1 delta tau data systems, inc. 1 motion and control ring o ptical macro t h e l i g h t l i n k i n...

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DELTA TAUData Systems, Inc.

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Motion And Control Ring OpticalMACRO

T h e L I g h t L I n k I n M o t I o n . . .

Delta Tau Data Systems

Training Seminar


MACRO Training Seminar

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Introduction

Motion And Control Ring Optical

MACRO is a high speed bus interface for connection of multi-axis motion controllers, amplifiers, and I/O on a fiber optic or twisted pair copper (RJ45 connector) ring.



3

MACRO Applications

MACRO lends itself to large multi-axis applications where the amplifiers and I/O are spread out as well as smaller applications where wiring simplicity and noise immunity are preferred.

Packaging Automatic welding

Converting Material handling

Silicon wafer processing Machine tools

Textiles machinery Food processing

Robotics Automated assembly lines



4

MACRO Course Overview

• MACRO Transmission Overview • MACRO Hardware Overview• MACRO Nodes Defined• MACRO Communications Setup• MACRO Commands• Motor Setup (Using Servo Nodes)• IO Setup (Using IO Nodes)• Trouble Shooting Techniques• Hands-On hardware setup



5

MACRO NETWORK TRANSMISSION

OpticalDriver

NetworkInterface

DriverIC

ElectricalDriver

Byte-wideShift

Registers

125 MHz

10 MHz

Local CPU

Byte-wideShift

Registers

125 MHz

10 MHz

OpticalDriver

NetworkInterface

DriverIC

ElectricalDriver

Local CPU

Standard PMAC / MACRO Comparison

STANDARD PMAC CONCEPT

RAM

ROM

FLASH

CPU

PWM

DAC

ENCCOUNTERS

DIRECT PWMDIG. CURRENT

+/- 10 V.DAC OutputA ENCODERB Feedback

MachineI/0 Connector

MACRO CONCEPT (MACRO IS TRANPARENT)

PMAC and MACRO Interface

RAM

ROM

FLASH

CPU MACRO

TAXI

TAXI

ENC

PWM

DAC

I/O

ENCODERA/B QUAD

PWM

+/- 10 V.

96 I/ONO RAMOR FLASH

TAXI

TAXI

MACRO CPU

MACRO STATION / DRIVES



7

MACRO System Configuration

D C B A

8 Axes48-bits IO

8 Axes96-bits IO8 chan. A/D

8 Axes144-bits IO

8 Axes96-bits IO8 chan. A/D

A -MACRO IC0B - MACRO IC1C - MACRO IC2D - MACRO IC3

1

0

2 3



8

MACRO Transmission Media

• Glass fiber with SC connectors– Up to 3000m (10,000 ft) between stations

– Total EMI immunity in transmission

– Ordered with Option A on PMAC or MACRO Station

• RJ-45 electrical connection– Up to 30m (100 ft) between stations

– Transformer isolation at both ends

– Less expensive for shorter distances

– Ordered with Option C on PMAC or MACRO Station



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MACRO Advantages• Very long distances between nodes possible

– Up to 3000m (10,000ft) with optical fiber

– Up to 30m (100 ft) with RJ-45 electrical

• Optical transmission for complete noise immunity

• Isolated electrical transmission possible– Eliminates potential ground-loop problems

• Very high raw data rate (125 Mbps)

• Very simple ring data timing control– Master/slave scheme

– Multi-master control with baton passing

– No overhead for collision prevention/detection

– Result is very high effective data rate



10

MACRO Advantages• All actual data transfers are synchronous

– Very simple structure for cyclic servo data

– Asynchronous data can stay on ring for multiple cycles

• Ability to close all loops across the ring– Position and velocity loops

– Commutation and current loop (unique!)

• Very simple ring data protocol– Simple copying of servo commands and feedback

– Simple copying of I/O values

• On-the-fly substitution of feedback into data stream– No worry about collisions

– Eliminates 1 ring-cycle delay, permitting higher gains



11

MACRO Ring Master/Slave Concepts

• Master/slave protocol is simpler, more deterministic than peer-to-peer

• Generally, PMACs are masters on the ring• MACRO Devices are slaves on the rings• Multiple masters supported on a single ring,

coordinated thru “baton” passing (simpler than token passing)



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MACRO Ring Master/Slave Operation

• Ring Master: On phase clock, sends data packet for each active node, then sends “baton”. One and only one ring master must be present on ring.

• Master: On receipt of baton, sends data packet for each active node, then sends baton.

• Slave: Latches in data packet received for any node; substitutes feedback packet for active node, retransmits packet for inactive node (permitting broadcast).



