Y registers Only Y registers are used when communicating to a MACRO Station over the ring If Turbo PMAC2 is not performing commutation for Motor xx Ixx01 should be set to 0 bit 0 0 specifies no commutation algorithm bit 1 0 specifies the single output to the Y register whose address is set by Ixx02 If Turbo PMAC2 is performing commutation for Motor xx over the MACRO ring with or without digital current loop closure Ixx01 should be set to 3 bit 0 1 sp
17. 28C0A8 Unshifted conversion of Node 4 Register 0 Y 0725 FFFFFF Use all 24 bits converted value in X 0725 Y 0726 28C0AC Unshifted conversion of Node 5 Register 0 Y 0727 FFFFFF Use all 24 bits converted value in X 0727 Y 0728 28COBO Unshifted conversion of Node 8 Register 0 Y 0729 FFFFFF Use all 24 bits converted value in X 0729 Y 072A 28C0B4 Unshifted conversion of Node 9 Register 0 Y 072B FFFFFF Use all 24 bits converted value in X 072B Y 072C 28C0B8 Unshifted conversion of Node 12 Register 0 Y 072D FFFFFF Use all 24 bits converted value in X 072D Y 072E 28COBC Unshifted conversion of Node 13 Register 0 Y 072F FFFFFF Use all 24 bits converted value in X 072F If PMAC 2 is doing the commutation for the motor it is best to use the previous phase position register in RAM as the servo feedback register The commutation algorithm has already read the raw position data from the MACRO ring and copied it into this register storing it for calculations in its next cycle Using this register in the conversion table ensures that the servo algorithm uses the same position that the commutation used even if new data has started coming in from the MACRO ring for the next cycle The following table shows the setup of the encoder conversion table when all eight entries use the motor previous position registers PMAC2 Address Y 0720 Y 0721 Y 0722 Y 0723 Y 0724 Y 0725 Y 0726 Y 07
18. Channel Analog Servo Interface Breakout Board ACC 24E2S 4 Channel Stepper Encoder Interface Breakout Board ACC 51E High Resolution Encoder Interpolator Board Note Option 1A or Option 1D on the ACC 24E2 or ACC 24E2A while it adds an extra physical slot does not count as an extra accessory board for addressing purposes The addresses and channel numbers on these boards are set by DIP switch S1 on the board S1 1 S1 2 S1 3 S1 4 S1 5 S1 6 Channels Board Base Address ON ON OFF OFF OFF OFF 1 2 3 amp 4 C040 OFF OFF OFF OFF OFF OFF 5 6 7 amp 8 C060 Always set OFF when interfacing to legacy MACRO CPU boards revision 104 and older of the 602804 10x 3U MACRO CPU board I O Accessory Boards For I O interface the MACRO CPU board can address accessory boards at four different addresses on the backplane The addresses on these boards are set by jumpers on some accessory boards and DIP switches on other boards The I O boards whose addresses are set by jumpers are ACC 9E Isolated 48 Input Board ACC 10E Isolated 48 Output Board ACC 11E Isolated 24 In 24 Out Board ACC 12E Isolated 24 In 24 High Power Out Board For these boards the jumper settings and the board addresses they select are Jumper Set Addresses Address Jumper On Board Base Address El FFEO E2 FFE8 E3 FFFO E4 B8C0 Requires V1 115 or newer f
19. Channel used on the 3U MACRO Station and the Motor number on PMAC MI10x Position Feedback Address After the initial processing of the feedback in the Station s encoder conversion table the data is copied to the feedback register of a motor node Station MI variable MI10x for the xth motor node used contains the address of the register usually one in the conversion table from which the feedback data is copied into the position feedback register of the node Because the conversion table occupies registers 0020 to 003F in the Station the values of the MI10x variables typically contain address values in this range MI11x Power On Position Feedback Address If absolute power on position is desired for either commutation phase referencing or complete position referencing MI11x for the xth motor node on the 3U MACRO Station must be set to a value greater than zero MI16x Power On MLDT Excitation Value If a magnetostrictive linear displacement transducer MLDT is to receive its excitation pulses from the 3U MACRO Station MI16x is used for the xth motor node to set the frequency of the excitation immediately upon power up or reset so the absolute power on position of the sensor can be read If MI16x is greater than 0 this value is copied into the C output register for the machine interface channel corresponding to the xth motor node as determined by the SW1 setting as part of the reset function of the Station Thereafter only
20. Frequency M1900 controls the PWM frequency of Channels 1 4 Its setting is only important if the PWM outputs are used through the PMAC2 style connectors The equation for the frequency is PWM Frequency kHz 117 964 8 4 MI900 6 Generally MI900 is set to the same value as MI992 which controls the PWM frequency for Channels 9 amp 10 and the MaxPhase clock frequency The PWM frequency set by MI900 must be equal to N 2 times the Phase clock frequency set by MI992 and MI997 where N is a positive integer Hardware Clock Frequencies M1903 controls the frequencies of the 4 hardware clock signals for Channels 1 4 the encoder sample SCLK the pulse and direction PFMCLK the analog output DACCLK and the analog input ADCCLK MI903 is a 12 bit value consisting of 4 independent 3 bit parts each controlling one of the clock frequencies The equation is MI903 SCLK Divider 8 PFMCLK Divider 64 DACCLK Divider 512 ADCCLK Divider The value of each clock divider can take a value of 0 to 7 and the frequency of each clock signal is Clock Frequency 39 3216 MHz 2 Clock Divider 50 Software Setup of 3U MACRO Station UMAC MACRO and MACRO Stack User Manual The default value for MI903 of 2258 is suitable for almost all applications Refer to the detailed description in the MACRO Station Hardware Reference Manual if you wish to change any of these frequencies PWM Deadtime PFM Pulse Width M1904 controls both the deadtime for PWM
21. R D Converter board the feedback comes into the 3U MACRO Station as digital quadrature and is processed the same as a true incremental digital encoder see above MLDT Feedback If a magnetostrictive linear displacement transducer MLDT is used for feedback with the 3U MACRO Station providing the excitation pulse and measuring the time until it receives the echo pulse using its encoder timer circuitry then the 30 parallel feedback conversion method is used reading the encoder s timer register as the position value This conversion method uses three lines MI variables of the conversion table The first MI variable contains the method and address The following table shows the conversion table MI variable values for the first MI variable of the entry for this type of feedback into stack axis boards Encoder Which Stack Axis Location On Board Conversion Board Used Table MI variable Value Encoder 1 ACC 2E w E1 1 2 1 channel 30C000 Encoder 2 ACC 2E w E1 1 2 2 channel 30C008 Encoder 3 ACC 2E w E1 1 2 3 channel 30C010 Encoder 4 ACC 2E w El 1 2 4 channel 30C018 Encoder 5 ACC 2E w El 2 3 1 channel 30C020 Encoder 6 ACC 2E w El 2 3 2 channel 30C028 Encoder 7 ACC 2E w El 2 3 3 channel 30C030 Encoder 8 ACC 2E w El 2 3 4 channel 30C038 Encoder 9 ACC 1E 1 channel 30C090 Encoder 10 ACC 1E 2 channel 30C098 The following table shows the first
22. Reg 2 11082 079426 MACROIC 1 Node 1 Reg 2 12682 07B426 MACRO IC 3 Node 1 Reg 2 11182 07942A MACRO IC 1 Node 4 Reg 2 12782 07B42A MACRO IC 3 Node 4 Reg 2 11282 07942E MACRO IC 1 Node 5 Reg 2 12882 07B42E MACRO IC 3 Node 5 Reg 2 11382 079432 MACROIC 1 Node 8 Reg 2 12982 07B432 MACRO IC 3 Node 8 Reg 2 11482 079436 MACROIC 1 Node 9 Reg 2 13082 07B436 MACRO IC 3 Node 9 Reg 2 11582 07943A_ MACROIC 1 Node 12 Reg 2_ 13182 07B43A_ MACRO IC 3 Node 12 Reg 2 11682 07943E MACROIC 1 Node 13 Reg 2_ 13282 07B43E MACRO IC 3 Node 13 Reg 2 Turbo PMAC2 Software Setup for MACRO Station 45 UMAC MACRO and MACRO Stack User Manual Ixx83 Commutation Feedback Address If the Turbo PMAC2 is performing commutation for Motor xx Ixx01 bit 0 1 providing either 2 phase current commands sine wave output or 3 PWM phase voltage commands direct PWM Ixx83 must specify the address of the ongoing commutation position feedback When commutating over MACRO the position feedback comes from Register 0 of the MACRO node In this case Ixx83 must contain the address of this MACRO node register The following table contains the default Ixx83 values for Turbo PMAC2 Ultralite boards listing the addresses of the position feedback registers for each MACRO servo node Turbo PMAC2 Ultralite Ixx83 Defaults Ixx83 Value Register Ixx83 V
23. Ultralite controller the phase clock frequency is determined by 16800 and 16801 16800 determines the frequency of the MaxPhase clock and 16801 determines how the Phase clock frequency is divided down from the MaxPhase clock 16800 sets the MaxPhase frequency according to the formula MaxPhase Freq kHz 117 964 8 2 I6800 3 To set 16800 for a desired MaxPhase frequency the following formula can be used 16800 117 964 8 2 MaxPhase kHz 1 rounded down 16801 sets the Phase clock frequency from the MaxPhase according to the formula Phase Freq kHz MaxPhase Freq kHz I6801 1 In MACRO applications typically 16801 is set to 0 so the Phase clock frequency equals the MaxPhase clock frequency In this case 16800 sets the Phase clock frequency and therefore the MACRO ring update frequency directly 28 Turbo PMAC2 Software Setup for MACRO Station UMAC MACRO and MACRO Stack User Manual Turbo PMAC2 Not Ultralite 17000 and 17001 On a Turbo PMAC2 controller that is not Ultralite or UMAC communicating with the MACRO station through an ACC 42P2 MACRO interface board the phase clock frequency is determined by 17000 and 17001 17000 determines the frequency of the MaxPhase clock and 17001 determines how the Phase clock frequency is divided down from the MaxPhase clock 17000 sets the MaxPhase frequency according to the formula MaxPhase Freq kHz 117 964 8 2 I7000 3 To set 17000 f
24. and MACRO Stack User Manual Note The automatic servo node functions or a MACRO Station do not support dual feedback in a single node For dual feedback either a second servo node must be used or one of the feedback values usually the velocity loop feedback position must be sent back to the Turbo PMAC2 as an I O value These variables should contain the address of the last line of the entry in the conversion table With either of the conversion tables suggested above this would be the second line of each entry lines 1 3 5 7 etc of the conversion table The default values for the Turbo PMAC2 Ultralite boards listed below contain the addresses of these registers Turbo PMAC2 Ultralite Ixx03 Defaults Ixx03 Value Register Ixx0 Value Register 3 1103 003502 Conversion Table Line 1 11703 003522 Conversion Table Line 33 1203 003504 Conversion Table Line 3 11803 003524 Conversion Table Line 35 1303 003506 Conversion Table Line 5 11903 003526 Conversion Table Line 37 1403 003508 Conversion Table Line 7 12003 003528 Conversion Table Line 39 1503 00350A Conversion Table Line 9 12103 00352A Conversion Table Line 41 1603 00350C Conversion Table Line 11 12203 00352C Conversion Table Line 43 1703 00350E Conversion Table Line 13 12303 00352E Conversion Table Line 45 1803 003510 Conversion Table Line 1
25. components or causing electrical shorts When our products are used in an industrial environment install them into an industrial electrical cabinet or industrial PC to protect them from excessive or corrosive moisture abnormal ambient temperatures and conductive materials If Delta Tau Data Systems Inc products are exposed to hazardous or conductive materials and or environments we cannot guarantee their operation UMAC MACRO and MACRO Stack User Manual TABLE OF CONTENTS INTRODUCTION crcscsisccenastscsvesnsssstescssoavedeascansssscsteacacusadsssesdsendsspscseussucsessesseltssssscasesstecessuscsesastessesdesseusansessse 1 3U MACRO STATION SETUP OVERVIEW scscsssssssssssscssssscescssssessssnssscsssssossessessesssssnsssssnessesnesees 3 3U MACRO STATION HARDWARE SETUDP ssscssssssssscssssssescsssscsssssesscsssssesesssssssssnessssnessosseesosees 7 Physical and Logical Configuration of the MACRO Station cecesscsssesscesecseeeeeeseeeesaeeeeesesseeseenaeeneaes 7 St ck CONPISULAHOM scsiseeysecscainassosiieesien sens tonsaunan teens siscoedeodseuneassasiaesceeuanssbeessdeecedweniudtest EE EERE E RSSa 7 UMAC Pack Configuratii iiss isinsin isnin ai iineoae oenina ae ira eE aE 8 Hybrid Stack Pack Interface Configurations c ccccccsccssesssessessesscssesscsseescesecaeesececeesesaeeaessecaeesecsesaeeeeenes 9 Wiring into the MACRO Station 0 00 ee eeeeeeesecsseeeceseceeesecseeseesecneesecneeeeesaecseaecseesecseeseesaeeeseae
26. for MACRO ring breaks or repeated MACRO communications errors A non zero value sets the error detection cycle time in Turbo PMAC servo cycles Turbo PMAC checks to see that sync node packets see 16840 and 16841 are received regularly and that there have not been regular communications errors The limits for these checks can be set by the user with variables 181 and 182 If less than 182 sync node packets have been received and detected during this time interval or if 81 or more ring communications errors have been detected in this interval Turbo PMAC will assume a major ring problem and all motors will be shut down Turbo PMAC will set the global status bit Ring Error bit 4 of X 000006 as an indication of this error Turbo PMAC looks for receipt of sync node packets and ring communications errors once per real time interrupt every I8 1 servo cycles The time interval set by I80 must be large enough that 82 real time interrupts in PMAC can always execute within the time interval or false ring errors will be detected Remember that long motion program calculations can cause skips in the real time interrupt Typically values of 80 setting a time interval of about 20 milliseconds are used 80 can be set according to the formula ISO Desired cycle time msec Servo update frequency kHz For example with the default servo update frequency of 2 26 kHz to get a ring check cycle interval of 20 msec I80 would
27. hardware of a 3U MACRO Station consists of a 3U MACRO CPU Interface board that contains the MACRO link to the ring and the processor that governs the operation of the Station plus some combination of axis interface boards and I O interface boards Physical and Logical Configuration of the MACRO Station This section briefly describes how the boards in a MACRO Station physically fit together and how they communicate what addresses they occupy in the address space of the MACRO CPU More details are given in the manuals for each specific board Stack Configuration In the Stack configuration the axis interface boards and the I O interface boards piggyback on top of the MACRO CPU board They are physically held together by the connectors and by standoffs in each corner that hold the boards 20 32 mm 0 8 apart on center The resulting board stack can be installed in a standard 3U format rack with 4T board spacing The physical order of the boards on top of the MACRO CPU board does not matter Servo Interface Boards For servo interface the MACRO CPU board can address up to two ACC 2E 4 axis servo interface boards and one ACC 1E 2 axis interface boards The numbering of the machine interface channels on these boards is as follows Axis Interface Jumper Setting Channels Board Base Board Address ACC 2E El 1 amp 2 1 2 3 amp 4 C000 ACC 2E El 2 amp 3 5 6 7 amp 8 C040 ACC
28. is treated as shutdown if Ix25 bit 23 1 0 if Ix25 bit 23 0 16 Home Flag HOME Input Value 17 Positive Limit Flag PLIM Value 18 Negative Limit Flag MLIM Value 19 User Flag USER Input Value 20 Flag W Input Value 21 Flag V Input Value 22 Flag U Input Value 23 Flag T Input Value 1x70 1x71 Commutation Cycle Size If the PMAC2 is performing commutation for Motor x providing either 2 phase current commands sine wave output or 3 PWM phase voltage commands direct PWM output the size of the commutation cycle in encoder counts is equal to Ix71 Ix70 Because the MACRO station provides position feedback in units of 1 32 count for both servo and commutation the value of Ix70 and Ix71 must be set to provide a ratio 32 times the number of true counts in the commutation cycle For example if the commutation cycle has 1000 encoder counts Ix70 could be set to 1 and Ix71 could be set to 32 000 1x75 Absolute Phase Position Offset If Ix81 see below is set to a value greater than 0 then PMAC2 will read an absolute sensor for power on phase position and it will use Ix75 to determine the difference between the absolute sensor s zero position and the phase commutation cycle s zero position Normally this position difference in 1x75 is expressed in counts multiplied by Ix70 However when the absolute position is read from a Yaskawa absolute encoder through an ACC 8D Opt 9 and a 3U MACRO Statio
29. line should be 018000 where 018 specifies the 24 bit width and 000 specifies the bit 0 starting point The default conversion table in Turbo PMAC2 Ultralite controllers processes the position feedback registers of the eight servo nodes of MACRO IC 0 This yields the values in the following table Turbo PMAC2 Ultralite Defaults I Setting Meaning I Setting Meaning Var Var 18000 2F8420 MACRO Node 0 Reg 0 Read 18008 2F8430 MACRO Node 8 Reg 0 Read 18001 018000 24 bits bit 0 LSB 18009 018000 24 bits bit 0 LSB 18002 2F8424 MACRO Node 1 Reg 0 Read 18010 2F8434 MACRO Node 9 Reg 0 Read 18003 018000 24 bits bit 0 LSB 18011 018000 24 bits bit 0 LSB 18004 2F8428 MACRO Node 4 Reg 0 Read 18012 2F8438 MACRO Node 12 Reg 0 Read 18005 018000 24 bits bit 0 LSB 18013 018000 24 bits bit 0 LSB 18006 2F842C MACRO Node 5 Reg 0 Read 18014 2F843C MACRO Node 13 Reg 0 Read 18007 018000 24 bits bit 0 LSB 18015 018000 24 bits bit 0 LSB 18016 18191 0 36 Turbo PMAC2 Software Setup for MACRO Station UMAC MACRO and MACRO Stack User Manual The following table contains the entry first line for each servo node Register 0 for all MACRO ICs with the addresses specified by 20 123 at their default values Remember that the second line of the entry should always be 018000 Entries for Type 1 MACRO Position Feedback Registers
30. ms0 mi913 for encoder at node0 Encoder I Variable 2 defines what combination of encoder third channel transition and encoder flag transition triggers the capture it also allows software trigger If it says to use a flag Encoder I variable 3 determines which flag almost always set to zero to specify the home flag Using for Homing When using this feature for homing a motor the motor flag address I variable 1x25 for motor x must point to the proper set of flags this has to be done anyway to address the limit flags properly For instance the default value of 1125 for a Turbo Ultralite is 3440 pointing to the first set of flags with I70 I72 174 176 set up to automatically copy the flags to the Macro Station Then Encoder Flag I variable 2 e g ms0 mi912 and Encoder Flag I variable 3 e g ms0 mi913 define the transition within this encoder and flags to cause the position capture Once these have been set up properly the homing function will use the position capture feature automatically 68 Software Setup of 3U MACRO Station UMAC MACRO and MACRO Stack User Manual Using in User Program If you are using the position capture function in your own program these two I variables still control the capture event You will access the captured position through a full word Macro Station MI variable for node0 channel 1 use msO mi921 To enable the manual function of position capture two bits in the PMAC MACRO flag command word mu
31. operation out of the MACRO nodes Position feedback data for a node from a MACRO station appears in the 24 bit Register 0 for the node The least significant bit of the register represents 1 32 of a count i e there are 5 bits of fraction To process this data for the servo loop position and or velocity loop feedback the PMAC s conversion table will treat the data as a parallel Y word The conversion will be unshifted because the result is expected to have its LSB represent 1 32 of a count The conversion format is 28 the source address is that of the MACRO register itself and the bits enabled mask is FFFFFF to specify the use of all 24 bits The conversion table for the PMAC2 to process all 8 servo nodes from a MACRO station is shown below This forms the default conversion table for the Ultralite versions of the PMAC2 If any changes are required these can be made interactively through the PMAC Executive program s Conversion Table setup screen under the Configure menu PMAC2 Software Setup for MACRO Station 19 UMAC MACRO and MACRO Stack User Manual PMAC2 PMAC2 Table Comment Address Instruction Word Y 0720 28COA0 Unshifted conversion of Node 0 Register 0 Y 0721 FFFFFF Use all 24 bits converted value in X 0721 Y 0722 28C0A4 Unshifted conversion of Node Register 0 Y 0723 FFFFFF Use all 24 bits converted value in X 0723 Y 0724
32. see below If Register 3 of a MACRO node n is used for other purposes such as direct I O the corresponding bit n of 170 172 174 or I76 should be set to 0 so this copying function does not overwrite these registers Typically non servo I O functions with a MACRO Station do not involve auxiliary flag functions so this flag copy function should remain disabled for any node used to transmit I O between the Turbo PMAC2 and the MACRO Station If any auxiliary communications is done Turbo PMAC2 Software Setup for MACRO Station 31 UMAC MACRO and MACRO Stack User Manual between the Turbo PMAC2 and the MACRO Station on Nodes 14 and or 15 bits 14 and 15 of these variables must be set to 0 Examples I70 3 Enabled for MACRO IC 0 Nodes 0 and 1 I72 30 Enabled for MACRO IC 1 Nodes 4 and 5 I74 3300 Enabled for MACRO IC 2 Nodes 8 9 12 and 13 I76 3333 Enabled for MACRO IC 3 Nodes 0 1 4 5 8 9 12 and 13 171 173 175 177 MACRO IC 0 1 2 3 Node Protocol Type Control 171 173 175 and 177 are 16 bit I variables bits O 15 in which each bit controls whether PMAC uses the uses MACRO Type 0 protocol or the MACRO Type 1 protocol for the node whose number matches the bit number for the purposes of the auxiliary servo flag transfer for MACRO ICs 0 1 2 and 3 respectively A bit value of 0 sets a Type 0 protocol a bit value of 1 sets a Type 1 protocol All 3U MACRO Station nodes use the Type 1 protocol so each MACRO node
33. simple copying operation The encoder conversion table on Turbo PMAC uses I variables 8000 through 18191 18000 represents the first line of the first entry in the table Each entry in the table produces one feedback value The entry can occupy one two or three lines Position feedback data for a node from a 3U MACRO station appears in the 24 bit Register 0 for the node The least significant bit of the register represents 1 32 of a count i e there are 5 bits of fraction To process this data for the servo loop position and or velocity loop feedback the Turbo PMAC s conversion table will treat the data as a parallel Y word with no filtering MACRO provides error detection This makes bits 20 23 of the first line of the entry the first hex digit equal to 2 The conversion will be unshifted because the conversion result is also expected to have its LSB represent 1 32 of a count This makes bit 19 of the first line equal to 1 Bits 0 18 contain the 19 bit address of the MACRO node s register 0 7x4yy where x varies with the MACRO IC and yy varies with the node number This makes the line equal to 2Fx4yy The second line of the entry the next I variable specifies the bit width of the source register in bits 12 23 the first three hex digits and the starting bit number in bits 0 11 the last three hex digits Because position feedback in Register 0 is a 24 bit value starting at bit 0 this
34. 1 Node 8 0729 Node 1 0723 Node 9 072B Node 4 0725 Node 12 072D Node 5 0727 Node 13 072F These are the default values of Ix03 and Ix04 for Motors 1 through 8 respectively on Ultralite PMAC2s 1x10 Power On Feedback Address Ix10 permits an automatic read of an absolute position sensor at power on reset and or on a subsequent or command If Ix10 is set to 0 the power on reset position for the motor will be considered to be 0 regardless of the type of sensor used There are specific settings of PMAC2 s Ix10 for each type of MACRO interface The 3U MACRO Station has a corresponding variable I11x for each node that must be set 3U MACRO Station Feedback Type PMAC2 Station PMAC2 Station Ix10 MI11x 1x10 MI11x Unsigned Unsigned Signed Signed ACC 8D Opt 7 Resolver Digital Converter 73000n 00xxxx F3000n 80xxxx 07xxxx 87XXXX ACC 8D Opt 9 Yaskawa Absolute Encoder 72000n 71 XxXxx F2000n F1xxxx Converter 72Xxxx F2xxxx ACC 49 Sanyo 26 bit Absolute Encoder 74000n 32Xxxx F4000n B2xxxx Converter ACC 28B E Analog Digital Converter 74000n 3 1xxxx ACC 1E 6E 36E 59E A D Converter low 12 bits 74000n OCXxxx F4000n 8Cxxxx ACC 1E 6E 36E S9E A D Converter high 12 74000n 33XXXX F4000n B3xxxx bits MACRO Station MLDT Input 74000n I7XXXX MACRO Station Parallel Input from 24 bit word 74000n 08xxxx F4000
35. 120 MHz timer frequency 12 Bit A D Converter Feedback If an analog input processed through the 12 bit A D converters on board the ACC 1E or ACC 6E stack A D boards or the ACC 36E or ACC 59E backplane A D boards is used for servo feedback then the 20 parallel feedback format is used The actual ADC inputs are all actually read through 3U MACRO Station I O register in a multiplexed format but Station firmware automatically de multiplexes them into separate internal memory registers at Y 0200 to Y 0207 if Station variable MI987 has been set to 1 Station MI variable MI989 specifies the address of the I O register where the multiplexed A D converters actually reside It is the de multiplexed data in the internal memory registers that the conversion table will read The first line of the entry contains the 20 method and the source address The second line contains the bits used mask word which is a 24 bit value containing a 1 for every bit of the source register to be used The first 8 analog inputs occupy the low 12 bits of the 24 bit word so their mask word is 000FFF The second 8 analog inputs occupy the high 12 bits so their mask word is FFFO00 The following table shows the conversion table MI variable values for the first and second lines MI variables of these entries Analog Entry 1 Entry 2 Analog Entry 1 Entry 2 Input Pin MI Var MI Var Input Pin MI Var M
36. 16 bit I variable bits 0 15 in which each bit controls the enabling or disabling of the auxiliary flag function for the MACRO node number matching the bit number A bit value of 1 enables the auxiliary flag function a bit value of O disables it If the function is enabled PMAC automatically copies information between the MACRO interface flag register and RAM register 0F7n where n is the node number Each MACRO node n that is used for servo functions should have the corresponding bit n of 11000 set to 1 1x25 for the Motor x that uses Node n should address 0F7n see below not the actual MACRO register If Register 3 of a MACRO node n normally the flag transfer register is used for other purposes such as direct I O the corresponding bit n of 11000 should be set to 0 so this copying function does not overwrite these registers The table shown in an above section and in the Hardware Reference Manual for the 3U MACRO Station s SW1 switch setting provides a starting point for the PMAC2 s 11000 value Additional bits of 11000 may be set to 1 if more than one 3U MACRO station is commanded from a single PMAC2 11002 MACRO Node Protocol Type Control 11002 is a 16 bit I variable bits 0 15 in which each bit controls whether PMAC uses the uses MACRO Type 0 protocol or the MACRO Type 1 protocol for the node whose number matches the bit number for the purposes of the auxiliary servo flag transfer A bit value of 0 sets a Type 0 protocol a
37. 1E 9 amp 10 C090 VO Interface Boards For digital I O the MACRO CPU board can address up to a total of four ACC 3E TTL I O boards and ACC 4E Isolated I O boards Each must be at a unique address in the MACRO CPU s address space The following table shows the four possible base addresses ACC 3E 4E Board Base Address Address Jumper El FFCO E2 FFC8 E3 FFDO E4 FFD8 Cannot be used if ACC 1E 6E A D converters are present For analog inputs the MACRO CPU can address only one ACC 6E A D converter board or Option B of the ACC 1E 2 axis board The base address of this A D converter bank is FFCO if the A D converter bank is installed no digital I O board may also be installed at this address 3U MACRO Station Hardware Setup 7 UMAC MACRO and MACRO Stack User Manual UMAC Pack Configuration In the UMAC Pack configuration the axis interface boards and the I O interface boards communicate to the MACRO CPU board via an ACC Ux UBUS backplane board Each board can slide into a standard 3U rack with 4T 20mm 0 8 spacing between boards and physically connect to the backplane board Servo Accessory Boards For servo interface the MACRO CPU board can address up to two servo interface breakout accessory boards on the backplane The boards in this family that are presently available include ACC 24E2 2 4 Channel PWM Servo Interface Breakout Board ACC 24E2A 2 4
38. 2 MACRO IC 2 Node 8 Reg 2 1602 078436 MACRO IC 0 Node 9 Reg 2 12202 07A436 MACRO IC 2 Node 9 Reg 2 1702 07843A MACRO IC 0 Node 12 Reg 2 12302 07A43A_ MACRO IC 2 Node 12 Reg 2 1802 07843E MACRO IC 0 Node 13 Reg 2 12402 07A43E_ MACRO IC 2 Node 13 Reg 2 1902 079422 MACRO IC 1 Node 0 Reg 2 12502 07B422 MACRO IC 3 Node 0 Reg 2 11002 079422 MACRO IC 1 Node 1 Reg 2 12602 07B426 MACRO IC 3 Node 1 Reg 2 11102 07942A MACRO IC 1 Node 4 Reg 2 12702 07B42A MACRO IC 3 Node 4 Reg 2 11202 07942E MACRO IC 1 Node 5 Reg 2 12802 07B42E MACRO IC 3 Node 5 Reg 2 11302 079432 MACRO IC 1 Node 8 Reg 2 12902 07B432 MACRO IC 3 Node 8 Reg 2 11402 079436 MACRO IC 1 Node 9 Reg 2 13002 07B436 MACRO IC 3 Node 9 Reg 2 11502 07943A MACRO IC 1 Node 12 Reg 2 13102 07B43A MACRO IC 3 Node 12 Reg 2 11602 07943E MACRO IC 1 Node 13 Reg 2 13202 07B43E MACRO IC 3 Node 13 Reg 2 Ixx03 Ixx04 Feedback Address Ixx03 and Ixx04 specify the addresses of the registers that Turbo PMAC2 reads to get its position loop and velocity loop feedback values respectively Almost always this is a result register in the encoder conversion table Unless the motor uses dual feedback the values of Ixx03 and Ixx04 are the same which means the same sensor is used for both position loop and velocity loop feedback Turbo PMAC2 Software Setup for MACRO Station 39 UMAC MACRO
39. 27 Y 0728 Y 0729 Y 072A Y 072B Y 072C Y 072D Y 072E Y 072F PMAC2 Table Comment Instruction Word Unshifted conversion of Motor 1 phase position Use all 24 bits converted value in X 0721 Unshifted conversion of Motor 2 phase position Use all 24 bits converted value in X 0723 Unshifted conversion of Motor 3 phase position Use all 24 bits converted value in X 0725 Unshifted conversion of Motor 4 phase position Use all 24 bits converted value in X 0727 Unshifted conversion of Motor 5 phase position Use all 24 bits converted value in X 0729 Unshifted conversion of Motor 6 phase position Use all 24 bits converted value in X 072B Unshifted conversion of Motor 7 phase position Use all 24 bits converted value in X 072D Unshifted conversion of Motor 8 phase position FFFFFF Use all 24 bits converted value in X 072F 20 PMAC2 Software Setup for MACRO Station UMAC MACRO and MACRO Stack User Manual Sometimes the conversion table will process data sent back to PMAC2 through I O nodes which are mapped into PMAC2 as X registers This is often done in cases of dual feedback or loop around loop configurations Because these I O nodes use X registers instead of Y registers they use the 6 conversion method The following table shows entries for processing the data in the 24 bit register 0 of the first six T O nodes The entries are shown at addresses so they would be appended to the en
40. 2C X 07B42D X 07B42E X 07B42F 8 Y 07B430 Y 07B431 Y 07B432 Y 07B433 9 Y 07B434 Y 07B435 Y 07B436 Y 07B437 10 X 07B430 X 07B431 X 07B432 X 07B433 11 X 07B434 X 07B435 X 07B436 X 07B437 12 Y 07B438 Y 07B439 Y 07B43A Y 07B43B 13 Y 07B43C Y 07B43D Y 07B43E Y 07B43F 14 X 07B438 X 07B439 X 07B43A X 07B43B 15 X 07B43C X 07B43D X 07B43E X 07B43F Note With the MACRO station only nodes that map into Turbo PMAC2 Y registers 0 1 4 5 8 9 12 and 13 can be used for servo control These nodes are unshaded in the above table The nodes that map into X registers 2 3 6 7 10 11 and 14 can be used for I O control Node 15 is reserved for Type 1 auxiliary communications Node 14 is often reserved for broadcast communications Turbo PMAC2 Software Setup for MACRO Station 35 UMAC MACRO and MACRO Stack User Manual Turbo PMAC2 Conversion Table Setup Turbo PMAC2 processes the raw feedback data it receives through an encoder conversion table before the servo loop uses the data for feedback This table permits various techniques such as 1 T extension of encoder data to refine the feedback values However when the 3U MACRO Station is used to provide the feedback the Station has its own encoder conversion table to do the refinement before the data is sent across the ring Therefore all that the PMAC s encoder conversion table must do is a
41. 3 Upper 12 bit ADC registers e 6C Y register bits 8 23 16 bit MACRO servo node registers ACC 28 ADCs e 78 Y register bits 0 23 24 bit MACRO servo node registers e DC X register bits 8 23 16 bit MACRO I O node registers e E8 X register bits 0 23 24 bit MACRO T O node registers conversion table results A complete list is found in the Software Reference description of these variables Addresses of the registers used can be found in many places in the User s Manual and Software Reference a complete listing is found in the back of the Software Reference Macro Station Position Capture Setup The position capture function latches the current encoder position at the time of an external event into a special register It is executed totally in hardware without the need for software intervention although it is set up and later serviced in software This means that the only delays in the capture are the hardware gate delays negligible in any mechanical system so this provides an incredibly accurate capture function Setting the Trigger Condition The position capture register can be used both automatically as in homing routines where the firmware handles the register directly and manually where the user program s must handle the register information Regardless of the mode the event that causes the position capture is determined by Encoder I variables 2 amp 3 on the Macro Station ms0 mi912 and
42. 3 20 MI139 X 0033 5 MI124 X 0024 21 MI140 X 0034 6 MI125 X 0025 22 MI141 X 0035 7 MI126 X 0026 23 MI142 X 0036 8 MI127 X 0027 24 MI143 X 0037 9 MI128 X 0028 25 MI144 X 0038 10 MI129 X 0029 26 MI145 X 0039 11 MI130 X 002A 27 MI146 X 003A 12 MI131 X 002B 28 MI147 X 003B 13 MI132 X 002C 29 MI148 X 003C 14 MI133 X 002D 30 MI149 X 003D 15 MI134 X 002E 31 MI150 X 003E 16 MI135 X 002F 32 MI151 X 003F Incremental Digital Encoder Feedback If an incremental digital quadrature or digital pulse and direction encoder is used for feedback the 00 conversion method is typically used for the timer based 1 T extension of incremental encoders Software Setup of 3U MACRO Station 55 UMAC MACRO and MACRO Stack User Manual The following table shows the conversion table MI variable values for this type of feedback with channels in the MACRO Stack configuration Encoder Which Stack Axis Board Location On Board Conversion Used Table MI variable Value Encoder 1 ACC 2E w E1 1 2 1 channel 00C000 Encoder 2 ACC 2E w E1 1 2 2 4 channel 00C008 Encoder 3 ACC 2E w E1 1 2 3 channel 00C010 Encoder 4 ACC 2E w El 1 2 4 channel 00C018 Encoder 5 ACC 2E w El 2 3 1 channel 00C020 Encoder 6 ACC 2E w El 2 3 2 4 channel 00C028 Encoder 7 ACC 2E w El 2 3 3 channel 00C030 Encoder 8 ACC 2E w El 2 3 4 channel 00C038 Encoder 9 ACC 1E 1
43. 41 1725 00344C MACRO Flag Register Set 12 12325 00346C_ MACRO Flag Register Set 44 1825 00344D MACRO Flag Register Set 13 12425 00346D MACRO Flag Register Set 45 1925 003450 MACRO Flag Register Set 16 12525 003470 MACRO Flag Register Set 48 11025 003451 MACRO Flag Register Set 17 12625 003471 MACRO Flag Register Set 49 11125 003454 MACRO Flag Register Set 20 12725 003474 MACRO Flag Register Set 52 11225 003455 MACRO Flag Register Set 21 12825 003475 MACRO Flag Register Set 53 11325 003458 MACRO Flag Register Set 24 12925 003478 MACRO Flag Register Set 56 11425 003459_ MACRO Flag Register Set 25 13025 003479 MACRO Flag Register Set 57 11525 00345C_ MACRO Flag Register Set 28 13125 00347C_ MACRO Flag Register Set 60 11625 00345D MACRO Flag Register Set 29 13225 00347D_ MACRO Flag Register Set 61 Ixx24 specifies how the address in Ixx25 is to be used Bit 0 of Ixx24 must be set to 1 to specify PMAC2 style flag arrangements which are used in the MACRO protocol Bit 18 of Ixx24 must be set to 1 to specify that the flags are sent and received across MACRO Bit 23 of Ixx24 which specifies the polarity of the amplifier node fault bit into the Turbo PMAC2 must be set to match the polarity defined in the Station with the appropriate bit of MI18 If the bit n of MI18 and bit 23 of Ixx24 are set to 0 a low true fault logical 0 means fault regardless of the input voltage is specified
44. 5 12403 003530 Conversion Table Line 47 1903 003512 Conversion Table Line 17 12503 003532 Conversion Table Line 49 11003 003514 Conversion Table Line 19 12603 003534 Conversion Table Line 51 11103 003516 Conversion Table Line 21 12703 003536 Conversion Table Line 53 11203 003518 Conversion Table Line 23 12803 003538 Conversion Table Line 55 11303 00351A Conversion Table Line 25 12903 00353A Conversion Table Line 57 11403 00351C Conversion Table Line 27 13003 00353C Conversion Table Line 59 11503 00351E Conversion Table Line 29 13103 00353E Conversion Table Line 61 11603 003520 Conversion Table Line 31 13203 003540 Conversion Table Line 63 Ixx10 Ixx95 Absolute Position Address and Format Ixx10 and Ixx95 permit an automatic read of an absolute position sensor at power on reset and or on a subsequent or command If Ixx10 is set to 0 the power on reset position for the motor will be considered to be 0 regardless of the type of sensor used If Ixx10 is set to a value greater than zero an absolute position can be read with Ixx10 specifying an address for reading this value When reading absolute position over the MACRO ring the address contained in Ixx10 is specified in the format 0000mn where m is the MACRO IC number 0 1 2 or 3 and n is the node number 0 1 4 5 8 9 12 or 13 If both m and n are 0 the 4 hex digit of Ixx10 should
45. 8425 Y 078426 Y 078427 2 X 078420 X 078421 X 078422 X 078423 3 X 078424 X 078425 X 078426 X 078427 4 Y 078428 Y 078429 Y 07842A Y 07842B 5 Y 07842C Y 07842D Y 07842E Y 07842F 6 X 078428 X 078429 X 07842A X 07842B T X 07842C X 07842D X 07842E X 07842F 8 Y 078430 Y 078431 Y 078432 Y 078433 9 Y 078434 Y 078435 Y 078436 Y 078437 10 X 078430 X 078431 X 078432 X 078433 11 X 078434 X 078435 X 078436 X 078437 12 Y 078438 Y 078439 Y 07843A Y 07843B 13 Y 07843C Y 07843D Y 07843E Y 07843F 14 X 078438 X 078439 X 07843A X 07843B 15 X 07843C X 07843D X 07843E X 07843F Register Addresses for MACRO IC 1 with I21 079400 default Turbo Addresses MACRO IC 1 PMAC2 Node Reg 0 Reg 1 Reg 2 Reg 3 0 Y 079420 Y 079421 Y 079422 Y 079423 1 Y 079424 Y 079425 Y 079426 Y 079427 P X 079420 X 079421 X 079422 X 079423 3 X 079424 X 079425 X 079426 X 079427 4 Y 079428 Y 079429 Y 07942A Y 07942B 5 Y 07942C Y 07942D Y 07942E Y 07942F 6 X 079428 X 079429 X 07942A X 07942B y X 07942C X 07942D X 07942E X 07942F 8 Y 079430 Y 079431 Y 079432 Y 079433 9 Y 079434 Y 079435 Y 079436 Y 079437 10 X 079430 X 079431 X 079432 X 079433 11 X 079434 X 079435 X 079436 X 079437 12 Y 079438 Y 079439 Y 07943A Y 07943B 13 Y 07943C Y 07943D Y 07943E Y 07943F 14 X 079438 X 079439 X 07943A X 07943B 15 X 07943C X 07943D X 07943E X 07943F 34 Turbo PMAC2 Softwa
46. A and B command values are copied from the MACRO node command registers to the machine interface channel registers 62 Software Setup of 3U MACRO Station UMAC MACRO and MACRO Stack User Manual The period between output pulses should be slightly longer than the longest delay in receiving the echo pulse This delay can be computed by multiplying the length of the MLDT by the speed of sound in the MLDT usually about 2 8 mm psec 0 11 in usec With the output period decided MI16x can be computed according to the formula MI16x 16 777 216 Output_Period usec PFMCLKfreq MHz For example to get an output period of 500 usec 2kHz frequency with PFMCLK at the default frequency of 9 83 MHz MI16x can be computed as MI16x 16 777 216 500 9 83 3413 General Purpose I O Setup The general purpose I O that not directly associated with a motor channel on the 3U MACRO Station can be set up with just a few Station MI variables The basic concept for real time general purpose I O is that of automatic copying of data between the I O registers and I O MACRO nodes Combined with the automatic copying of data between MACRO nodes on the Station and MACRO nodes on the PMAC controlling the Station we obtain an automatic transfer between the PMAC and the I O points on the Station MI975 I O Node Enable If the I O MACRO nodes have not already been enabled as part of the initial setup of the MACRO Station they can b