13

MACRO Real-Time Transmission

• Dedicated use of MACRO nodes for cyclic data transmission

• Used for servo commands and feedback• Used for fast I/O• Data can be exchanged (up to) every phase cycle• Standard protocols for exchange of data



14

Delta Tau MACRO Master Controllers

• Turbo Ultralites (PCI, VME)• PowerPMAC Ultralite• UMAC Turbo PMAC2 with ACC-5E• UMAC PowerPMAC with ACC-5E/ACC-5E3• BRICK Family with MACRO interface



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MACRO Slave Devices

• MACRO CPU (legacy)

• MACRO16 CPU

• MACRO Peripheral Devices

• MACRO Amplifiers & 3rd Party Products



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MACRO 8-Axis CPU

• One MACRO IC• 8 MACRO servo nodes

• 6 MACRO I/O nodes• 2 MACRO auxiliary communications nodes

• Serial Port

• Multiplexor Port

• LED Display

• Two Hardware Switches



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MACRO 16-Axis CPU

• Two MACRO IC’s• 16 MACRO servo nodes• 12 MACRO I/O nodes• 4 MACRO auxiliary communications nodes• Compiled PLC’s• Serial Port• Handwheel Port • Display Port• LED Display and Two hardware switches



18

MACRO Peripherals

• Standalone MACRO Devices– Analog and Digital IO Cards– 2 axis Servo and 4 axis Stepper

• USB Port for Direct communications and firmware download

• MACRO Display Port

• DAC/ADC/AENA Port Option



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JumpersJumper Setting DescriptionE1 Off WatchDog DisableE2 2-3 1-2 BootStrap Mode

2-3 Normal operationE3 off Off for 38400 Baudrate

On for 9600 BuadE4* Factor

y Set1-2 for RJ452-3 for fiber

JP1 Factory Set

Off for ACC-65MOn for ACC-68M

JP2JP3JP4JP5JP6

Off Reserved for future use

JP7 Off On for Re-initialization

ALL Products

MACRO Peripheral

* E40 on MACRO CPU (602802-10x)



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MACRO Display

The MACRO Station has a single hexadecimal display on the CPU/Interface Board. The display can show the following values

{blank} Ring not active 0-8 Operation OK. Value is number of active motors

9 (reserved for future use)A Amplifier FaultB Ring Break FaultC CPU Failure FaultD Ring Data ErrorE Loss-of-encoder FaultF Other Failure



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GEO MACRO

• Up to 2 Servo Drives– 2 encoder– 2 Flag Sets (PLIM, MLIM, USER, HMFL)

• USB Port for Direct communications and firmware download

• MACRO LED Display

• 12-bit ADC Port Option

• 4 inputs and 4 outputs



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MACRO Amplifiers

• Delta Tau GEO MACRO Drives

• Copley

• Etel

• Moog

• ABB

• Yaskawa

• Kollmorgen

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UMAC-MACRO 3U PRODUCTS



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MACRO Station Configurations

• “UMAC MACRO System”– 3U boards– UMAC backplane connections– Boards/modules slide in and out– Mounted in enclosed 3U Euro-rack– Labeled connectors and indicators

• “MACRO-Stack” (obsolete)– 3U boards with inter-board “stack” connectors– Can be mounted with standoffs– Can be mounted in 3U Euro-rack



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UMAC MACRO Advantages

• Modular

• Extremely Compact

• MACRO-Pack Designed Boards Plug into Expansion Bus

• CE Compliant

UMAC MACRO



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UMAC Axis and Feedback Boards

• MACRO Interface/CPU Board• ACC-24E2 Digital PWM 2/4-Axis Interface/Breakout• ACC-24E2A Analog ±10V 2/4-Axis Interface/Breakout• ACC-24E2S 4-Axis Stepper Axis Interface Board• ACC-28E High Resolution 16-bit A/D Converter• ACC-51E 4096 Interpolator• ACC-53E SSI Encoder Interface• ACC-57E Yaskawa or Mitsubishi Encoder Interface• ACC-70E Tamagawa Absolute Encoder Interface



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UMAC MACRO I/O Boards

• ACC-11E Isolated 24-In/24-Out (24V, 100mA) Board

• ACC-14E 48-I/O Board (5V)

• ACC-28E 4 Channels 16-bit ADC

• ACC-36E 16 channels 12-bit ADC

• ACC-59E 8 12-bit ADC and 8 12-bit DAC Channels

• ACC-65E Self-protected 24-In/24-Out (24V, 250mA) Board

• ACC-66E Self-protected 48-In (24V, 250mA) Board

• ACC-67E Self-protected 48-Out (250mA) Board

• ACC-68E Self protected 24-In/24-Out Sinking

MACRO Developers Kit

• Description of How MACRO Works

• Discussions of MACRO Use

• Examples of MACRO Implementations

• MACRO Specification

• Component Data Sheets

MACRO Data Transfer Overview



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PMAC/MACRO Station Communication

The MACRO ring operates by copying registers at high speed across the ring. Therefore, the each master controller (TPMAC, PPMAC) 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.