47. ACC 51E w S1 1 2 OFF 2 channel FOC068 Encoder 7 ACC 51E w S1 1 2 OFF 3 channel FOC070 Encoder 8 ACC 51E w S1 1 2 OFF 4 channel FOC078 The second line specifies the address of the A D converters used The following table shows the conversion table MI variables for the second line for this type of feedback Encoder Which Backplane Axis Location On Board Conversion Board Used Table MI variable Value Encoder 1 ACC 51E w S1 1 2 ON 1 channel 00C045 Encoder 2 ACC 51E w S1 1 2 ON 2 channel 00C04D Encoder 3 ACC 51E w S1 1 2 ON 3 channel 00C055 Encoder 4 ACC 51E w S1 1 2 ON 4 channel 00C05D Encoder 5 ACC 51E w S1 1 2 OFF 1 channel 00C065 Encoder 6 ACC 51E w S1 1 2 OFF 2 channel 00C06D Encoder 7 ACC 51E w S1 1 2 OFF 3 channel 00C075 Encoder 8 ACC 51E w S1 1 2 OFF 4 channel 00C07D Software Setup of 3U MACRO Station 57 UMAC MACRO and MACRO Stack User Manual The third line contains a bias term that is added to both A D converter readings before the arctangent value is calculated It is used as a 24 bit value with the used portion of the A D converter readings being in the upper 12 bits For example if the cycle s average reading from the A D converters were 5 LSBs of the 12 bit value this line would be set to 5 x Dies or 20 480 Resolver Feedback If a resolver is used for servo feedback processed through an ACC 8D Opt 7
48. Axis Interface Board it may be desirable to have different MaxPhase frequencies on the Station and the PMAC2 board This is permissible as long as the Phase frequencies are the same 48 Software Setup of 3U MACRO Station UMAC MACRO and MACRO Stack User Manual If the ring controller is a non Turbo PMAC2 Ultralite the following relationship should hold MACRO Station M1992 MI997 1 1992 1997 1 PMAC2 Ultralite If the ring controller is a PMAC2 that is neither Turbo nor Ultralite the following relationship should hold MACRO Station MI992 MI997 1 900 1901 1 PMAC2 If the ring controller is a Turbo PMAC2 Ultralite or a UMAC Turbo with ACC 5E the following relationship should hold MACRO Station MI992 MI997 1 16800 16801 1 Turbo PMAC2 Ultralite If the ring controller is a Turbo PMAC2 that is not Ultralite the following relationship should hold MACRO Station MI992 MI997 1 I7000 I7001 1 Turbo PMAC2 Note Even if I7 is set greater than 0 on a Turbo PMAC2 so that the phasing tasks on the Turbo PMAC2 are not done every phase clock cycle it is important that the actual phase clock frequencies themselves be the same on the Turbo PMAC2 and the MACRO Station Station Servo Clock Frequency MI998 on a MACRO Station controls how the servo clock on the Station is derived from the Station s phase clock The phase clock frequency is divided by M1998 1 to obta
49. C2 the ring update frequency is the same as the phase clock frequency on the card PMAC2 Ultralite 1992 and 1997 On a PMAC2 Ultralite controller the phase clock frequency is determined by 1992 and 1997 1992 determines the frequency of the MaxPhase clock and 1997 determines how the Phase clock frequency is divided down from the MaxPhase clock 1992 sets the MaxPhase frequency according to the formula MaxPhase Freq kHz 117 964 8 2 I992 3 To set 1992 for a desired MaxPhase frequency the following formula can be used 1992 117 964 8 2 MaxPhase kHz 1 rounded down 1997 sets the Phase clock frequency from the MaxPhase according to the formula Phase Freq kHz MaxPhase Freq kHz I997 1 In MACRO applications typically 1997 is set to 0 so the Phase clock frequency equals the MaxPhase clock frequency In this case 992 sets the Phase clock frequency and therefore the MACRO ring update frequency directly PMAC2 Not Ultralite 1900 and 1901 On a PMAC2 controller that is not Ultralite communicating with the MACRO station through an ACC 42P2 MACRO interface board the phase clock frequency is determined by I900 and 1901 1900 determines the frequency of the MaxPhase clock and 1901 determines how the Phase clock frequency is divided down from the MaxPhase clock 1900 sets the MaxPhase frequency according to the formula MaxPhase Freq kHz 117 964 8 2 I900 3 To set 900 for a desired Max
50. Enable Flag Must be set to to prepare for hardware capture over ring to 0 when done 12 Node Position Reset Flag 13 reserved for future use 14 Amplifier Enabled Command to Station 15 23 reserved for future use Motor Status Flags X 0034xn for MACRO IC x 4 Noden Bit Function Notes 0 7 Not Used 8 10 reserved for future use 11 Position Captured Flag Latched from selected flag 12 Power On Reset or Node Reset Occurred 13 Ring Break Detected Elsewhere 14 Amplifier Enabled Status from Station 15 Amplifier Node Shutdown Fault 1 is treated as shutdown if Ix25 bit 23 1 0 if Ix25 bit 23 0 16 Home Flag HOME Input Value 17 Positive Limit Flag PLIM Value 18 Negative Limit Flag MLIM Value 19 User Flag USER Input Value 20 Flag W Input Value 21 Flag V Input Value 22 Flag U Input Value 23 Flag T Input Value 1xx70 Ixx71 Commutation Cycle Size If the Turbo PMAC 2 is performing commutation for Motor xx providing either 2 phase current commands sine wave output or 3 PWM phase voltage commands direct PWM output the size of the commutation cycle is equal to Ixx71 Ixx70 normally expressed in encoder counts Because the MACRO station provides position feedback in units of 1 32 count for both servo and commutation the value of Ixx70 and Ixx71 must be set to provide a ratio 32 times the number of true counts in the commutation c
51. Hardware Reference Manual for the 3U MACRO Station s SW1 switch setting provides a starting point for the Turbo PMAC2 s 1684 1 1689 1 16941 16991 value Additional bits of these I variables may be set to 1 if I O nodes are enabled or if more than one 3U MACRO station is commanded from a single MACRO IC 170 172 174 176 MACRO IC 0 1 2 3 Node Auxiliary Function Enable 170 172 174 and I76 are 16 bit I variables bits 0 15 in which each bit controls the enabling or disabling of the auxiliary flag function for the MACRO node number matching the bit number for MACRO ICs 0 1 2 and 3 respectively A bit value of 1 enables the auxiliary flag function a bit value of 0 disables it If the function is enabled PMAC copies information automatically between the MACRO interface flag register and RAM register 00344n 00345n 00346n and 00347n where n is the IC s node number 0 15 for MACRO ICs 0 1 2 and 3 respectively Note Turbo PMAC MACRO node numbers as opposed to individual MACRO IC node numbers go from 0 to 63 with board nodes 0 15 on MACRO IC 0 board nodes 16 31 on MACRO IC 1 board nodes 32 47 on MACRO IC 2 and board nodes 48 63 on MACRO IC 3 Each MACRO node n that is used for servo functions should have the corresponding bit n of I70 172 174 or I76 set to 1 Ixx25 for the Motor x that uses Node n should then address 00344n 00345n 00346n or 00347n not the address of the MACRO register itself
52. I Var Value Value Value Value ANAIO0O 200200 000FFF ANAIO8 200200 FFF000 ANAIO1 200201 000FFF ANAIO9 200201 FFFOOO ANAIO02 200202 000FFF ANAI10 200202 FFF000 ANAIO03 200203 000FFF ANAITII1 200203 FFFOOO ANAI04 200204 000FFF ANAI12 200204 FFF000 ANAIOS5 200205 000FFF ANAI13 200205 FFF000 ANAI06 200206 000FFF ANAI14 200206 FFF000 ANAIO7 200207 000FFF ANATI5 200207 FFFOOO If the 30 filtered parallel method is used instead of 20 it is a 3 line entry instead of a 2 line entry The third line of the entry contains the maximum change in the input value that the table will let through in one ring cycle This provides a filter that is a protection against noise This value should be set to a value slightly greater than the maximum true velocity expected The units are bits of the ADC per ring cycle Note Station Variable MI988 controls whether the A D converters are expecting inputs in the 2 5V to 2 5V range or in the 0 to 5V range Software Setup of 3U MACRO Station 59 UMAC MACRO and MACRO Stack User Manual ACC 28B E 16 Bit A D Converter Feedback If analog feedback processed through an ACC 28B 16 bit A D converter and brought into the 3U MACRO Station through an ACC 8T and a PMAC2 style connector on a stack axis board is used for servo feedback the 18 conversion method is used for unsigned 16 bit A D feedback The following table shows the conversion table MI variable value
53. M format on A B and C outputs or to 3 for DAC format on A and B outputs for velocity mode torque mode or sine wave drives and pulse and direction on the C output for stepper drives or for MLDT excitation Position Capture Control MI912 and MI913 for the node determine which edges of which signals cause a hardware capture of the encoder position for the channel This capture function is used for very accurate homing registration and probing MI912 is commonly set to 1 for capture on a high index channel input 2 for a high flag input or 3 for both a high index and high flag MI913 is most commonly set to 0 to select the home signal as the flag capture input Other Variables Refer to the 3U MACRO Station Software Reference for details on the other variables as well as for more details on the variables explained above Station Encoder Conversion Table Setup The 3U MACRO Station has its own Encoder Conversion Table ECT that permits pre processing of feedback data before it is transmitted back to the PMAC controller This can simplify the transmission and reduce the amount of data to be transmitted Note The PMAC has its own Encoder Conversion Table that has much the same capabilities as that of the MACRO Station However when PMAC is getting its data from the MACRO Station the PMAC s table simply uses the parallel data format to copy the feedback data from the MACRO node Refer to the PMAC2 Software Setup for MACR
54. MS auxiliary communications commands The Type 1 protocol uses the MACRO node registers for each mode of operation as explained below Velocity Torque Mode Node Register 0 24 bits 1 16 bits 2 16 bits 3 16 bits Command Velocity Torque reserved reserved Motor Command Command Flags Feedback Position Feedback reserved reserved Motor Status Flags Phase Current Sinewave Mode Node Register 0 24 bits 1 16 bits 2 16 bits 3 16 bits Command Phase A Current Phase B Current reserved Motor Command Command Command Flags Feedback Position Feedback reserved reserved Motor Status Flags Phase Voltage Direct PWM Mode Node Register 0 24 bits 1 16 bits 2 16 bits 3 16 bits Command Phase A Voltage Phase B Voltage Phase C Voltage Motor Command Command Command Command Flags Feedback Position Feedback Phase A Current Phase B Current Motor Status Flags Feedback Feedback All of the 16 bit registers appear in the top 16 bits of the 24 bit word on both PMAC PMAC2 and the 3U MACRO Station Appendix MACRO Station Type 1 Protocols 71
55. O Stack User Manual Station Variable Copy Commands It is also possible to copy values between 3U MACRO Station MI variables and PMAC variables This is done with MACRO Variable Copy commands which can be used either as on line commands or as buffered program commands in background PLC programs PLC1 31 and PLCC1 31 but not in PLCO PLCCO or motion programs which execute in foreground The command that copies from a Station MI variable to a PMAC variable reading from the Station is the MSR command The syntax for the command is MSR node MI variable PMAC Variable where node can be the number of any active node on the Station usually that of the lowest active node for most of the MI variables or the number of the individual node for one of the node specific MI variables MI910 MI939 variable is the number of the Station MI variable 0 1023 from which the value is copied PMAC Variable is the name of the variable on PMAC e g P10 to which the value is copied For example MSRO MI984 P50 Copy from Station with active node 0 MI984 to PMAC P50 MSR1 MI922 P99 Copy from Station Node 1 MI922 to PMAC P99 The command that copies from a PMAC variable to a Station MI variable writing to the Station is the MSW command The syntax for the command is MSW node MI variable PMAC Variable where node can be the number of any active node on the Station usually that of the lowest active node for mos
56. O Station section above 54 Software Setup of 3U MACRO Station UMAC MACRO and MACRO Stack User Manual The ECT on the MACRO Station has a series of entries in 32 lines Each line occupies one double word of MACRO Station memory The Y word has set up information the X word has result information Each line s Y word has a MACRO Station MI variable assigned to it so the set up can be done by setting MI variable values The set up word for the first line of the table is assigned MI120 the set up word for the second line for the second line is assigned MI121 and so on to the 32 line whose set up word is assigned MI151 An entry in the table can occupy 1 2 or 3 lines which means that 1 2 or 3 MI variables are used to define the set up words for the entry If the entry occupies more than 1 line the final result of the entry is in the last highest numbered address X word of the entry matching the last highest numbered set up MI variable for the entry Other X words in the entry contain intermediate results The following table shows the relationship between ECT line numbers MI variable numbers and result addresses Table Line Set up MI Result Table Line Set up MI Result Variable Address Variable Address 1 MI120 X 0020 17 MI136 X 0030 2 MI121 X 0021 18 MI137 X 0031 3 MI122 X 0022 19 MI138 X 0032 4 MI123 X 002
57. Phase frequency the following formula can be used 1900 117 964 8 2 MaxPhase kHz 1 rounded down 1901 sets the Phase clock frequency from the MaxPhase according to the formula Phase Freq kHz MaxPhase Freq kHz I901 1 PMAC2 Software Setup for MACRO Station 15 UMAC MACRO and MACRO Stack User Manual In MACRO applications typically 1901 is set to 0 so the Phase clock frequency equals the MaxPhase clock frequency In this case 1900 sets the Phase clock frequency and therefore the MACRO ring update frequency directly Notes on Servo Clock On PMAC2 controllers the Servo clock frequency is derived from the Phase clock frequency by an integer division so the setting of the MACRO ring update frequency which is the same as the Phase clock frequency determines the possible Servo clock frequencies The division of the Servo clock frequency from the Phase clock frequency is determined by e PMAC2 Ultralite 1998 Servo Freq Phase Freq 1998 1 PMAC2 not Ultralite 1902 Servo Freq Phase Freq 1902 1 Once the servo clock frequency has been established PMAC2 variable 110 must be set accordingly so that trajectories execute at the proper speed Several MACRO timing variables have units of servo clock cycles Even if the PMAC2 controller is not performing commutation or current loop and therefore not performing any software tasks at the Phase clock frequency the Phase clock frequency should if po
58. Pos 2806B2 Motor 29 Previous Phase Pos 280EB2 Motor 14 Previous Phase Pos 280732 Motor 30 Previous Phase Pos 280F32 Motor 15 Previous Phase Pos 2807B2 Motor 31 Previous Phase Pos 280FB2 Motor 16 Previous Phase Pos 280832 Motor 32 Previous Phase Pos 281032 Turbo PMAC2 Software Setup for MACRO Station 37 UMAC MACRO and MACRO Stack User Manual Sometimes the conversion table will process data sent back to Turbo PMAC2 through I O nodes which are mapped into Turbo PMAC2 as X registers This is often done in cases of dual feedback or loop around loop configurations Because these I O nodes use X registers instead of Y registers they use the 6 conversion method X Y data instead of the 2 conversion method Y data only and specify a 24 bit offset in the second line of the entry The following table shows entries for processing the data in the 24 bit register 0 of the first six T O nodes for each MACRO IC Entries for MACRO I O Node Register 0 Register First Line Register First Line Value Value MACRO IC 0 Node 2 Reg 0 6F 8420 MACRO IC 2 Node 2 Reg 0 6FA420 MACRO IC 0 Node 3 Reg 0 6F 8424 MACRO IC 2 Node 3 Reg 0 6FA424 MACRO IC 0 Node 6 Reg 0 6F8428 MACRO IC 2 Node 6 Reg 0 6FA428 MACRO IC 0 Node 7 Reg 0 6F842C MACRO IC 2 Node 7 Reg 0 6FA42C MACRO IC 0 Node 10 Reg 0 6F 8430 MACRO IC 2 Node 10 Reg 0 6FA430 MACRO IC 0 Node
59. RO IC 2 Node 13 Reg 0 1902 079420 MACRO IC 1 Node 0 Reg 0 12502 07B420 MACRO IC 3 Node 0 Reg 0 11002 079424 MACRO IC 1 Node 1 Reg 0 12602 07B424 MACRO IC 3 Node 1 Reg 0 11102 079428 MACRO IC 1 Node 4 Reg 0 12702 07B428 MACRO IC 3 Node 4 Reg 0 11202 07942C MACRO IC 1 Node 5 Reg 0 12802 07B42C MACROIC 3 Node 5 Reg 0 11302 079430 MACRO IC 1 Node 8 Reg 0 12902 07B430 MACRO IC 3 Node 8 Reg 0 11402 079434 MACRO IC 1 Node 9 Reg 0 13002 07B434 MACRO IC 3 Node 9 Reg 0 11502 079438 MACRO IC 1 Node 12 Reg 0 13102 07B438 MACRO IC 3 Node 12 Reg 0 11602 07943C MACRO IC 1 Node 13 Reg 0 13202 07B43C MACRO IC 3 Node 13 Reg 0 If Motor xx is used to produce a pulse and direction output on the MACRO Station to control a traditional stepper drive or a stepper replacement servo drive the command output should be written to Register 2 of the servo node In this mode the proper values of Ixx02 are Ixx02 Value Register Ixx02 Value Register 1102 078422 MACRO IC 0 Node 0 Reg 2 11702 07A422 MACRO IC 2 Node 0 Reg 2 1202 078426 MACRO IC 0 Node 1 Reg 2 11802 07A426 MACRO IC 2 Node 1 Reg 2 1302 07842A MACRO IC 0 Node 4 Reg 2 11902 07A42A_ MACRO IC 2 Node 4 Reg 2 1402 07842E MACRO IC 0 Node 5 Reg 2 12002 07A42E MACRO IC 2 Node 5 Reg 2 1502 078432 MACRO IC 0 Node 8 Reg 2 12102 07A43
60. Y COAF 6 X COA8 X COA9 X COAA X COAB 7 X COAC X COAD X COAE X COAF 8 Y COBO Y COB1 Y COB2 Y COB3 9 Y COB4 Y C0B5 Y C0B6 Y C0B7 10 X C0B0 X C0B1 X C0B2 X C0B3 11 X C0B4 X C0B5 X C0B6 X C0B7 12 Y C0B8 Y C0B9 Y COBA Y COBB 13 Y COBC Y COBD Y COBE Y COBF 14 X COB8 X COB9 X COBA X COBB 15 X COBC X COBD X COBE X COBF With the MACRO station only nodes that map into PMAC2 Y registers 0 1 4 5 8 9 12 and 13 can be used for servo control These nodes are unshaded in the above table The nodes that map into X registers 2 3 6 7 10 11 and 14 can be used for I O control Node 15 is reserved for Type 1 auxiliary communications Node 14 is often used for broadcast communications In firmware revisions V1 114 and newer if MI15 is set to the default value of 0 it comes up ready for ASCII communications and Who are you querying PMAC2 Conversion Table Setup PMAC72 processes the raw feedback data they receive through an encoder conversion table before the servo loop uses the data for feedback This table permits various techniques such as 1 T extension of encoder data to refine the feedback values However when the MACRO Station is used to provide the feedback the Station has its own encoder conversion table to do the refinement before the data is sent across the ring Therefore all that the PMAC2 s encoder conversion table must do is a simple copying
61. alue Register 1183 078420 MACRO IC 0 Node 0 Reg 0 11783 07A420_ MACRO IC 2 Node 0 Reg 0 1283 078424 MACRO IC 0 Node 1 Reg 0 11883 07A424 MACRO IC 2 Node 1 Reg 0 1383 078428 MACRO IC 0 Node 4 Reg 0 11983 07A428 MACRO IC 2 Node 4 Reg 0 1483 07842C_ MACRO IC 0 Node 5 Reg 0 12083 07A42C MACRO IC 2 Node 5 Reg 0 1583 078430 MACROIC 0 Node 8 Reg 0 12183 07A430_ MACRO IC 2 Node 8 Reg 0 1683 078434 MACROIC 0 Node 9 Reg 0 12283 07A434_ MACRO IC 2 Node 9 Reg 0 1783 078438 MACROIC 0 Node 12 Reg 0 12383 07A438 MACRO IC 2 Node 12 Reg 0 1883 07843C_ MACRO IC 0 Node 13 Reg 0 12483 07A43C_ MACRO IC 2 Node 13 Reg 0 1983 079420 MACRO IC 1 Node 0 Reg 0 12583 07B420 MACRO IC 3 Node 0 Reg 0 11083 079424 MACROIC 1 Node 1 Reg 0 12683 07B424 MACRO IC 3 Node 1 Reg 0 11183 079428 MACRO IC 1 Node 4 Reg 0 12783 07B428 MACRO IC 3 Node 4 Reg 0 11283 07942C_ MACRO IC 1 Node 5 Reg 0 12883 07B42C_ MACRO IC 3 Node 5 Reg 0 11383 079430 MACRO IC 1 Node 8 Reg 0 12983 07B430 MACRO IC 3 Node 8 Reg 0 11483 079434 MACRO IC 1 Node 9 Reg 0 13083 07B434 MACRO IC 3 Node 9 Reg 0 11583 079438 MACROIC 1 Node 12 Reg 0 13183 07B438 MACRO IC 3 Node 12 Reg 0 11683 07943C_ MACRO IC 1 Node 13 Reg 0 13283 07B43C_ MACRO IC 3 Node 13 Reg 0 Because these are all Y addresses bit 1 of Ixx01 must be set to 1 With bit 0 of Ixx01 set to 1 to enable commutation
62. anual For purposes of absolute phase position Turbo PMAC2 simply reads the encoder counter value in its own MACRO node communicated automatically by the servo node functions The MI11x setting is not used to obtain the phase position but it will probably be set to 71xxxx or F1xxxx for absolute servo position For purposes of absolute phase position Turbo PMAC2 simply reads the hall sensor values in its own MACRO node communicated automatically by the auxiliary servo node functions The MII Ix setting is not used here but may be set to a non zero value if an absolute servo position sensor is also used When Turbo PMAC2 has Ixx91 set to get absolute position over MACRO it executes a station auxiliary read command MS node MI920 to request the absolute position from the 3U MACRO Station The station then references its own MI11x value to determine the type format and address of the data to be read The data is returned to Turbo PMAC2 with up to 42 bits of data sign extended to 46 bits Bit 48 is a Ready Busy handshake bit and Bit 47 is a pass fail status bit If Bit 47 is set the upper 24 bits of the 48 bits returned form an word and are stored in X 00320E of the Turbo PMAC2 Note With the Yaskawa absolute encoder format and with the Hall commutation sensor format the Turbo PMAC72 is not going directly to the MACRO Station for absolute phase position information This information has already been copied into a Turbo PMAC2 r
63. are provides automatic support for up to four MACRO ICs at one time known as MACRO ICs 0 1 2 and 3 Prior to firmware revision V 1 936 each of these four ICs had a fixed base address 078400 for MACRO IC 0 079400 for MACRO IC 1 07A400 for MACRO IC 2 and 07B400 for MACRO IC 3 Turbo PMAC2 boards without a built in MACRO interface support only MACRO IC 0 at the fixed address of 078400 Turbo PMAC2 Ultralite boards can also support MACRO ICs 1 2 and 3 if the appropriate options are ordered Option 1U1 MACRO IC 1 at 079400 e Option 1U2 MACRO IC 2 at 07A400 e Option 1U3 MACRO IC 3 at 07B400 The introduction of the UMAC Turbo 3U Turbo PMAC2 allowed more possibilities for addressing MACRO ICs which required a more flexible firmware structure Therefore starting in Turbo PMAC2 firmware revision V 1 936 variables 120 I21 122 and I23 are used to specify the base addresses of MACRO ICs 0 1 2 and 3 respectively Almost always these will be at the default values of 078400 079400 07A400 and 07B400 but other values are possible in a UMAC Turbo system with multiple ACC 5E MACRO interface boards MACRO Ring Update Frequency Setup The discussions of MACRO node addresses below all assume that I20 121 122 and 123 are set to their factory default values All stations on the MACRO ring must be set to the same ring update frequency The ring update frequency is fundamentally controlled by the ring controller o
64. ater than 0 Turbo PMAC2 will use the address or node specified by Ixx81 to read an absolute phase position in a manner determined by Ixx91 There are specific settings of Turbo PMAC2 s Ixx91 for each type of MACRO interface to the MACRO Station The 3U MACRO Station has a corresponding variable MI11x for each node that must be set Since the MACRO Station s MI11x also affects the absolute servo position read by Ixx10 and Ixx95 on the Turbo PMAC2 and that position can be signed or unsigned MI1 1x bit 23 specifies whether the absolute servo position is read as signed or unsigned This bit does not matter for the purposes of absolute phase position which is always treated as unsigned The following table shows the possible settings of Ixx81 and Ixx91 along with the required matching settings of MI11x for the different types of absolute phase position formats supported Ixx81 Ixx91 Values for MACRO Station Absolute Feedback 3U MACRO Station Feedback Type Ixx81 Ixx91 Station Value Value MI11x Bits 16 23 ACC 8D Opt 7 Resolver Digital Converter 0000mn 730000 00 07 80 87 ACC 8D Opt 9 Yaskawa Absolute Encoder Converter 07x4yy bb0000 See Note 1 ACC 49 Sanyo Absolute Encoder Converter 0000mn 740000 0D ACC 28B E Analog Digital Converter 0000mn 740000 31 MACRO Station Hall Sensor Flag Input 0034xn vv0000 See Note 2 ACC 1E 6E 36E 59E A D Converter low 12 b
65. be changed from a 1 to a 5 In this case there is a second line to the entry which specifies a bias value that is subtracted from the A D reading before the integration This bias is expressed as a 24 bit value with the upper 16 bits matching the actual data from the A D converter For example if zero voltage into the A D converter produced a reading of 3 LSBs of the converter the bias term should be set to 3 x 2 or 768 ACC 3E 14E Parallel Feedback If parallel data brought in through one of the connectors on an ACC 3E 144 I O stack board or an ACC 14E I O backplane board is used for servo feedback the 3x conversion method is used for parallel feedback Each connector can bring in up to 24 bits of input mapped as a byte in each of three consecutive words of memory with the least significant byte mapped into the low address The least 60 Software Setup of 3U MACRO Station UMAC MACRO and MACRO Stack User Manual significant bit of the input should be connected to the lowest numbered I O point on the connector The J4 and J5 connectors map into the low byte of these words the J6 and J7 connectors map into the middle byte and the J8 and J9 connectors map into the high byte If the x digit in the method is 4 the low byte of the three words is used if x is 5 the middle byte is used if x is 6 the high byte is used The address specified is the low address of the three words
66. be set to 1 Ixx10 000100 to keep the total value of Ixx10 greater than zero and activate the absolute position read The following table shows the required values of Ixx10 for all of the MACRO nodes that can be used Note MACRO IC 0 Node 0 uses an Ixx10 value of 000100 because Ixx10 0 disables the absolute position read function 40 Turbo PMAC2 Software Setup for MACRO Station UMAC MACRO and MACRO Stack User Manual Ixx10 for MACRO Absolute Position Reads Ixx95 720000 740000 F20000 F40000 Addresses are MACRO Node Numbers MACRO Ixx10 for Ixx10 for Ixx10 for Ixx10 for Node MACRO MACRO MACRO MACRO Number IC 0 IC1 IC 2 IC3 0 000030 1 000031 4 000034 5 000035 8 000038 9 000039 12 00003C 13 00003D There are specific settings of Turbo PMAC2 s Ixx95 for each type of MACRO sensor interface The 3U MACRO Station has a corresponding variable MI11x for each node that must be set 3U MACRO Station Feedback Type Turbo Station Turbo Station Ixx95 MI11x Ixx95 MI11x Unsigned Unsigned Signed Signed ACC 8D Opt 7 Resolver Digital Converter 730000 00xxxx F30000 80xxxx 07xxxx 87XXXX ACC 8D Opt 9 Yaskawa Absolute Encoder Converter 720000 71XxXxx F20000 F1Xxxx 72XXXX F2XXXX ACC 49 Sanyo 26 bit Absolute Encoder Converter 740000 32xxxx F40000 B2xxxx ACC 28B E Analog Digital Conver
67. be set to 20 2 26 45 MACRO Node Addresses The MACRO ring operates by copying registers at high speed across the ring Therefore the each Turbo PMAC2 master controller on the ring communicates with its slave stations by reading from and writing to registers in its own address space MACRO hardware automatically handles the data transfers across the ring Starting in Turbo firmware version 1 936 the base addresses of the up to 4 MACRO ICs must be specified in 20 123 for MACRO IC 0 3 respectively Before this the base addresses were fixed at 078400 079400 07A400 and 07B400 respectively Only UMAC Turbo systems can support any other configuration and only rarely will another configuration be used The following table gives the addresses of the MACRO ring registers for Turbo PMAC2 controllers Note that it is possible although unlikely to have other addresses in a UMAC Turbo system In these systems the 4 digit does not have to be 4 it can also take the values Ss 6 and T Turbo PMAC2 Software Setup for MACRO Station 33 UMAC MACRO and MACRO Stack User Manual Register Addresses for MACRO IC 0 with I120 078400 default Turbo Addresses MACRO IC 0 PMAC2 Node Reg 0 Reg 1 Reg 2 Reg 3 0 Y 078420 Y 078421 Y 078422 Y 078423 1 Y 078424 Y 07
68. bit value of 1 sets a Type 1 protocol All 3U MACRO Station nodes use Type 1 so each MACRO node n used for servo purposes with a MACRO Station must have bit n of 11002 set to 1 Generally 11002 11000 on a PMAC communicating with a 3U MACRO Station The table shown in an above section and in the Hardware Reference Manual for the 3U MACRO Station s SW1 switch setting provides a starting point for the PMAC2 s 11002 value Additional bits of 11002 may be set to 1 if more than 1 3U MACRO station is commanded from a single PMAC2 PMAC2 Software Setup for MACRO Station 17 UMAC MACRO and MACRO Stack User Manual 11001 11004 11005 MACRO Ring Check Period and Limits If 11001 is set to a value greater than zero PMAC2 will automatically monitor for MACRO ring breaks or repeated MACRO communications errors A non zero value sets the error detection cycle time in PMAC2 servo cycles PMAC2 checks to see that sync node packets see 1995 and 1996 are received regularly and that there have not been regular communications errors The limits for these checks can be set by the user with variables 11004 and 1005 If less than 11005 sync node packets have been received and detected during this time interval or if 11004 or more ring communications errors have been detected in this interval PMAC2 will assume a major ring problem and all motors will be shut down PMAC2 will set the global status bit Ring Error bit 4 of X 0003 as an in
69. cccecesseeseeeeneeesceseeeeeeesecseeceseeesecnaecaecaaecneeeseeeneens 30 I6890 16940 16990 MACRO IC 1 2 3 Master Configuration sses 30 1684 1 1689 1 16941 16991 MACRO IC O 1 2 3 Node Activation Control ccececcessceseesseseceseeeenteeseees 30 I70 1172 174 176 MACRO IC 0 1 2 3 Node Auxiliary Function Endble ccccccccccesceeseteseeeseeeeensenseens 31 I71 173 175 177 MACRO IC 0 1 2 3 Node Protocol Type Control 32 I78 MACRO Master Slave Auxiliary Communications Timeout n 32 Table of Contents i UMAC MACRO and MACRO Stack User Manual 179 MACRO Master Master Auxiliary Communications Timeout cccccccescceseceseceetnseeneeeeeeneees 32 I80 I81 182 MACRO Ring Check Period and Limits cc cccccesccsseesseesceeseeenceeeseeeceseceaecnsecaseceeeeeeseees 33 MACRO Node Addresses rennari ne E a EE EE EEEE EER 33 Turbo PMAC2 Conversion Table Setup eseesseseesessesrreeeseseresrsresersrrteeseressrrteereseretesereesseeteseereeetesereresreees 36 Turbo PMAC2 Motor Variables icc cccsecssisiecessc sccesevsisscssesesenseossesuss sonsousdgeessesesnassodiacetssusauusensenssacoouesees 38 Ixx0 Commutation Enable o c ceccccccccsecsceesceeseeesceecesecusecnecanecaeeeseeeseeceeseseeeseceseseseeeaeceaecaeeneeeaeeeseess 38 Ixx02 Command Output AAAreSS ccccccesecscevecsseesesseesceseessesecacesecucecesecaeesecsaeesesaeeasesesaeeseseaeeesasenengs 38 TxxO3 1xx04 Feedback Address ccccccccccccsssssssscesecssssscscsesscs
70. ch setting M I C Node Node Node Node Node Node Node Node Node Node Node Node Node Node for for for for for for for for for for for for for for Swi SW1 SW1 SW1 SW1 SW1 SW1 SW1 SW1 SW1 SW1 SW1 SW1 SW1 0 1 2 3 4 5 6 7 8 9 A B C F 1 0 8 0 4 8 12 0 0 0 2 1 9 1 5 9 13 1 1 1 3 4 12 l 4qex i2 4 4 Z z z 3 4 3 4 5 13 l 5s B 5 5 z 5 5 8 8 z F F 6 z 9 T9 3 7 z 3 A z 3 12 A 2 z z z 8 i i 13 l z i 9 gt 4 8 12 8 10 3 z F 1 5 9 13 9 Backplane boards only firmware revisions V1 115 and newer Stack boards only firmware revisions V1 115 and newer all boards V1 114 and older In many systems this will result in the Machine Interface Channel number on the MACRO Station matching the Motor Number on the PMAC even though the data is passed through a MACRO node with a different number Encoder Decode MI910 for the node determines how the encoder signal input is decoded This is commonly set to 3 or 7 for x4 quadrature decode 8 for internal pulse and direction decode in the case of stepper outputs or 12 for MLDT decode Command Output Format MI916 for the node determines the format of the output signals from the channel This is set to 0 for PW
71. ches between PMAC and MACRO Station 4 Mapping the PMAC2 Turbo PMAC2 motor function registers to the PMAC2 MACRO node registers PMAC Encoder Conversion Table Setup Addresses Turbo I8000 I8191 Ix02 Command Output Address Turbo Ixx02 Ix03 Position Loop Feedback Address Turbo Ixx03 1x04 Velocity Loop Feedback Address Turbo Ixx04 Ix10 Power On Position Feedback Address Turbo Ixx10 Ixx95 Ix25 Flag Address Turbo Ixx25 Ixx24 Ix81 Power On Phase Feedback Address Turbo Ixx81 Ixx91 Ix82 Current Loop Feedback Address Turbo Ixx82 3U MACRO Station Setup Overview 5 UMAC MACRO and MACRO Stack User Manual 1x83 Phase Position Feedback Address Turbo Ixx83 Mapping Between MACRO Node and Motor Calculation Registers Flag 1x25 Flag Registers Holding 11000 11002 Turbo 170 177 Registers 1x02 Command Output Command Calculation PMAC Node n Registers Registers Feedback Registers l 2 a Ix83 Commutation Feedback 1x84 Current Feedback Encoder 1x03 1x04 Servo Conversion Position Feedback Table Entry General purpose I O is processed through a similar set of mapping functions Once the setup of the mapping has been done PMAC software can access the I O points on the 3U MACRO Station as if they were on the PMAC itself Mapping physical devices to the 3U MACRO Station I O circuitry Wiring between the I O connectors and the devices Mapping the Station I O registe
72. chronized to the ring only MACRO IC 0 needs to do this 16841 16891 16941 16991 MACRO IC 0 1 2 3 Node Activation Control 16841 16891 16941 and 16991 on Turbo PMAC2 control which of the 16 MACRO nodes for MACRO ICs 0 1 2 and 3 respectively on the card are activated They also control the master station number for their respective ICs and the node number of the packet that creates a synchronization signal The bits of these I variables are arranged as follows Bits 0 15 Activation of MACRO Nodes 0 to 15 respectively 1 active 0 inactive These 16 bits usually read as four hex digits individually control the activation of the MACRO nodes in the MACRO IC on a Turbo PMAC2 Each node that is active on the matching MACRO Station whether for servo I O or auxiliary communications should have its node activation bit set to 1 When working with a Delta Tau MACRO Station Node 15 of each MACRO IC on a Turbo PMAC2 must be activated to permit auxiliary communications so bit 15 of this variable should always be set to 1 if the IC is used to communicate with a MACRO Station Bits 16 19 Packet Sync Node Slave Number These 4 bits together usually read as one hex digit form the slave number 0 to 15 of the packet whose receipt by the PMAC2 will set the Sync Packet Received status bit in the MACRO IC This digit is almost always set to F 15 because Node 15 is always activated Turbo PMAC2 must see this bit set regularly otherwi
73. conversion table MI variable values for this type of feedback with channels in the UMAC MACRO pack configuration Encoder Which Backplane Axis Location On Board Conversion Board Used Table MI variable Value Encoder 1 ACC 24E2x w S1 1 2 ON 1 channel 30C040 Encoder 2 ACC 24E2x w S1 1 2 ON 2 channel 30C048 Encoder 3 ACC 24E2x w S1 1 2 ON 3 channel 30C050 Encoder 4 ACC 24E2x w S1 1 2 ON 4 channel 30C058 Encoder 5 ACC 24E2x w S1 1 2 OFF 1 channel 30C060 Encoder 6 ACC 24E2x w S1 1 2 OFF 2 channel 30C068 Encoder 7 ACC 24E2x w S1 1 2 OFF 3 channel 30C070 Encoder 8 ACC 24E2x w S1 1 2 OFF 4 channel 30C078 The second line of the entry contains a bits used mask a 24 bit value that contains a 1 in each bit that is to be used from the register In this type of feedback all 24 bits of the source register can be used so this line MI variable can be FFFFFF The third line of the entry contains the maximum change in the input value that the table will let through in one ring cycle This provides a filter that is a protection against missing or added echo pulses This value should be set to a value slightly greater than the maximum true velocity 58 Software Setup of 3U MACRO Station UMAC MACRO and MACRO Stack User Manual expected The units are bits of the timer per ring cycle where one bit of the timer represents 0 0009 inches or 0 024 mm at the
74. ct PWM bits 0 15 of Ix83 must specify the address of the ongoing commutation position feedback The proper settings of Ix83 for using each servo node from a MACRO Station for commutation position feedback are Node PMAC2 Node PMAC2 Node 0 8COAO Node 8 8COBO Node 1 8COA4 Node 9 8COB4 Node 4 8COA8 Node 12 8COB8 Node 5 8COAC Node 13 8COBC The 8 in the first digit specifies that the PMAC or PMAC2 reads a Y register instead of the typical X register for the commutation feedback 26 PMAC2 Software Setup for MACRO Station UMAC MACRO and MACRO Stack User Manual TURBO PMAC2 SOFTWARE SETUP FOR MACRO STATION Setting up the Turbo PMAC2 board to work with a MACRO Station requires the proper setup of several I variables for MACRO specific features The variables that have special considerations for use with MACRO stations are listed below The comparable setup for non Turbo PMAC2 controllers is covered in the previous section Note These are I variables on the Turbo PMAC2 controller itself The MACRO Station has its own set of setup I variables called MlI variables which are detailed in a different section Typically the Turbo Setup program for PCs is used to set up these I variables It walks you through each step and confirms the proper operation of each setting MACRO IC Address Specification Turbo PMAC2 firmw
75. d MACRO Station in a common ring PMAC2 MACRO cycle frequency control PMAC2 Ultralite 1992 and 1997 Turbo I6800 16801 PMAC2 non Ultralite I900 and 1901 Turbo 17000 17001 or 17200 17201 PMAC2 1995 MACRO Master Type Turbo 16840 16890 16940 16990 3U MACRO Station Setup Overview UMAC MACRO and MACRO Stack User Manual e PMAC2 1996 MACRO Node Activation Control amp Master number Turbo 16841 16891 16941 16991 PMAC2 MACRO Configuration I variables 11000 MACRO Node Auxiliary Register Enable Turbo I70 172 174 176 11001 MACRO Ring Check Period Turbo 180 11002 MACRO Node Type Control Turbo 171 173 175 I77 11003 MACRO Type 1 Master Slave Auxiliary Timeout Turbo I79 11004 MACRO Maximum Ring Error Count Turbo 181 11005 MACRO Minimum Sync Packet Count Turbo I82 Station SW2 setting for Master number Station SW1 setting and MI976 setting for active MACRO servo nodes Station MACRO cycle frequency control with MI992 and MI997 Mapping between PMAC and MACRO Station Nodes MACRO hardware automatically copies every phase cycle Command Output Registers Command Output Registers OS E PMAC Node n Registers PMAC Node n Registers REET Le eee Feedback Input Registers Feedback Input Registers PMAC Node Master Number Station Node Master set by 1996 bits 20 23 Number set by SW2 Turbo PMAC Node Master Number set by 16841 16891 16941 16991 bits 20 23 Node Slave Number n automatically mat
76. d of one of the above tables PMAC2 PMAC2 Table Comment Address Instruction Word Y 0730 Unshifted conversion of Node 2 Register 0 Y 0731 Use all 24 bits converted value in X 0731 Y 0732 Unshifted conversion of Node 3 Register 0 Y 0733 Use all 24 bits converted value in X 0733 Y 0734 Unshifted conversion of Node 6 Register 0 Y 0735 Use all 24 bits converted value in X 0735 Y 0736 Unshifted conversion of Node 7 Register 0 Y 0737 Use all 24 bits converted value in X 0737 Y 0738 Unshifted conversion of Node 10 Register 0 Y 0739 Use all 24 bits converted value in X 0739 Y 073A Unshifted conversion of Node 11 Register 0 Y 073B FFFFFF Use all 24 bits converted value in X 073B PMAC2 Motor l Variables 1x02 Command Output Address Ix02 specifies the address of the first register where PMAC2 writes the command output value s for Motor x In standard operation of a servo axis the motor must write the command value or the first of several command values to Register 0 of the servo node With the MACRO station the proper values for Ix02 for each node regardless of the servo output mode velocity torque phase current sine wave output including direct microstepping or phase voltage direct PWM are Node PMAC2 Node PMAC2 Ix02 Value Ix02 Value Node 0 COAO Node 8 COBO Node 1 COA4 Node 9 COB4 Node 4 COA8 Node 12 COB8 Node 5 COAC Node 13 COBC
77. dication of this error PMAC2 looks for receipt of sync node packets and ring communications errors once per real time interrupt every I8 1 servo cycles The time interval set by 11001 must be large enough that 11005 real time interrupts in PMAC2 can always execute within the time interval or false ring errors will be detected Remember that long motion program calculations can cause skips in the real time interrupt Typically values of 11001 setting a time interval of about 20 milliseconds are used 11001 can be set according to the formula I1001 Desired cycle time msec Servo update frequency kHz For example with the default servo update frequency of 2 26 kHz to get a ring check cycle interval of 20 msec 11001 would be set to 20 2 26 45 Since the sampling is done every 8 1 servo cycles 11004 and 11005 must be set less than 11001 18 1 11003 MACRO Master Slave Auxiliary Timeout If 11003 is set greater than 0 the MACRO Type 1 Master Slave Auxiliary Communications protocol using Node 15 is enabled PMAC2 implements this communications protocol using the MACROSLAVE MS MACROSLVREAD MSR and MACROSLVWRITE MSW commands If this function is enabled 11003 sets the timeout value in PMAC2 servo cycles In this case if PMAC72 does not get a response to a Node 15 auxiliary communications command within 11003 servo cycles it will stop waiting and register a MACRO auxiliary communications error
78. e enabled now with MI975 If switch SW1 on the Station has been set to enable any motor nodes there are no active MACRO I O nodes enabled by default However setting Bit n of MI975 to 1 enables Node n for I O transfer over MACRO If switch SW1 has been set to E 14 and MI975 has been set to its default value of 0 at the most recent power up reset then no motor nodes are enabled but I O Node 11 is enabled by default This setting simply permits communications to an I O only MACRO Station before its configuration is finalized However if MI975 is set to a non zero value on a Station with SW1 set at E 14 then MI975 alone controls which I O nodes are active Setting Bit n of MI975 to 1 activates Node n for I O transfer over MACRO In this case Node 11 is not active unless Bit 11 of MI975 is set to 1 Changes in MI975 only take place at a Station power up reset Therefore to change which I O nodes on a Station are active MI975 must be changed the new value stored to non volatile flash memory with the MSSAVE anynode command then the board reset usually with the MSS anynode command Note that in determining the final active node word reported in MI996 the MACRO Station clears bit 15 of MI975 to make sure that node 15 is reserved for auxiliary communications MI19 I O Transfer Period The general purpose I O copying or transfer functions on the MACRO Station are enabled by setting MI19 greater than zero If MI19 is greater than 0 it
79. ecifies commutation bit 1 1 specifies commutation feedback from the Y register whose address is set by Ixx83 Ixx02 Command Output Address Ixx02 specifies the address of the first register where Turbo PMAC2 writes the command output value s for Motor xx In the MACRO Type 1 protocol this is Register 0 of a MACRO servo node regardless of the output mode velocity torque phase current or phase voltage The default values of Ixx02 for Turbo PMAC2 Ultralite boards specify these registers for each servo node of each MACRO IC These are listed in the following table 38 Turbo PMAC2 Software Setup for MACRO Station UMAC MACRO and MACRO Stack User Manual Turbo PMAC2 Ultralite Ixx02 Defaults Ixx02 Value Register Ixx02 Value Register 1102 078420 MACRO IC 0 Node 0 Reg 0 11702 07A420 MACRO IC 2 Node 0 Reg 0 1202 078424 MACRO IC 0 Node 1 Reg 0 11802 07A424 MACRO IC 2 Node 1 Reg 0 1302 078428 MACRO IC 0 Node 4 Reg 0 11902 07A428 MACRO IC 2 Node 4 Reg 0 1402 07842C MACRO IC 0 Node 5 Reg 0 12002 07A42C MACRO IC 2 Node 5 Reg 0 1502 078430 MACRO IC 0 Node 8 Reg 0 12102 07A430 MACRO IC 2 Node 8 Reg 0 1602 078434 MACRO IC 0 Node 9 Reg 0 12202 07A434 MACRO IC 2 Node 9 Reg 0 1702 078438 MACRO IC 0 Node 12 Reg 0_ 12302 07A438 MACRO IC 2 Node 12 Reg 0 1802 07843C MACRO IC 0 Node 13 Reg 0_ 12402 07A43C MAC
80. eeseceseceseceaeceseceaeceaeeaeeeaeenaeens 25 Ix82 Current Loop Feedback AdAre SS scsscssescesecssesecsseeseuseescsecacesecueeseesasenesaeenesecaceaesecaeeseeneeeas 26 Ix83 Commutation Feedback AAAreSS csccccccecceesceeecesecesecesecaceeneeeseeeseeeneeneeseceseceseceaeceaecnseseeeeneeeaeees 26 TURBO PMAC2 SOFTWARE SETUP FOR MACRO STATION ccssscsssssssssssescsssssesscsncssescsseoes 27 MACRO IC Address Specification cceceeccssessescssesecsseeseesecseesecseeecsaeeeessecaessecnasecsaeeeseesaseeesaeeatenaeeees 27 MACRO Ring Update Frequency Setup oo cece eeceeseesceescesecesecesecaecsaecaeecaeeeaeesaecaeseseseaeeeeeeeeseseenseenaes 27 I7s Phase CYCle EXTENSION ocn asset teanae E E E R iasnse testy 27 119 Clock Source I Variable NUMmber i sccccscccsssesesecessseesseceeseecsseceacecusceesacecsceeeaaecsaceeeaeecneceeeaaeceeeeeeeaes 28 Turbo PMAC2 Ultralite 16800 and 16801 s cecccsccesseesseeseeeseeseeeeceesecusecaecesecasecacecaeeeaeeeseeeseeeeeeeneeeees 28 Turbo PMAC2 Not Ultralite T7000 and T7001 cccccccccccccccsscececnseceessececcssaeeesunseeeessaeeecussueeeeseeeeensaaees 29 UMAC Turbo inini iiion aa a A E Ea E AE O EE EEE Sai 29 Notes on Servo Clock iissrieicnsierassinisiriissai i saaneed vacdcuatevdacassaeesivedd saeavedtecncted eaea 29 Turbo PMAC2 MACRO Ring Setup I Variables 0 0 cc eececeeceseeeceseeseeseceeeseeseeeeceaeeeesaecaeesesneeeeneeneeeees 30 16840 MACRO IC 0 Master Configuration cccce
81. egister with another software function Ixx82 Current Loop Feedback Address If the Turbo PMAC2 is being operated in direct PWM mode Ixx82 must specify the address of the Phase B current feedback register If it is not being operated in direct PWM mode Ixx82 must be set to 0 When in direct PWM mode over MACRO the Phase B current feedback value appears in the MACRO servo node s Register 2 so Ixx82 must contain the address of this register The following table shows the typical values of Ixx82 in this mode listing the address of Register 2 for each servo MACRO node Turbo PMAC2 Ultralite Ixx82 Typical Settings Ixx82 Value Register Ixx82 Value Register 1182 078422 MACRO IC 0 Node 0 Reg 2 11782 07A422 MACRO IC 2 Node 0 Reg 2 1282 078426 MACRO IC 0 Node 1 Reg 2 11882 07A426_ MACRO IC 2 Node 1 Reg 2 1382 07842A MACROIC 0 Node 4 Reg 2 11982 07A42A_ MACRO IC 2 Node 4 Reg 2 1482 07842E MACROIC 0 Node 5 Reg 2 12082 07A42E MACRO IC 2 Node 5 Reg 2 1582 078432 MACRO IC 0 Node 8 Reg 2 12182 07A432 MACRO IC 2 Node 8 Reg 2 1682 078436 MACRO IC 0 Node 9 Reg 2 12282 07A436_ MACRO IC 2 Node 9 Reg 2 1782 07843A MACROIC 0 Node 12 Reg 2_ 12382 07A43A_ MACRO IC 2 Node 12 Reg 2 1882 07843E MACROIC 0 Node 13 Reg 2_ 12482 07A43E MACRO IC 2 Node 13 Reg 2 1982 079422 MACROIC 1 Node 0 Reg 2 12582 07B422 MACRO IC 3 Node 0
82. ervo nodes are activated I O Node 11 is activated so communications can be established with the Station Specifies backplane channels 3 amp 4 addresses C050 and C058 on firmware versions V1 114 and older Option 1x 1A or 1D is required to provide the third and fourth channels for ACC 24E2 ACC 24E2A or ACC 51E It is not required for ACC 24E2S A setting of F 15 forces the station to use its factory default I variables on power up reset Note Certain products using the MACRO Station firmware not the 3U MACRO Station itself are shipped with V2 xxx firmware to optimize operation for a single axis station as in servo drives with a built in MACRO interface In these products the setting of SW1 determines the single MACRO node that is activated by default This MACRO node is always mapped into the single machine interface channel on the device MACRO CPU SW2 Setting The setting of rotary switch SW2 on the MACRO CPU board determines the number 0 to 15 of the master MACRO IC on a PMAC2 or Turbo PMAC2 controller with which the MACRO nodes on this MACRO Station can communicate This establishes the third mapping step explained in the overview A non Turbo PMAC2 has only a single MACRO IC its master number is set by 1996 on the PMAC2 A Turbo PMAC2 can support up to 4 active MACRO ICs the master numbers for these ICs are set by 16841 16891 16941 and 16991 on the Turbo PMAC2 This set up is covered in the next section
83. esecacenecsaseneaeeseesesaeeeeasenesasenes 49 Multi channel Servo Interface Setup eeeeeesescsseeeceseceeeecseeeceaeeeeeecsaeeeseaecaeesesneseesaeeneeaecaseeesaeeaeenes 50 Channels 1 4 1 4 Axis Board c cccccccccccccsssssssessscscssssessscsssssssscssscscssssscsssssscssvsssssceececssssesesesssscsesacaceces 50 Channels 5 8 2 4 Axis Board basics sstesiccssiutevessvnsaseiestbsrisensotesoistbachsustoduayesiaeksti edednisseaeaseytcdventueedsotnn 51 Single Channel Servo Interface Channel Setup esesseesseeeeseseerstrieesrstsrtreretrrsrsrrtreretssrsrnrerretsnsrsrsrrerens 53 Station Encoder Conversion Table Setup sscscssssssssscsseseeseesessecseescesecaseecsceeecsaseceesesaeesecaaeeeenaseneeas 54 Amplifier Fault Enable and Polarity Control cccccccsscsssssscsseeseeseeseeseesseseccesecseeceeaeeseesecaneeeenasenesaeents 6l Servo Address Variable Setup c scscssccssssscsseesssseccesscusescesseessecsasenessecasesecaceeesaeeeseaecaeesesseesnesaseneeas 62 General Purpose VO SStuip vss esse cess crsisvvaesvanvantsoisvuncssascansh e EE E ETE EEEE EEEE 63 MI975 T O Node Enable svi visessasctasisanscceasvieisassia scans aus iankondncsteastades aii a a Eea E edar REEE E aeaii 63 MH910 Transfer Period oasiicesiiiinsitiai iaiia eaba aa aR a a REN E RE E saaa TEE 63 Bi directional I O Transfer Control c cccccsccessssessessesecssesecnsessceseeseesecseesecsaeeesaeenesaecseesecaeesessaeeesseeeaeeas 63 Uni directional I O Transfer Control cccccescce
84. ess Jumper ON El FFEO E2 FFE8 E3 FFFO E4 B8CO Requires Station firmware revision V1 115 or newer The single IOGATE IC on each of these boards may occupy the low middle or high byte of the address space depending on which rows of the E6 matrix are connected by jumpers E6A E6H Byte on Data Bus Rows Connected 1 amp 2 Low bits 0 7 2 amp 3 Middle bits 8 15 3 amp 4 Middle bits 8 15 4 amp 5 High bits 16 23 The single IOGATE on the ACC 14E board can only occupy the low byte of the address space Which of these variables is used in a MACRO Station is dependent on the exact configuration desired MI69 and MI70 can copy data between 1 2 or 3 48 bit IOGATE ICs at the same base address and 1 2 or 3 sets of 3 16 bit registers in MACRO I O nodes The first IOGATE must be in the low byte of the address the second if used must be in the middle byte of this address and the third if used must be in the high byte The first IOGATE is matched to the 3 16 bit registers in the MACRO I O node whose address is specified the second to these registers in the next MACRO I O node and third to these registers in the following MACRO I O node Software Setup of 3U MACRO Station 65 From_ PMAC To lt q PMAC UMAC MACRO and MACRO Stack User Manual MI69 MI70 bi directional copying action
85. he 2 axis piggyback board PWM Frequency MI992 controls the PWM frequency of Channels 9 amp 10 as well as the MaxPhase clock frequency from which the phase clock frequency for the entire MACRO Station is derived see above The equation is PWM Frequency kHz 117 964 8 4 MI992 6 The MaxPhase frequency is exactly twice the PWM 9 10 frequency Hardware Clock Frequencies M1993 controls the frequencies of the 4 hardware clock signals for Channels 9 amp 10 the encoder sample SCLK the pulse and direction PFMCLK the analog output DACCLK and the analog input ADCCLK MI993 is a 12 bit value consisting of 4 independent 3 bit parts each controlling one of the clock frequencies The equation is MI993 SCLK Divider 8 PFMCLK Divider 64 DACCLK Divider 512 ADCCLK Divider The value of each clock divider can take a value of 0 to 7 and the frequency of each clock signal is Clock Frequency 39 3216 MHz 2 Clock Divider The default value for M1993 of 2258 is suitable for almost all applications Refer to the detailed description in the MACRO Station Hardware Reference Manual if you wish to change any of these frequencies 52 Software Setup of 3U MACRO Station UMAC MACRO and MACRO Stack User Manual PWM Deadtime PFM Pulse Width M1994 controls both the deadtime for PWM outputs on Channels 9 amp 10 and the pulse width for the PFM pulse and direction outputs on Channels 9 amp 10 The equations are PWM Deadti
86. implement this 16800 or I7000 see below would be set to one half of the default value Note When making this change the Turbo PMAC s 16800 17000 variable should be changed first then the MACRO Station s MI992 Changing the MACRO Station s MI992 alone followed by an MSSAVE command and an MS could cause the Station s watchdog timer to trip 119 Clock Source I Variable Number 119 determines which IC Servo IC or MACRO IC in a Turbo PMAC2 system is the source of the phase and servo clocks for the system It contains the number of the IC Servo Phase Clock Direction I variable whose value is set to 0 by default to indicate that it should use its own clock signals and output them to the rest of the system The equivalent variable for other Servo and MACRO ICs should be set to 3 by default to indicate that these ICs should receive their clock signals as inputs Note that MACROGATE MACRO ICs that are typically used for MACRO ICs 1 2 and 3 have no servo clock they cannot be used as the system clock source and even if their clock direction I variable is set to 3 it will report back as 1 to indicate phase clock input In almost all Turbo PMAC2 systems interfacing to a MACRO Station MACRO IC 0 should be the source of the system servo and phase clock signals The clock direction I variable for MACRO IC 0 is 16807 so I19 on these systems should be set to 6807 Turbo PMAC2 Ultralite 16800 and 16801 On a Turbo PMAC2
87. in the phase clock No software tasks on the station are performed on the servo clock all are done on the phase clock but key feedback registers such as encoder position and timers are latched by the servo clock M1998 should always be set to 0 on a MACRO Station to make the servo clock frequency equal to the phase clock frequency so that the software algorithms always have updated position information to use Additional Node Enabling amp Disabling If MACRO Station setup variables MI975 and MI976 are both set to O the default values at power up reset only those MACRO servo nodes selected by rotary switch SW1 on the Station are enabled for ring communications The following table lists which nodes are enabled for each SW1 setting Setting Enabled Nodes Setting Enabled Nodes 0 0 1 4 5 8 0 1 1 8 9 12 13 9 4 5 2 0 1 A 10 8 9 3 4 5 B 11 12 13 4 8 9 C 12 0 1 4 5 8 9 5 12 13 D 13 none 6 0 1 4 5 8 9 E 14 11 I O only 7 0 1 4 5 8 9 12 13 F 15 11 I O only Software Setup of 3U MACRO Station 49 UMAC MACRO and MACRO Stack User Manual IMPORTANT If you disable all motor nodes with MI976 and do not enable any I O nodes with MI975 then after saving these values to flash memory and resetting the Station you will be able to communicate with the Station only through Node 15 If there are any other Stations on the ring using the same Master number
88. ions are being performed on the ring between Turbo PMAC2 boards T O Board Addressing The 3U format I O boards are built around IOGATE I O ASICs Each IOGATE IC controls 48 I O points mapped into the MACRO Station s addressing scheme as 6 bytes in consecutive registers Base_address to Base_address 5 The MACRO Station has a 24 bit data bus so it is possible to have up to 3 IOGATE ICs in the same address space Many of the T O boards support this as do the bi directional copying variables 64 Software Setup of 3U MACRO Station UMAC MACRO and MACRO Stack User Manual The following table lists the possible base addresses of the ACC 3E and ACC 4E piggyback Stack I O boards ACC 3E ACC 4E Board Base Address Address Y Address Jumper ON Jumper ON El E15 FFCO E2 E16 FFC8 E3 E17 FFDO E4 E18 FFD8 The single IOGATE IC of the ACC 4E is always mapped into the low byte of the addresses it occupies The ACC 3E may have up to 3 ICs according to the options installed as listed by the following table Option Byte on Data Bus T O Points A Low bits 0 7 1 000 1 047 B Middle bits 8 15 1 048 1 095 C High bits 16 23 1 096 1 0143 The following table lists the possible base addresses of the ACC 9E 10E 11E and 12E backplane UMAC I O boards ACC Board Board Base Y Address Addr
89. irmware 8 3U MACRO Station Hardware Setup UMAC MACRO and MACRO Stack User Manual For these boards up to three boards can share an address because each board only occupies one byte 8 bits of the 24 bit data bus and each board can be set up as to which byte it occupies E6A H Rows Byte Used on Data Connected Bus 1 amp 2 Low Bits 0 7 2 amp 3 Middle Bits 8 15 3 amp 4 Middle Bits 8 15 4 amp 5 High Bits 16 23 The I O boards presently available whose addresses are set by DIP switches are ACC 14E 48 TTL I O Board ACC 28E 2 4 Channel 16 Bit ADC Board ACC 36E 16 Channel 12 Bit ADC Board V1 115 or newer firmware required ACC 53E SSI Encoder Interface Board ACC 59E 8 Chan 12 Bit ADC 8 Chan 12 Bit DAC Board V1 115 or newer firmware required ACC 65E Self Protected Sourcing 24 In 24 Out Board ACC 66E Self Protected Sourcing 48 Input Board ACC 67E Self Protected Sourcing 48 Output Board ACC 68E Self Protected Sinking 24 In 24 Out Board For these boards the switch settings and the board addresses they select are S1 1 S1 2 S1 3 S1 4 S1 5 S1 6 Board Base Address ON ON OFF OFF OFF OFF FFEO OFF ON OFF OFF OFF OFF FFE8 ON OFF OFF OFF OFF OFF FFFO OFF OFF OFF OFF OFF OFF B8CO0 Requires V1 115 or newer firmware With these boards it is generally only possible to put one board at any given address
90. is set the upper 24 bits of the 48 bits returned are an error word and are stored in X 00320E of the PMAC PMAC2 Turbo PMAC2 Software Setup for MACRO Station 41 UMAC MACRO and MACRO Stack User Manual Ixx25 Ixx24 Flag Address and Mode If the auxiliary functions for Node n of MACRO IC 0 1 2 or 3 have been enabled by setting Bit n of 170 172 174 or I76 respectively to 1 the flag information in Register 3 for the node is automatically copied to and from PMAC RAM register 00347n 00357n 00367n or 00377n respectively In this case Ixx25 should specify the address of the RAM copy not the actual MACRO interface register The following table lists the default values for Ixx25 on a Turbo PMAC2 Ultralite which shows the address of the RAM copy register for each MACRO servo node Turbo PMAC2 Ultralite Ixx25 Defaults Ixx25 Value Register Ixx25 Value Register 1125 003440 MACRO Flag Register Set 0 11725 003460 MACRO Flag Register Set 32 1225 003441 MACRO Flag Register Set 1 11825 003461 MACRO Flag Register Set 33 1325 003444 MACRO Flag Register Set 4 11925 003464_ MACRO Flag Register Set 36 1425 003445 MACRO Flag Register Set 5 12025 003465 MACRO Flag Register Set 37 1525 003448 MACRO Flag Register Set 8 12125 003468 MACRO Flag Register Set 40 1625 003449 MACRO Flag Register Set 9 12225 003469 MACRO Flag Register Set
91. its 0000mn 740000 0C 8C ACC 1E 6E 36E 59E A D Converter high 12 bits 0000mn 740000 33 B3 MACRO Station Parallel Input 0000mn 740000 08 30 88 B0 MACRO Station MLDT Input 0000mn 740000 08 30 88 B0 ACC 3E 14E Parallel Input from 2 consecutive lower bytes 0000mn 740000 2B AB ACC 3E Parallel Input from 2 consecutive middle bytes 0000mn 740000 2C AC ACC 3E Parallel Input from 2 consecutive upper bytes 0000mn 740000 2D AD ACC 3E 14E Parallel Input from 2 consecutive lower bytes 0000mn 740000 2E AE ACC 3E Parallel Input from 2 consecutive middle bytes 0000mn 740000 2F AF ACC 3E Parallel Input from 2 consecutive upper bytes 0000mn 740000 30 B0 m is the number of the MACRO IC used 0 1 2 or 3 n is the MACRO node number used for Motor xx 0 1 4 5 8 9 C 12 or D 13 bb is the number of bits in a revolution of the encoder e g 13 bits for 8192 counts plus 5 to account for the 5 fractional bits expressed in hexadecimal format e g for 8192 counts rev 13 5 18 12 07x4yy represents the address of the MACRO node s Register 0 which contains the position information x is 8 9 A or B for MACRO IC 0 1 2 or 3 respectively yy varies with the node number vv is a value from 80 to FF representing the Hall sensor offset and direction 44 Turbo PMAC2 Software Setup for MACRO Station UMAC MACRO and MACRO Stack User M
92. le Using this register in the conversion table ensures that the servo algorithm uses the same position that the commutation used even if new data has started coming in from the MACRO ring for the next cycle The following table lists the conversion table entries to use these registers Remember that the second line of the entry should always be 018000 Entries for Motor Previous Phase Position Registers Register First Line Register First Line Value Value Motor 1 Previous Phase Pos 2800B2 Motor 17 Previous Phase Pos 2808B2 Motor 2 Previous Phase Pos 280132 Motor 18 Previous Phase Pos 280932 Motor 3 Previous Phase Pos 2801B2 Motor 19 Previous Phase Pos 2809B2 Motor 4 Previous Phase Pos 280232 Motor 20 Previous Phase Pos 280A32 Motor 5 Previous Phase Pos 2802B2 Motor 21 Previous Phase Pos 280AB2 Motor 6 Previous Phase Pos 280332 Motor 22 Previous Phase Pos 280B32 Motor 7 Previous Phase Pos 2803B2 Motor 23 Previous Phase Pos 280BB2 Motor 8 Previous Phase Pos 280432 Motor 24 Previous Phase Pos 280C32 Motor 9 Previous Phase Pos 2804B2 Motor 25 Previous Phase Pos 280CB2 Motor 10 Previous Phase Pos 280532 Motor 26 Previous Phase Pos 280D32 Motor 11 Previous Phase Pos 2805B2 Motor 27 Previous Phase Pos 280DB2 Motor 12 Previous Phase Pos 280632 Motor 28 Previous Phase Pos 280E32 Motor 13 Previous Phase
93. le Dual Analog Breakout Board with optional 256x interpolators DIN rail mountable e ACC 8DE Single Analog Breakout Board with optional 256x interpolators 3U rack mountable ACC 8E Dual Analog Breakout Board DIN rail mountable ACC 8F PWM Breakout Board DIN rail mountable ACC 8FE PWM Breakout Board with optional 256x interpolators 3U rack mountable ACC 8FP PWM Breakout Board panel mountable ACC 8K1 Fanuc C S Series Breakout Board ACC 8S Stepper Breakout Board DIN rail mountable The breakout boards supporting up to 4 axes presently available for the ACC 1E and ACC 2E boards through their 96 pin PMAC 1 style DIN connectors provided only with Option A on the 1E and 2E are ACC 8D 64 Point Terminal Block Board with IDC headers DIN rail mountable ACC 8DCE Fully Shielded Breakout Board with D sub connectors DIN rail mountable ACC 8DP Fully Shielded Breakout Board with D sub connectors panel mountable ACC 8P 60 Point Terminal Block Board DIN rail mountable 10 3U MACRO Station Hardware Setup UMAC MACRO and MACRO Stack User Manual The ACC 3E ACC 4E and ACC 6E stack boards have IDC headers Standard breakout boards from sources such as Phoenix Contact can be used for these connectors Consult the manuals for each of these accessories for detailed pin out information UMAC Pack Interface Breakout Boards The UMAC boards presently available that interface to the MACRO CPU board through the UBUS backplane include
94. lishing the software setup The following table shows the possible configurations and the SW1 settings to achieve them of Which Station Stack Station UMAC Station Swl Servo MACR Servo Axis Servo Pack Servo Setting Chan s O Channel Boards Channel Axis Channel amp Nodes Numbers Used Starting Boards Starting Nodes Used Used Addresses Used Addresses Used for Stack for UMAC Boards Pack Boards 0 ooo de de de e Y Je XE a a a ee E kkk p p egr e C098 2 4 5 9 10 ACC 1E C090 9 ae PACE ios O C098 C098 C008 2 4 5 3 4 Stack ACC 2E C010 ACC 24E2x C040 C048 3 SS a UMAC a ee ce ae Rn C008 2 12 13 3 4 Stack ACC 2E C010 ACC 24E2x C040 C048 5 SP UMAC 4 0 1 4 5 1 2 3 4 ACC 2E ACC 24E2x C040 C048 0 w Opt Ix C050 C058 4 8 9 12 1 2 3 4 ACC 2E ACC 24E2x C040 C048 1 13 w Opt 1x C050 C058 6 0 1 4 5 1 2 3 4 ACC 1E C000 ACC 24E2x C 12 8 9 9 10 ACC 2E C008 w Opt 1x CO010 ACC 24E2x C018 C090 C098 12 3U MACRO Station Hardware Setup UMAC MACRO and MACRO Stack User Manual 6 0 1 4 5 1 2 3 4 ACC 2E C000 ACC 24E2x C040 C048 6 8 9 5 6 ACC 2E C008 w Opt 1x C050 C058 C010 ACC 24E2x C060 C068 C018 C020 C028 8 ACC 2E ACC 24E2x C040 C048 2 ACC 2E w Opt 1x C050 C058 ACC 24E2x C060 C068 w Opt 1x C070 CO78 If no s
95. m 2 consecutive middle bytes 2F AF ACC 3E Parallel Input from 2 consecutive upper bytes 30 B0 n is the MACRO node number used for Motor xx 0 1 4 5 8 9 C 12 or D 13 bb is the number of bits in a revolution of the encoder e g 13 bits for 8192 counts plus 5 to account for the 5 fractional bits expressed in hexadecimal format e g for 8192 counts rev 13 5 18 12 node address is the PMAC2 address of Register 0 of the MACRO servo node used COAO for Node 0 COA4 for Node 1 etc vv is a value from 80 to FF representing the Hall sensor offset and direction For purposes of absolute phase position Turbo PMAC2 simply reads the encoder counter value in its own MACRO node communicated automatically by the servo node functions The MI11x setting is not used to obtain the phase position but it will probably be set to 71xxxx or F1xxxx for absolute servo position For purposes of absolute phase position Turbo PMAC2 simply reads the hall sensor values in its own MACRO node communicated automatically by the auxiliary servo node functions The MI11x setting is not used here but may be set to a non zero value if an absolute servo position sensor is also used PMAC2 Software Setup for MACRO Station 25 UMAC MACRO and MACRO Stack User Manual For the most common version of the Yaskawa encoder with 8192 counts per revolution the settings of Ix81 for each node are
96. mapping is between the servo interface channel and a MACRO node on the Station 3 The third mapping is between the MACRO node of the Station and a MACRO node on the PMAC2 4 The fourth mapping is between the MACRO node on the PMAC2 and the motor calculation registers Mapping Steps in Using the MACRO Station MACRO Station Machine Interface Channel x Registers Motor x Calculation Registers Channel Interface Signals A Servo amp Commutation Address I variables Station SW1 Setting Conversion Table MI10x PMAC MACRO MACRO Node MACRO Ring Station Node n n Registers Connection Registers _ _ 1996 bits 20 23 Station SW2 Setting Turbo 16841 16891 16941 16991 bits 20 23 Station SW2 Setting PMAC Node n Station Node n MACRO Station PMAC Once the basic mapping is set up the operation of the MACRO ring becomes essentially invisible to the actual operation of the system and the system operates just as if devices were directly interfaced to the MACRO controller This section summarizes the steps that control the mapping of the motion control functions All of these items are covered in more detail in following sections 1 Mapping physical devices to the 3U MACRO Station s machine interface channels 3U MACRO Station Setup Overview 3 UMAC MACRO and MACRO Stack User Manual e Station node specific variables MI910 MI939 configure hardware for the machine i
97. me psec 0 135 MI994 PFM Pulse Width usec MI994 PFMCLK Freq MHz DAC Strobe Word MI999 controls the DAC strobe signal used to create analog outputs for Channels 9 amp 10 It is a 24 bit word that is shifted out 1 bit per DACCLK cycle MSB first starting on the rising edge of the phase clock MI999 should be set to the default value of 7FFFOO for use with the on board 16 bit DACs that come with the Option A PMAC 1 style interface on the ACC 1E 2 axis piggyback board or on an ACC 8A breakout board that attaches to the PMAC2 style connector on the ACC 1E MI999 should be set to 7FFFCO for use with the 18 bit DACs on the ACC 8E PMAC2 style breakout board that attaches to the PMAC2 style connector on the ACC 1E ADC Strobe Word MI942 controls the ADC strobe signal used to interface to serial A D converters brought in on Channels 9 amp 10 The default value of FFFFFE is suitable for almost all A D converter types used with the 3U MACRO Station either for digital current loop feedback or for general purpose use from an ACC 28B Single Channel Servo Interface Channel Setup The hardware of the machine interface channels on the 3U MACRO Station can be configured in software to interface to many different types of devices This configuration is done by setting Station MI variables that are specific to the MACRO node that is mapped to the machine interface channel by the setting of the SW1 rotary switch on the Station Each of the
98. n 88xxxx 2AXXXX AAXXXX ACC 3E 14E Parallel Input from 2 consecutive 74000n 2Bxxxx F4000n ABxxxx lower bytes ACC 3E Parallel Input from 2 consecutive middle 74000n 2CXxxx F4000n ACxxxx bytes ACC 3E Parallel Input from 2 consecutive upper 74000n 2Dxxxx F4000n ADxxxx bytes 22 PMAC2 Software Setup for MACRO Station UMAC MACRO and MACRO Stack User Manual ACC 3E 14E Parallel Input from 2 consecutive 74000n 2EXxxx F4000n AExxxx lower bytes ACC 3E Parallel Input from 2 consecutive middle 74000n 2FXxxx F4000n AFXxxx bytes ACC 3E Parallel Input from 2 consecutive upper 74000n 30xxxx F4000n BOxxxx bytes n is the MACRO node number used for Motor x 0 1 4 5 8 9 C 12 or D 13 When PMAC72 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 3U MACRO Station The Station then references its own I11x value to determine the type format and address of the data to be read The data is returned to PMAC2 with up to 42 bits of data sign extended to 46 bits Bit 48 is a Ready Busy handshake bit and Bit 47 is a pass fail status bit If Bit 47 is set the upper 24 bits of the 48 bits returned are a fail word and are stored in X 0798 of the PMAC2 1x25 Flag Address If the auxiliary functions for Node n have been enabled by setti
99. n then Ix75 is expressed in units of 1 32 of a count multiplied by Ix70 24 PMAC2 Software Setup for MACRO Station UMAC MACRO and MACRO Stack User Manual 1x81 Power On Phase Position Address Ix81 permits an automatic read of an absolute position sensor for phase referencing at power on reset if Ix80 1 or 3 or on the command If 1x81 is set to 0 the power on reset position for the motor will be considered to be 0 regardless of the type of sensor used There are specific settings of PMAC2 s Ix81 for each type of MACRO interface The 3U MACRO Station has a corresponding variable MI11x for each node that must be set 3U MACRO Station Feedback Type Ix81 Value Station MI11x Bits 16 23 ACC 8D Opt 7 Resolver Digital Converter 00 07 80 87 ACC 8D Opt 9 Yaskawa Absolute Encoder Converter See Note 1 ACC 49 Sanyo Absolute Encoder Converter 0D ACC 28B E Analog Digital Converter 31 MACRO Station Hall Sensor Flag Input See Note 2 ACC 1E 6E 36E S9E A D Converter low 12 bits 0C 8C ACC 1E 6E 36E S9E A D Converter high 12 bits 33 B3 MACRO Station Parallel Input 08 30 88 B0 MACRO Station MLDT Input 08 30 88 B0 ACC 3E 14E Parallel Input from 2 consecutive lower bytes 2B AB ACC 3E Parallel Input from 2 consecutive middle bytes 2C AC ACC 3E Parallel Input from 2 consecutive upper bytes 2D AD ACC 3E 14E Parallel Input from 2 consecutive lower bytes 2E AE ACC 3E Parallel Input fro
100. n used for servo purposes with a MACRO Station must have bit n of 11002 set to 1 Generally I71 170 173 172 175 174 and 177 176 on a Turbo PMAC2 communicating with a MACRO Station Remember that if servo nodes for more than one MACRO Station are commanded from a single MACRO IC the protocol must be selected for all of the active servo nodes on each station 178 MACRO Master Slave Auxiliary Communications Timeout If T78 is set greater than 0 the MACRO Type 1 Master Slave Auxiliary Communications protocol using Node 15 is enabled Turbo PMAC implements this communications protocol using the MACROSLAVE MS MACROSLVREAD MSR and MACROSLVWRITE MSW commands If this function is enabled I78 sets the timeout value in PMAC servo cycles In this case if PMAC does not get a response to a Node 15 auxiliary communications command within I78 servo cycles it will stop waiting and register a MACRO auxiliary communications error setting Bit 5 of global status register X 000006 178 must be set greater than 0 if any auxiliary communications is desired with a MACRO Station This reserves Node 15 for the Type 1 Auxiliary Communications A value of 32 is suggested If 178 is set greater than 0 bit 15 of I70 172 174 and I76 must be set to 0 so Node 15 is not also used for flag transfers 179 MACRO Master Master Auxiliary Communications Timeout If 179 is set greater than 0 the MACRO Type 1 Master Master Auxiliary Communicatio
101. nding this command to PMAC causes PMAC to send a request to the Station using the auxiliary communications channel on Node 15 which must be active for the value of the specified MI variable The Station then responds with the value and PMAC reports the value to the host computer For example MSO MI992 Have PMAC request of Station with active node 0 the value of MI992 6527 PMAC responds with the value it received from Station MS1 M1I910 Have PMAC request of Station Node 1 the value of MI910 7 PMAC responds with the value it received from Station The syntax for the write command is MS node MI variable constant where node can be the number of any active node on the Station usually that of the lowest active node for most of the MI variables or the number of the individual node for one of the node specific MI variables MI910 MI939 variable is the number of the Station MI variable 0 1023 constant is the numerical value to be assigned to the variable Sending this command to PMAC causes PMAC to send a command to the Station using the auxiliary communications channel on Node 15 which must be active to assign the value to the specified MI variable For example MSO MI992 3263 Have PMAC command Station with active node 0 to assign a value of 3263 to MI992 MS1 MI910 3 Have PMAC command Station Node 1 to assign a value of 3 to MI910 Software Setup of 3U MACRO Station 47 UMAC MACRO and MACR
102. ng Bit n of 11000 to 1 the flag information in Register 3 for the node is automatically copied to and from PMAC RAM register 0F7n The low 16 bits of Ix25 should specify the address of the RAM copy not the actual MACRO interface register Bit 18 of x25 must be set to 1 to specify that the flags are sent and received across MACRO Bit 23 of Ix25 must match the setting of the matching bit of MACRO Station variable MI18 as to the polarity of the amplifier fault input If the bit of MI18 is set to 0 to specify a low true fault logical 0 is fault regardless of input voltage bit 23 of Ix25 must also be set to 0 However if the bit of MI18 is set to 1 to specify high true fault signals logical 1 is fault bit 23 of Ix25 must also be set to 1 With the flags used in the default mode the value of Ix25 to use flags from Node n is 040F7n 840F7n for high true faults These values for the 8 possible servo nodes from MACRO Stations are Node 1x25 Value Node 1x25 Value Node 0 040F70 Node 8 040F78 Node 1 040F71 Node 9 040F79 Node 4 040F74 Node 12 040F7C Node 5 040F75 Node 13 040F7D These are the default values of Ix25 for Motors 1 through 8 respectively on Ultralite PMAC2s Other bits of Ix25 may also be set to disable use of the fault overtravel limit and amplifier enable flags When Bit 18 of x25 is set to 1 and bit n of 11000 is set to 1 then the Motor x flag information i
103. ns protocol using Node 14 is enabled Turbo PMAC implements this communications protocol using the MACROMASTER MM MACROMSTREAD MMR and MACROMSTWRITE MMW commands Only the Turbo PMAC that is the ring controller can execute these commands other Turbo PMACs that are masters on the ring can respond to these commands from the ring controller If this function is enabled I79 sets the timeout value in PMAC servo cycles In this case if the Turbo PMAC does not get a response to a Node 14 master master auxiliary communications command within I79 servo cycles it will stop waiting and register a MACRO auxiliary communications error setting Bit 5 of global status register X 000006 179 must be set greater than 0 if any auxiliary communications is desired with a MACRO Station A value of 32 is suggested If a value of I79 greater than 0 has been saved into PMAC s non volatile memory then at subsequent power up resets bit 14 of I70 is set to 0 the node 14 broadcast bit bit 14 of 16840 is set to 1 and activation bit for node 14 bit 14 of 16841 is set to 32 Turbo PMAC2 Software Setup for MACRO Station UMAC MACRO and MACRO Stack User Manual 1 regardless of the value saved for these variables This reserves Node 14 of MACRO IC 0 for the Type 1 Master Master Auxiliary Communications 180 181 182 MACRO Ring Check Period and Limits If 180 is set to a value greater than zero Turbo PMAC will automatically monitor
104. nterface channels associated with specified MACRO node by SW1 e For stack axis interface boards appropriate ACC 8x breakout boards or equivalent for Station JMACH connectors provide easy wiring interface to external devices For UMAC pack axis interface boards breakout connectors are integral to the boards Wiring between breakout connectors and external devices provides physical connection Mapping the 3U MACRO Station s machine interface channels to the Station s MACRO motor node registers e Station SW1 switch setting controls mapping of output commands and flags between machine interface channels and nodes Station Encoder conversion table MI120 MI151 and Motor x variables MI10x control mapping of feedback position from machine interface channels to Station MACRO nodes e Station Motor x variables MI11x control mapping of power on absolute feedback position to Station MACRO nodes Mapping Machine Interface Channels to MACRO Nodes Machine Interface Channel x Registers DAC PWM Node n Channel x mapping is determined by station SW1 setting AMP Enable a Command MACRO PMAC Node n Registers Feedback Registers Current Feedback Signals Station Encoder Conversion Table MI120 MI151 Position Feedback Signals MI10x Mapping the 3U MACRO Station s MACRO motor node registers to the PMAC2 s Turbo PMAC2 s MACRO motor node registers Connection of the PMAC2 an
105. o PMAC2 Each ring must have one and only one ring controller synchronizing master This should be the MACRO IC 0 one and only one of the Turbo PMAC2 boards on the ring On a Turbo PMAC2 16840 should be set to 30 to make the card s MACRO IC 0 the ring controller This sets bits 4 and 5 of the variable to 1 Setting bit 4 to 1 makes the IC a master on the ring setting bit 5 to 1 makes the IC the ring controller starting each ring cycle by itself On a Turbo PMAC2 whose MACRO IC 0 will be a master but not ring controller 16840 should be set to 90 This sets bits 4 and 7 of the variable to 1 Setting bit 4 to 1 makes the IC a master on the ring setting bit 7 to 1 will cause this IC to be synchronized to the ring controller IC every time it receives a ring packet specified by 16841 16890 16940 16990 MACRO IC 1 2 3 Master Configuration A Turbo PMAC2 Ultralite may have additional MACRO ICs if Options 1U1 1U2 and or 1U3 are ordered A UMAC Turbo system may have additional MACRO ICs if Option 1 on an ACC SE is ordered or if multiple ACC 5E boards are ordered These additional ICs should be set to be masters but not ring controllers by setting 16890 16940 and 16990 respectively to 10 This sets bit 4 of the variable to 1 making the IC a master on the ring These ICs should never be synchronizing masters and since they do not control the clock signals on their own board their internal clocks do not need to be syn
106. or a desired MaxPhase frequency the following formula can be used I7000 117 964 8 2 MaxPhase kHz 1 rounded down 17001 sets the Phase clock frequency from the MaxPhase according to the formula Phase Freq kHz MaxPhase Freq kHz I7001 1 In MACRO applications typically 17001 is set to 0 so the Phase clock frequency equals the MaxPhase clock frequency In this case 17000 sets the Phase clock frequency and therefore the MACRO ring update frequency directly UMAC Turbo In a UMAC Turbo 3U Turbo PMAC2 system the Phase clock can come from many possible sources set by a variety of different variables However if a UMAC Turbo system is controlling a MACRO Station through the ring with a ACC 5E MACRO interface board the MACRO IC 0 on the ACC SE should be the source of the phase clock for the system To accomplish this make sure that I19 is set to 6807 to specify MACRO IC 0 as the clock source for the system with 16800 and 16801 set to specify the phase clock frequency as in Ultralite PMAC2 boards explained above Normally the Turbo firmware will automatically select MACRO IC 0 on a UMAC if present as the clock source on a re initialization command Notes on Servo Clock On Turbo PMAC2 controllers the Servo clock frequency is derived from the Phase clock frequency by an integer division so the setting of the MACRO ring update frequency which is the same as the Phase clock frequency determines the possible Ser
107. orm the slave number 0 to 15 of the packet whose receipt by the PMAC2 will set the Sync Packet Received status bit Because Node 15 is active in all configurations it is best to set these four bits to 15 F PMAC2 must see this status bit set twice during each 11001 servo cycles otherwise it will assume ring problems and shut down servo and I O outputs on the ring Bit 7 of I995 must be set to 1 on all PMAC2s that are not ring controllers to enable the synchronization of their phase clocks to that of the ring controller based on receipt of the sync packet Bits 20 23 Master Number These 4 bits together form the master number 0 to 15 of the PMACZ2 on the MACRO ring This master number forms half of the address byte with each packet sent by the PMAC2 over the MACRO ring 16 PMAC2 Software Setup for MACRO Station UMAC MACRO and MACRO Stack User Manual Hex 0 0 0 0 0 0 Bit Slave node Enables Sync node Address 0 15 Master Address 0 15 The table shown in an above section and in the Hardware Reference Manual for the 3U MACRO Station s SW1 switch setting provides a starting point for the PMAC2 s 1996 value Additional bits of 1996 may be set to 1 if I O nodes are enabled or if more than one 3U MACRO station is commanded from a single PMAC2 11000 MACRO Node Auxiliary Function Enable 11000 is a
108. ount error BO9 Position compare EQUn output B10 Position captured on gated index flag B11 Position Captured Triggered Event Occurred Flag B12 A Power On Reset POR has occurred B13 This Node detected a MACRO Ring Break MRB B14 Amplifier Enabled B15 Amplifier or Station Node shutdown Fault B16 Home Flag HMFLn Input Value B17 Positive End Limit Flag PILMn Input Value B18 Negative End Limit Flag NILMn Input Value B19 Fast User Status Flag UserSatus1 or USERn Input Value if have PMAC Gate Array B20 Fast User Status Flag UserSatus2 or FlgWn Input Value if have PMAC Gate Array B21 Fast User Status Flag UserSatus3 or FlgVn Input Value if have PMAC Gate Array B22 Fast User Status Flag UserSatus4 or FlagUn Input Value if have PMAC Gate Array B23 Fast User Status Flag UserSatus5 or FlagTn Input Value if have PMAC Gate Array The PMAC firmware supports these bit locations and are required for a PMAC Master The BOLD are reserved and defined flag locations Software Setup of 3U MACRO Station 69 UMAC MACRO and MACRO Stack User Manual 70 Software Setup of 3U MACRO Station APPENDIX MACRO STATION TYPE 1 PROTOCOLS The 3U MACRO station as a multi node station implements the Type 1 MACRO protocol In this protocol all 4 registers in each node are used for real time communications Node 15 is used for auxiliary communications for the entire station through the
109. outputs on Channels 1 4 and the pulse width for the PFM pulse and direction outputs on Channels 1 4 The equations are PWM Deadtime usec 0 135 MI904 PFM Pulse Width usec MI904 PFMCLK Freq MHz DAC Strobe Word MI905 controls the DAC strobe signal used to create analog outputs for Channels 1 4 It is a 24 bit word that is shifted out 1 bit per DACCLK cycle MSB first starting on the rising edge of the phase clock MI905 should be set to the default value of 7FFFOO for use with the on board 16 bit DACs that come with the Option A PMAC 1 style interface on the ACC 2E 4 axis piggyback board or on an ACC 8A breakout board that attaches to the PMAC2 style connectors on the ACC 2E MI905 should be set to 7FFFCO for use with the 18 bit DACs on the ACC 8E PMAC2 style breakout board that attaches to the PMAC2 style connectors on the ACC 2E or the ACC 24E2A backplane analog axis interface breakout board ADC Strobe Word MI940 controls the ADC strobe signal used to interface to serial A D converters brought in on Channels 1 4 The default value of FFFFFE is suitable for almost all A D converter types used with the 3U MACRO Station either for digital current loop feedback or for general purpose use from an ACC 28B or ACC 28E board Channels 5 8 2 4 Axis Board There are several variables that affect all of the machine interface channels 5 to 8 which are present on the 4 axis piggyback board with jumper E1 connecting pins 2 and 3
110. r synchronizing master If the ring controller is a Turbo PMAC2 the ring update frequency is the same as the hardware phase clock frequency on the card I7 Phase Cycle Extension On the Turbo PMAC2 board it is possible to skip hardware phase clock cycles between executions of the phase update software A Turbo PMAC2 board will execute the phase update software commutation and or current loop closure every I7 1 hardware phase clock cycles The default value for I7 is 0 so normally Turbo PMAC2 executes the phase update software every hardware phase clock cycle Turbo PMAC2 Software Setup for MACRO Station 27 UMAC MACRO and MACRO Stack User Manual If the Turbo PMAC2 board is closing the current loop for direct PWM control over the MACRO ring it is desirable to have two hardware ring update cycles which occur at the hardware phase clock frequency per software phase update This eliminates one software cycle of delay in the current loop which permits slightly higher gains and performance To do this I7 would be set to 1 so the phase update software would execute every second hardware phase clock cycle and ring update cycle Normally it is desirable to close the current loop at an update rate of about 9 kHz the default rate If two ring updates are desired per current loop update the ring update frequency would need to be set to 18 kHz This is possible if there are no more than 40 total active nodes on the ring To
111. r optic MACRO interface the 3U MACRO Station can be up to 3 kilometers 2 miles away from the PMAC2 controller or any other station on the ring With the RJ 45 electrical interface it can be up to 30 meters 100 feet away With the 3U MACRO Station PMAC2 can control servo axes and I O just as if they were directly connected to the PMAC2 even though they are a great distance away and the only interface from the PMAC2 is the MACRO ring Typically a PMAC2 Ultralite board one without any of its own servo interface circuitry is used with the 3U MACRO Station to provide the most cost effective solution This manual will walk you through the setup of the 3U MACRO Station It is designed to be used in conjunction with the Hardware Reference manuals for the 3U MACRO CPU board and the 3U format accessories that are used and the Software Reference Manual for the MACRO Station Introduction UMAC MACRO and MACRO Stack User Manual Introduction UMAC MACRO and MACRO Stack User Manual 3U MACRO STATION SETUP OVERVIEW Fundamentally the setup of the 3U MACRO Station with a PMAC2 or Turbo PMAC2 usually an Ultralite version involves several steps of mapping registers and connections For the axis control the following mappings must occur 1 The first mapping is the connection of physical devices encoders drives and flags to a particular machine interface channel on the MACRO Station 2 The second
112. re Setup for MACRO Station UMAC MACRO and MACRO Stack User Manual Register Addresses for MACRO IC 2 with I22 07A400 default Turbo Addresses MACRO IC 2 PMAC2 Node Reg 0 Reg 1 Reg 2 Reg 3 0 Y 07A420 Y 07A421 Y 07A422 Y 07A423 1 Y 07A424 Y 07A425 Y 07A426 Y 07A427 2 X 07A420 X 07A421 X 07A422 X 07A423 3 X 07A424 X 07A425 X 07A426 X 07A427 4 Y 07A428 Y 07A429 Y 07A42A Y 07A42B 5 Y 07A42C Y 07A42D Y 07A42E Y 07A42F 6 X 07A428 X 07A429 X 07A42A X 07A42B T X 07A42C X 07A42D X 07A42E X 07A42F 8 Y 07A430 Y 07A431 Y 07A432 Y 07A433 9 Y 07A434 Y 07A435 Y 07A436 Y 07A437 10 X 07A430 X 07A431 X 07A432 X 07A433 11 X 07A434 X 07A435 X 07A436 X 07A437 12 Y 07A438 Y 07A439 Y 07A43A Y 07A43B 13 Y 07A43C Y 07A43D Y 07A43E Y 07A43F 14 X 07A438 X 07A439 X 07A43A X 07A43B 15 X 07A43C X 07A43D X 07A43E X 07A43F Register Addresses for MACRO IC 3 with 123 07B400 default Turbo Addresses MACRO IC 3 PMAC2 Node Reg 0 Reg 1 Reg 2 Reg 3 0 Y 07B420 Y 07B421 Y 07B422 Y 07B423 1 Y 07B424 Y 07B425 Y 07B426 Y 07B427 2 X 07B420 X 07B421 X 07B422 X 07B423 3 X 07B424 X 07B425 X 07B426 X 07B427 4 Y 07B428 Y 07B429 Y 07B42A Y 07B42B 5 Y 07B42C Y 07B42D Y 07B42E Y 07B42F 6 X 07B428 X 07B429 X 07B42A X 07B42B y X 07B4
113. rs to 3U MACRO Station MACRO I O nodes Station MI19 setting for frequency of data copying Station MI69 MI71 MI169 MI175 settings for matching MACRO I O nodes to accessory boards with IOGATE ICs ACC 3E 4E stack I O boards ACC 9E 12E 14E UMAC T O boards Station MI20 MI168 settings for matching MACRO I O nodes to other I O circuitry e g ACC 1E 6E stack ADC boards ACC 36E 59E ADC DAC boards e Mapping 3U MACRO Station MACRO I O nodes to PMAC MACRO I O nodes Connection of the PMAC and MACRO Station in a common ring PMAC2 1996 MACRO Node Activation Control of MACRO I O Nodes Turbo 16841 16891 16941 16991 e Station SW2 setting for Master number e Station MI975 setting for active MACRO I O nodes e Mapping PMAC MACRO I O nodes to PMAC M variables e M variable definitions to images of I O in PMAC memory e M variable definitions to MACRO node registers entire register only e PMAC commands usually in PLC to copy between image registers and MACRO I O nodes 6 3U MACRO Station Setup Overview UMAC MACRO and MACRO Stack User Manual 3U MACRO STATION HARDWARE SETUP The hardware setup of the 3U MACRO Station in either UMAC MACRO or MACRO Stack configurations is covered in the Hardware Reference manual for the 3U MACRO CPU Board and the manuals for each of the individual accessory boards in the Station Refer to these manuals for details A brief summary is given here The electronic
114. s If the MACRO CPU finds both stack and backplane axis interface boards set up for the same group of channels 1 4 or 5 8 it will assign the firmware support to the stack board If a board does not have the firmware support the set up must be accomplished through direct write actions usually with MI198 and MI199 The regular copying of data for these channels must be done with I O functions usually MI21 MI68 Wiring into the MACRO Station The connections detailed in the Hardware Reference manuals establish the first mapping required between the physical devices and the machine interface channels on the MACRO Station If the Stack configuration is used the wiring is typically made into an ACC 8x or equivalent breakout board which is connected to the matching interface board by a short flat cable If the UMAC pack configuration is used the interface circuitry and breakout connectors are on the same rack mounted boards and the field wiring is made directly into these boards Stack Interface and Breakout Boards The Stack boards that are presently available for the MACRO CPU board are ACC 1E 2 Axis Interface Board limit 1 ACC 2E 4 Axis Interface Board limit 2 ACC 3E 48 96 144 TTL I O Board ACC 4E 24 In 24 Out Isolated I O Board ACC 6E 8 16 Channel 12 Bit ADC Board The 2 axis breakout boards presently available for the ACC 1E and ACC 2E boards through their 100 pin PMAC2 style connectors are e ACC 8A Sing
115. s automatically copied between the holding registers at 0F7n and the MACRO interface registers for node n on the PMAC The command flags such as amplifier enable are held in the Y register of 0F7n The feedback flags such as overtravel limits and amplifier fault are held in the X registers of 0F7n Monitoring of flag values should use these holding registers in RAM not the actual MACRO node registers The following tables show the locations of the individual flags in these registers PMAC2 Software Setup for MACRO Station 23 UMAC MACRO and MACRO Stack User Manual Motor Command Flags Y 0F7n for Node n Bit Function Notes 0 Position Capture Prepare Flag Must be set to 1 to prepare for hardware capture over ring to 0 when done 1 7 Not Used 8 10 reserved for future use 11 Position Capture Enable Flag Must be set to to prepare for hardware capture over ring to 0 when done 12 Node Position Reset Flag 13 reserved for future use 14 Amplifier Enabled Command to Station 15 23 reserved for future use Motor Status Flags X 0F7n for Node n Bit Function Notes 0 7 Not Used 8 10 reserved for future use 11 Position Captured Flag Latched from selected flag 12 Power On Reset or Node Reset Occurred 13 Ring Break Detected Elsewhere 14 Amplifier Enabled Status from Station 15 Amplifier Node Shutdown Fault 1
116. s the fault bit is typically brought in through an AC Opto component for which current flowing in either direction creates a logical 0 In the default setup of M118 this state is considered an amplifier fault Note that if nothing is connected to such an amplifier fault input the matching bit of MI18 must be set to O in order for the Station to consider the channel not to be in a fault condition Bit 23 of Ix25 on a PMAC2 or of Ixx24 on a Turbo PMAC2 for the motor assigned to this node which control the amplifier fault polarity at the controller must be the same value as the matching bit of MI18 The Station will pass back the amplifier fault bit to the PMAC2 in the same polarity it receives it and any MACRO fault passed back using this same bit will be of the same polarity Servo Address Variable Setup There are a few MI variables for each motor node Because the motor nodes are not consecutively numbered 0 1 4 5 8 9 12 13 these variables specify the node not by its number but by its order e g Node 0 is the 1 motor node The following table provides an easy reference Node Number n 0 1 4 5 8 9 12 C 13 D Node Order x 1 2 3 4 5 6 7 8 The last digit of the MI variable number is represented generally by x where x represents the order of the motor node the xth motor node In most cases x will also represent the Machine Interface
117. s for this type of feedback ADC Which Board Which CMS Location On Conversion Used Connector Used ACC 28B Table MI variable Value ADC 1A ACC 2E w E1 1 2 18C005 ADC 1B ___ ACC 2E w El 1 2 18C006 ADC 2A ___ ACC 2E w E1 1 2 18C00D ADC 2B ___ ACC 2E w El 1 2 18C00E ADC3A_ ACC 2E w E1 1 2 18C015 ADC3B__ ACC 2E w E1 1 2 18C016 ADC4A_ ACC 2E w E1 1 2 18C01D ADC 4B ___ ACC 2E w E1 1 2 18C01E ADC5A__ ACC 2E w El 2 3 18C025 ADC SB ___ ACC 2E w E1 2 3 18C026 ADC 6A___ ACC 2E w E1 2 3 18C02D ADC 6B___ ACC 2E w E1 2 3 18C02E ADC 7A ___ ACC 2E w El 2 3 18C035 ADC 7B ___ ACC 2E w E1 2 3 18C036 ADC 8A ___ ACC 2E w E1 2 3 18C03D ADC 8B ___ ACC 2E w El 2 3 18C03E ADC9A_ ACC 1E 18C095 ADC9B_ ACC 1E 18C096 ADC 10A_ ACC 1E 18C09D ADC 10B ACC 1E 4 channel 18C09E This method can also be used for the 16 bit ADCs on an ACC 28E backplane board The following table shows the possible entry settings depending on the settings of DIP switch S1 on the board S1 1 S1 2 ADC1 ADC2 ADC3 ADC4 ON ON 18FFEO 18FFE1 18FFE2 18FFE3 OFF ON 18FFE8 18FFE9 18FFEA 18FFEB ON OFF 18FFFO 18FFF1 18FFF2 18FFF3 OFF OFF 18B8CO 18B8C1 18B8C2 18B8C3 Requires Station firmware revision V1 115 or newer to use this setting If it is desired to integrate the A D value before computing the result the first hex digit of the entry should
118. s value specifies the period of the transfer in phase cycles Typically this is set to 1 so the transfer is performed every phase cycle If MI19 is set to 0 none of the transfer variables explained below have any effect Bi directional I O Transfer Control Several MI variables on the MACRO Station enable the bi directional copying of I O values between MACRO nodes and configurable input output registers on MACRO Station I O boards Copying from the MACRO node to the I O register is used for setting outputs copying from the TO register to the MACRO node is used for reading inputs The copying is always done in both directions for all I O points even though each I O point can only be used as an input or an output Software Setup of 3U MACRO Station 63 UMAC MACRO and MACRO Stack User Manual at any given time Only a zero value output off should be written to an I O point that is currently being used as an input The following MACRO I O boards will use these bi directional copying variables ACC 3E 48 96 144 I O Piggyback Stack Board ACC 4E Isolated 24 Input 24 Output Piggyback Stack Board ACC 9E Isolated 48 Input Backplane UMAC Board ACC 10E Isolated 48 Output Backplane UMAC Board ACC 11E Isolated 24 Input 24 Output Backplane UMAC Board ACC 12E Isolated 24 Input 24 High Power Output Backplane UMAC Board ACC 14E 48 I O Backplane UMAC Board The following Station MI variables perform the bi directional transfers wi
119. saeeaeeneeeeed 10 Stack Interface and Breakout Boards ccsccsccesesssesscssesscusessenseeseesesesscesecaeesecscescaeeceesecacesssaeeeeasenaeas 10 UMAC Pack Interface Breakout BOIS 0 ccsccesccesecsseesseesseeseeesesseseeeceeseeeeceseceseceaeseaecaeceeeseeeseees Il MACRO CPU SW I Settin i missorton aisee eae aie ee E E o E EEE EE e EST AEREE EEEE 12 MACRO CPU SWZ Setting isio t resore erae nea a Vaca EEE EEEE E TE RE Ea LESERS 13 PMA C2 SOFTWARE SETUP FOR MACRO STATION eeeseserseseseseceesoroeseseceeoesoroesesesoeoosoeoesecesoeeesoe 15 MACRO Ring Update Frequency Setup oo eee eecesecsecseecseeeseeeeeeeeeeeeeseeeaecaeeaeessecsaecaeesaecaeeeaeeeaeeegs 15 PMAC2 Ultralite 1992 and 1997 c scseccsecsseesesonescsensosenenenenseveneneesencesnsosenesasssesonoseneeensesetesenatsenenenes 15 PMAC2 Not Ultralite 1900 and 1901 w ceeseeceesessessesecnsesecsseesceseecsesecseesecueeecsaeeeesaeeeeesesaeeaeeaeeaeesseeeeeas 15 Notes on Servo C1OCK s cescccsceesceeseeceesecesecsecanecacecacecacesseesseessesscesceesecaecaecaeceaecaeecaeeeseeeaeeeaeeeneeeeeeeees 16 PMAC2 MACRO Ring Setup I Variables cee ceceecessesceseceeseceeseceeeeeesaecasesecaeesecseeeesaeeeeeaesaeeateneeeees 16 1995 MACRO Master amp Ring Controller Enable ccccescsccssscssssscesescesecusesecnseesceseccsesecacesecaeeeneaeeneeas 16 1996 MACRO Node Activation COntrol ccccecccesssecessceeseceesceesecesncecsaeceeneecaecesacecsaeeeeateceaeeeeaeecseeenes 16 11000
120. scessesecesecesecusecaeecaceessesseeceeeseeeseceseseaecaecaesaaeeaesaeseaeees 67 Macro Station Position Capture Setup eee eeeceeeceeesceseeeeecesecesecaecsaecaeecaeseseseaesseeeeeeseeaeesaecsaecsaeeaes 68 Setting the Trigger CondiflOnssicsss tiesiais toa aaa aaa Ei E aaae Teni 68 Usine Jor Homing onne e E R A E R E E T 68 Using in User Program sirien duced snddsianssoncessnegdosdeasatestaeesenteaabee eststeadodenuestoseesedaesausieessas 69 APPENDIX MACRO STATION TYPE 1 PROTOCOLS cccssssssssssscssssscessssseesssencssessessessessesees 71 Velocity Torque Mode iiss serros Skee vesssenvaaevens uaeseascedes easnh copateadieisttanesusdnicenscenospuscndeveunvvarssibeaiasaravbaeeys 71 Phase Current Sinewave Mode sicc cs ccccsscckecssccctaccccscaseecas caneaccactacsaccebscecaheecceceucacceebuctcessnacecadesace ceesane 71 Phase Voltage Direct PWM Mode eeeccessecsseceeeeecsseceseeecsaeceneecaaeceeeeecsaecesneecsaeceeeecsaeceeneesaeeeses 71 ii Table of Contents UMAC MACRO and MACRO Stack User Manual INTRODUCTION The 3U MACRO Station in either MACRO Stack or UMAC MACRO pack form provides a remote interface for encoders flags direct PWM digital drives analog drives and or digital I O for a PMAC2 or Turbo PMAC2 with MACRO interface It communicates with PMAC2 solely through the MACRO ring but interfaces to standard drives encoders flags and Opto 22 style T O through on board connectors With the fibe
121. se it will assume ring problems and shut down servo and I O outputs on the ring Bit 7 of 16840 must be set to 1 on the MACRO IC 0 of all Turbo PMAC2s that are not ring controllers to enable the synchronization of their phase clocks to that of the ring controller based on receipt of the sync packet Bits 20 23 Master Number These 4 bits together form the master number 0 to 15 of the MACRO IC on the MACRO ring Each MACRO IC acting as a master on the ring whether on 30 Turbo PMAC2 Software Setup for MACRO Station UMAC MACRO and MACRO Stack User Manual the same card or different cards must have its own master number and acts as a separate master station for the purposes of the ring protocol This master number forms half of the address byte with each packet sent by the PMAC2 over the MACRO ring The master number can be the same number as the MACRO IC number e g MACRO IC 0 has master number 0 MACRO IC 1 has master number 1 and so on and if there is only one Turbo PMAC272 in the ring this will probably be the case However this is not required The MACRO IC that is the ring controller must have master number 0 if Type 1 master to master auxiliary communications are to be used Hex 0 0 0 0 0 0 Bit Slave node Enables Sync node Address 0 15 Master Address 0 15 The table shown in an above section and in the
122. se nodes has its own set of MI variables in the MI910 MI930 range for this hardware setup of the machine interface channel mapped to the node These MI variables are set by the MS node MIxxx xxx 910 to 939 command from PMAC where node must represent the number of the specific MACRO node not the number of the any active node on the station as for all of the other Station MI variables The following table shows the physical location of each machine interface channel that could be on a 3U MACRO Station Machine Which Stack Axis Which Backplane Axis Location On Board Interface Board Used Board Used Channel 1 ACC 2E w El 1 2 ACC 24E2x w S1 1 2 ON 1 channel 2 ACC 2E w El 1 2 ACC 24E2x w S1 1 2 ON 2 channel 3 ACC 2E w El 1 2 ACC 24E2x w S1 1 2 ON 3 channel 4 ACC 2E w El 1 2 ACC 24E2x w S1 1 2 ON 4 channel 5 ACC 2E w El 2 3 ACC 24E2x w S1 1 2 OFF 1 channel 6 ACC 2E w El 2 3 ACC 24E2x w S1 1 2 OFF 2 channel 7 ACC 2E w El 2 3 ACC 24E2x w S1 1 2 OFF 3 channel 8 ACC 2E w El 2 3 ACC 24E2x w S1 1 2 OFF 4 channel 9 ACC 1E 1 channel 10 ACC 1E 2 channel ACC 51E encoder interpolator boards can be used here as well as ACC 24E2x boards Software Setup of 3U MACRO Station 53 UMAC MACRO and MACRO Stack User Manual The next table shows which node each machine interface channel is mapped to as a function of the SW1 rotary swit
123. ss and the third must be in the high byte For more details and examples on the setting of these variables consult the Software Reference manual for UMAC MACRO and the MACRO Stack and the individual manuals for the I O accessories Uni directional I O Transfer Control MACRO Station variables MI21 through MI68 specify uni directional copying functions between pairs of MACRO Station registers usually some kind of I O register and a MACRO node register MI20 is a 48 bit mask variable that specifies which of the 48 possible transfers specified Software Setup of 3U MACRO Station 67 UMAC MACRO and MACRO Stack User Manual by MI21 through MI68 will actually occur MI19 controls the frequency at which these transfers occur it must be greater than 0 for these transfers to occur at all MI21 through MI68 are 48 bit variables expressed as 12 hexadecimal digits Each controls one copying operation from a source register to a destination register Each variable consists of four parts 1 Digits 1 amp 2 A code representing what part of the source register is used 2 Digits 3 6 The address of the source register in the MACRO Station 3 Digits 7 amp 8 A code representing what part of the destination register is used 4 Digits 9 12 The address of the destination in the MACRO Station The most commonly used code values are e 54 Y register bits 0 11 Lower 12 bit ADC registers e 60 Y register bits 12 2
124. ssible be set to at least twice the Servo clock frequency Because the MACRO ring data is transmitted at the Phase clock frequency the oversampling of ring servo data that results eliminates one servo cycle s delay in transmission of servo loop data which permits higher servo gains and better performance PMAC2 MACRO Ring Setup I Variables 1995 MACRO Master amp Ring Controller Enable Any PMAC2 talking toa MACRO Station must be configured as a Master on the ring Each ring must have one and only one ring controller synchronizing master On a PMAC2 1995 should be set to 30 to make the card the ring controller On a PMAC2 that will be a master but not ring controller 1995 should be set to 90 1996 MACRO Node Activation Control 1996 on PMAC2 controls which of the 16 MACRO nodes on the card are activated It also controls the master station number and the node number of the packet that creates a synchronization signal The bits of 996 are arranged as follows Bits 0 15 Activation of MACRO Nodes 0 to 15 respectively 1 active 0 inactive These 16 bits individually control the activation of the MACRO nodes in the PMAC2 Each node that is active on the matching MACRO Station whether for servo I O or auxiliary communications should have its node activation bit set to 1 Bit 15 should always be set to 1 to enable communications functions over Node 15 Bits 16 19 Packet Sync Node Slave Number These 4 bits together f
125. sssesscsscesessssssesssessessssscescessenssesscesessecesenes 39 Ixx10 Ixx95 Absolute Position Address ANd Format cccccccceccccccessssescscecesessesssescesecessssssscecesessecsees 40 Ixx25 Ixx24 Flag Address and Mode cccsccescceseceeceseesseesseeseesseeseeseeseeneeeeseceseceseceaeseaecaeseeeeeeeaeees 42 Ixx70 Ixx71 Commutation Cycle Size cccccscccescccessecesceessecesneeececssceeeaaecesneecsaeceacecsseeeeaeecsaeeeeneecsaeeeenes 43 Ixx75 Absolute Phase Position OffS t ccccccccccsscssscesecesecesecseeeaeeeaeesseeeeeeeeeeeeeeeceaeseaesaecaecaaeeaeseaeees 43 Ixx81 Ixx91 Power On Phase Position Address And Mode 44 Ixx82 Current Loop Feedback ACAreSS csccscsssesscesessesseeseesecssesecuceecsseesceaeeasesesacesecseeeceseeseeenesaeeeeeas 45 Ixx83 Commutation Feedback Address cesccescceseceseceseesseeseeeseessescesseeeneeeeeseceseceseceseceaeceaeeeeeneeeaeees 46 SOFTWARE SETUP OF 3U MACRO STATION csscssssscsessscsssscsssssesssssssesesssnesssenessesnessessseees 47 Station Variable Read Write Command cccscccsceesceeseeeseeescesecesecsecenecacecacecaeeeseeeseeeseneeeneeeaeenaeeeaeents 47 Station Variable Copy COmmand s cccsccscssccssescsssecssessnsecseeecceeseseescesecaseseeaceeeaeecesaeeaeesesaaeensaeseeaeas 48 Ring Control Setup Variables ics s ievvecssasvancs oisvuncssasvensh e eE EEE EEE EEE EREE ET E e 48 Additional Node Enabling amp DiSAD ing cccccecceccessssssscsseseceseescuseeseesecss
126. st be set Bit 0 and then Bit 11 or both at the same time must be set At completion of position capture these bits should be cleared Bit 0 is cleared at the beginning of a homing sequence NodeCntrlCmd Sent by Master Located in PMAC at Y F70 Y F7F and TURBO at Y 3440 Y 347F Y portion of Flag Address B00 Position Capture Triggered Event Enable Flag B01 07 Not used On Ring B00 07 for Type 1 protocol NA and for Type 0 protocol FF BO8 Reserved for future ring protocol control BO9 Reserved for future ring protocol control B10 Reserved for future ring protocol control B11 Position Capture Triggered Event Enable Flag B12 Node Reset command B13 This Slave detected a MACRO Ring Break MRB amp became a Synchronizing Master B14 Real time Data or Amp Enable B15 When B13 1 then B15 1 amp is a Station Fault B16 18 Reserved for future ring protocol control B19 Fast User Defined Command Flag UserCmd1 B20 Fast User Defined Command Flag UserCmd2 B21 Fast User Defined Command Flag UserCmd3 B22 Fast User Defined Command Flag UserCmd4 B23 Fast User Defined Command Flag UserCmd5 Other information useful is the actual information located at the flag address NodeCntrlStatus Sent by Slave Located in gate array except for bits 0 7 PMAC at X F70 X F7F and TURBO at X 3440 X 347F BO 7 Not used for Type 1 and 0 for Type 0 protocol BO8 Encoder c
127. t matches which servo node Node Number n 0 1 4 5 8 9 12 C 13 D MI17 MI18 Bit 0 1 2 3 4 5 6 7 The matching of servo nodes to hardware channel numbers is determined by the setting of rotary switch SW1 MI17 Amplifier Fault Disable Control MI17 permits the disabling of amplifier fault inputs If a bit of M117 is set to the default of 0 the amplifier fault input for the channel connected to that node is enabled causing a fault input to disable the outputs on that channel and to notify the Software Setup of 3U MACRO Station 61 UMAC MACRO and MACRO Stack User Manual PMAC over the MACRO ring that an amplifier fault has occurred If the bit is set to 1 the amplifier fault input is not used automatically no action is taken if the fault input changes MI18 Amplifier Fault Polarity Control MI18 permits the user to determine the polarity of the amplifier fault inputs If a bit of MI18 is set to the default of 0 the amplifier fault input for the channel connected to that node is considered low true which means that a logical 0 read on this channel s fault bit is considered a fault condition regardless of the input voltage to create this state If the bit is set to 1 the amplifier fault input is considered high true which means that a logical 1 read on this channel s fault bit is considered a fault condition On Delta Tau MACRO Station accessorie
128. t of the MI variables or the number of the individual node for one of the node specific MI variables MI910 MI939 variable is the number of the Station MI variable 0 1023 to which the value is copied PMAC Variable is the name of the variable on PMAC e g P10 from which the value is copied For example MSWO MI992 1992 Copy from PMAC 992 to Station with active node 0 MI992 MSW1 MI925 P103 Copy from PMAC P103 to Station Node 1 MI925 Ring Control Setup Variables Ring Update Frequency MI992 and MI997 for the 3U MACRO Station control the phase frequency on the Station which is the frequency at which the Station expects the ring to be updated The actual ring update frequency is determined by the ring controller master for best operation the 3U MACRO Station should be set to the same frequency MI992 determines the MaxPhase clock frequency from which the phase clock frequency is derived The equation is MaxPhase Frequency kHz 117 964 8 2 MI992 3 MI997 determines how the phase clock frequency is divided down from MaxPhase The equation is Phase Frequency kHz MaxPhase Frequency kHz MI997 1 Generally both the MaxPhase and Phase frequencies will be the same on the MACRO Station as they are on the PMAC2 controlling it However only the Phase frequency must be the same Because the MaxPhase frequency on the MACRO Station also controls the PWM frequency for Channels 9 and 10 of the ACC 1E 2
129. tates per encoder line 56 Software Setup of 3U MACRO Station UMAC MACRO and MACRO Stack User Manual The following table shows the conversion table MI variable values for this type of feedback Encoder Encoder 1 Encoder 2 Encoder 3 Encoder 4 Encoder 5 Encoder 6 Encoder 7 Encoder 8 Encoder 9 Encoder 10 Which Stack Axis Location On Board Conversion Board Used Table MI variable Value 80C000 80C008 80C010 80C018 80C020 80C028 80C030 80C038 80C090 ACC 1E 2 channel 80C098 Presently there are no reasonable ways of bringing this style of interpolator through a backplane axis interface board If an analog sine wave encoder is processed through an ACC 51E high resolution backplane interpolator board the FO conversion method is used yielding 4096 states per encoder line This entry is a three line entry The first line specifies the address of the encoder counter The following table shows the conversion table MI variables for the first line for this type of feedback Encoder Which Backplane Axis Location On Board Conversion Board Used Table MI variable Value Encoder 1 ACC 51E w S1 1 2 ON 1 channel FOC040 Encoder 2 ACC 51E w S1 1 2 ON 2 4 channel FOC048 Encoder 3 ACC 51E w S1 1 2 ON 3 channel F0C050 Encoder 4 ACC 51E w S1 1 2 ON 4 channel F0C058 Encoder 5 ACC 51E w S1 1 2 OFF 1 channel FOC060 Encoder 6
130. ter 740000 31xxxx ACC 1E 6E 36E 59E A D Converter low 12 bits 740000 OCxxxx F40000 8Cxxxx ACC 1E 6E 36E S9E A D Converter high 12 bits 740000 33XXXX F40000 B3xxxx MACRO Station MLDT Input 740000 I7XXXx MACRO Station Parallel Input from 24 bit word 740000 08xxxx F40000 88xxXxXx 2AXXXX AAXXXX ACC 3E 14E Parallel Input from 2 consecutive lower 740000 2Bxxxx F40000 ABXXXX bytes ACC 3E Parallel Input from 2 consecutive middle bytes 740000 2CXxxx F40000 ACXXXX ACC 3E Parallel Input from 2 consecutive upper bytes 740000 2Dxxxx F40000 ADxxxx ACC 3E 14E Parallel Input from 2 consecutive lower 740000 2EXxxx F40000 AEXXxx bytes ACC 3E Parallel Input from 2 consecutive middle bytes 740000 2Fxxxx F40000 AFxxxx ACC 3E Parallel Input from 2 consecutive upper bytes 740000 30xxxx F40000 BOxxxx When Turbo PMAC2 has Ixx10 and Ixx95 set to get absolute position over MACRO it executes a station auxiliary read command MS node MI920 to request the absolute position from the 3U MACRO Station The station then references its own MI11x value to determine the type format and address of the data to be read The data is returned to Turbo PMAC2 with up to 42 bits of data sign extended to 46 bits Note that the Turbo PMAC s Ixx95 and the Station s MI11x must agree as to whether the data is signed or unsigned Bit 48 is a Ready Busy handshake bit and Bit 47 is a pass fail status bit If Bit 47
131. th these boards e MI69 and MI70 These variables copy I O values between 16 bit MACRO node registers Registers 1 2 and 3 and accessory board I O registers These are particularly valuable for single I O boards with 48 I O points e MI71 This variable copies I O values between 24 bit MACRO node registers Register 0 and accessory board I O registers This is particularly valuable for single I O boards with 48 T O points e MI169 This variable copies 72 I O values between an entire 72 bit MACRO node and accessory board I O registers e MI171 MI172 and MI173 These variables copy 144 I O values between a pair of 72 bit MACRO nodes and accessory board I O registers These are valuable for fully configured ACC 3E boards or a set of 3 backplane I O boards sharing a common base address MACRO Node Addressing In each of these variables both the address of a MACRO I O node register and an I O board base address register must be specified The following table lists the possible MACRO I O node register addresses T O Node Register 0 Register 1 Register 2 Register 3 X Address X Address X Address X Address 2 COAO COA1 COA2 COA3 3 COA4 COA5 COA6 COAT 6 COA8 COA9 COAA COAB 7 COAC COAD COAE COAF 10 COBO COB1 COB2 COB3 11 COB4 C0B5 COB6 COB7 14 COB8 COB9 COBA COBB Node 14 may only be used for these I O transfers if no Type 1 Master Master auxiliary communicat
132. the net value of Ixx01 is 3 46 Turbo PMAC2 Software Setup for MACRO Station UMAC MACRO and MACRO Stack User Manual SOFTWARE SETUP OF 3U MACRO STATION The software configuration of the 3U MACRO Station is accomplished through the setup of the Station s own variables These MP MACRO Initialization variables on the station permit the user to configure the station for a particular application Note The 3U MACRO Station s initialization variables can either be referred to as Ml variables or I variables This manual uses the MI variable terminology to distinguish them from the PMAC s own I variables Typically the MI variable setup for a 3U MACRO Station is accomplished through a special program such as Turbo Setup which hides the actual PMAC commands from the user However these variables may be written to and read from in other applications using special PMAC commands Station Variable Read Write Commands The most common PMAC commands used for setup are the basic on line MI variable read and write commands The syntax for the read command is MS node MI variable where node can be the number of any active node on the Station usually that of the lowest active node for most of the MI variables or the number of the individual node for one of the node specific MI variables MI910 MI939 variable is the number of the Station MI variable 0 1023 Se
133. uencies PWM Deadtime PFM Pulse Width MI908 controls both the deadtime for PWM outputs on Channels 5 8 and the pulse width for the PEM pulse and direction outputs on Channels 5 8 The equations are PWM Deadtime psec 0 135 MI908 PFM Pulse Width usec MI908 PFMCLK Freq MHz DAC Strobe Word MI909 controls the DAC strobe signal used to create analog outputs for Channels 1 4 It is a 24 bit word that is shifted out 1 bit per DACCLK cycle MSB first starting on the rising edge of the phase clock MI909 should be set to the default value of 7FFFOO for use with the on board 16 bit DACs that come with the Option A PMAC 1 style interface on the ACC 2E 4 axis piggyback board or on an ACC 8A breakout board that attaches to the PMAC2 style connectors on the ACC 2E MI909 should be set to 7FFFCO for use with the 18 bit DACs on the ACC 8E PMAC2 style breakout board that attaches to the PMAC2 style connectors on the ACC 2E or the ACC 24E2A backplane analog axis interface breakout board ADC Strobe Word MI941 controls the ADC strobe signal used to interface to serial A D converters brought in on Channels 1 4 The default value of FFFFFE is suitable for almost all A D converter types used with the 3U MACRO Station either for digital current loop feedback or for general purpose use from an ACC 28B Channels 9 10 2 Axis Board There are several variables that affect all of the machine interface channels 9 and 10 which are present on t
134. used The following table shows the conversion table MI variable values for the first line of the entry for this type of feedback through an ACC 3E stack board Address Connector Entry 1 MI Address Connector Entry 1 MI Jumper Used Used Var Value Jumper Used Used Var Value El J4 34FFCO E3 J4 34FFDO El J5 34FFC3 E3 J5 34FFD3 El J6 35FFCO E3 J6 35FFDO El J7 35FFC3 E3 J7 35FFD3 El J8 36FFCO E3 J8 36FFD0 El J9 36FFC3 E3 J9 36FFD3 E2 J4 34FFC8 E4 J4 34FFD8 E2 J5 34FFCB E4 J5 34FFDB E2 J6 35FFC8 E4 J6 35FFD8 E2 J7 35FFCB E4 J7 35FFDB E2 J8 36FFC8 E4 J8 36FFD8 E2 J9 36FFCB E4 J9 36FFDB The following table shows the conversion table MI variable values for the first line of the entry for this type of feedback through an ACC 14E backplane board S1 1 S1 2 Connector Entry 1 MI Var Used Value ON ON Top 34FFE0 ON ON Bottom 34FFE3 OFF ON Top 34FFE8 OFF ON Bottom 34FFEB ON OFF Top 34FFFO ON OFF Bottom 34FFF3 OFF OFF Top 34B8C0 OFF OFF Bottom 34B8C3 Requires Station firmware revision V1 115 or newer to use this setting Amplifier Fault Enable and Polarity Control MI17 and MI18 permit the user to define whether and how the amplifier fault inputs to the station are used Each is an 8 bit variable with one bit for each servo node The following table shows which bi
135. vo clock frequencies The division of the Servo clock frequency from the Phase clock frequency is determined by e Turbo PMAC2 Ultralite 16802 Servo Freq Phase Freq 16802 1 Turbo PMAC2 not Ultralite 17002 Servo Freq Phase Freq 17002 1 Once the servo clock frequency has been established the Turbo PMAC2 variable 110 must be set accordingly so trajectories execute at the proper speed Several MACRO timing variables have units of servo clock cycles Even if the Turbo PMAC2 controller is not performing commutation or current loop closure and therefore not performing any software tasks at the Phase clock frequency the Phase clock frequency should if possible be set to at least twice the Servo clock frequency Because the MACRO ring data is transmitted at the Phase clock frequency the oversampling of ring servo data that results eliminates one servo cycle s delay in transmission of servo loop data which permits higher servo gains and better performance Turbo PMAC2 Software Setup for MACRO Station 29 UMAC MACRO and MACRO Stack User Manual Turbo PMAC2 MACRO Ring Setup I Variables 16840 MACRO IC 0 Master Configuration Any MACRO IC on a Turbo PMAC2 talking to a MACRO Station must be configured as a master on the ring For purposes of the MACRO protocol each MACRO IC is a separate logical master with its own master number even though there may be multiple MACRO ICs on a single physical Turb
136. ycle For example if the commutation cycle has 1000 encoder counts Ixx70 could be set to 1 and Ixx71 could be set to 32 000 Ixx75 Absolute Phase Position Offset If Ixx81 see below is set to a value greater than 0 then PMAC will read an absolute sensor for power on phase position In this case it will use Ixx75 to determine the difference between the absolute sensor s zero position and the phase commutation cycle s zero position unless Hall commutation sensors are used in which case Ixx91 contains the initial offset information which needs to be corrected later Turbo PMAC2 Software Setup for MACRO Station 43 UMAC MACRO and MACRO Stack User Manual Normally this position difference in Ixx75 is expressed in counts multiplied by Ixx70 However when the absolute position is read from the position feedback register as from a Yaskawa absolute encoder through an ACC 8D Opt 9 and the MACRO Station then Ixx75 is expressed in units of 1 32 of a count multiplied by Ixx70 Ixx81 Ixx91 Power On Phase Position Address and Mode Ixx81 permits an automatic read of an absolute position sensor for phase referencing of a synchronous motor commutated by PMAC This read can be done automatically at power on reset if Ixx80 1 or 3 or subsequently on the or command If Ixx81 is set to 0 the power on reset phase position for the motor will be considered to be 0 regardless of the type of sensor used If Ixx81 is set to a value gre

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