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Node Transfer Concepts

• Each PMAC MACRO IC has 16 nodes

• Each MACRO Station CPU can have up to 16 activated nodes.

• New MACRO16 can have up to 32 activated nodes (two MACRO IC’s)

• Information is passed from the activated nodes at the MACRO Station and PMAC

.



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Ring Update Frequency Considerations

• 1.6 µsec per active master node required• Update must be as fast as loop closure rate

– Current loops usually closed at 8-10 kHz

– Position loops usually closed at 1-4 kHz

• Nice to have 2 ring updates per 1 loop update• 32 nodes permits 20 kHz ring update• 64 active nodes permits 10 kHz ring update• 256 active nodes permits 2.5 kHz ring update



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MACRO Node Activation Control

The MACRO Station MACRO IC has Nodes which can be activated to perform servo loop closure operations or transfer data for input/output operations.

NODE 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

Axis Nodes

I/O Nodes

I/O or Master/Master

Always Set to 1 for Type 1 Protocol



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PMAC/MACRO Station Register Mapping

Motor x Calculation

Registers

PMAC MACRO Node

n Registers

MACRO Station Node n

Registers

MACRO Station Machine Interface

Channel x Registers

Channel Interface Signals

Station SW1 Setting, Conversion Table,

MI10x

Servo & Commutation

Address I-variables

PMAC MACRO Station

TPMAC: I6840,I6890,I6940,I6990…… PPMAC: Gate2[i].MacroMode, Gate2[i].MacroEnable

PMAC Node n = Station Node n



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TPMAC Servo and Commutation Addressing

Command Registers

Feedback Registers

PMAC Node n Registers

0 1 2 3

0 1 2 3

Flag Holding registers

I70-I77Ix25 Flag Registers

Motor x Calculation

Registers

Ix02 Command Output

MACRO OUT

MACRO IN

Ix83 Commutation Feedback

Ix84 Current Feedback

Encoder Conversion

TableIx03, Ix04 Servoposition Feedback

TableEntry

I8000…



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PPMAC Servo and Commutation Addressing

Command Registers

Feedback Registers


0 1 2 3

0 1 2 3

Motor[1].pAmpEnable … Flag Registers command

Motor x Calculation

Registers

Motor[x].pDac Command Output

MACRO OUT

MACRO IN

Motor[x].pPhaseEnc Commutation Feedback

Motor[x].pAdc Current Feedback

Encoder Conversion

TableMotor[x].pEnc Motor[x].pEnc2

Servo position Feedback

TableEntry

Motor[x].pAmpFault, Motor[x].pLimits … Flag Registers feedback

EncTable[x].pEnc

Flag Holding registersAutomatic



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PMAC/MACRO Station Node Matching

MACRO hardware automatically copies every phase cycle

Command (output) Registers

Feedback (input) Registers

Command (input) registers

Feedback (output) Registers

PMAC Node Master Number set by I6840 bits (20-23) in TPMAC

Gate2[i].MacroMode bits (20-23) in PPMAC

Node Slave Number n automatically matches between PMAC and MACRO Station

Station Node Master Number set by SW2


0 1 2 3

0 1 2 3

Station Node n Registers

0 1 2 3

0 1 2 3



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MACRO Station Node-to-Channel Mapping

Station Node n Registers

0 1 2 3

0 1 2 3MACRO

OUT

MACRO IN

Output A

Output B

Output C

Control

Status

ADC B

ADC A

Encoder

Node n to Channel x mapping is determined by station SW1 setting

Machine Interface Channel x Registers

DAC, PWM

AMP Enable

Flags

Current Feedback

Signals

Position Feedback Signal

Station Encoder Conversion Table

MI120-MI151MI10x

DAC, PWM

PWM



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MACRO Type 1 Servo Format

MACRORead/Write

Register

Register 0:24 bits

Register 1:16 bits

Register 2:16 bits

Register 3:16 bits

CommandPacket

Main ServoCommand

(All modes)

Second ServoCommand

(sinewave &PWM)

Third ServoCommand(PWM &

PFM)

CommandFlags

FeedbackPacket

PositionFeedback

First CurrentFeedback

SecondCurrent

Feedback

Status Flags



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MACRO Type 1 I/O Format

MACRORead/Write

Register

Register 0:24 bits

Register 1:16 bits

Register 2:16 bits

Register 3:16 bits

CommandPacket

24-bit writeword

1st 16-bitwrite word

2nd 16-bitwrite word

3rd 16-bitwrite word

FeedbackPacket

24-bit readword

1st 16-bitread word

2nd 16-bitread word

3rd 16-bitread word



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TPMAC Memory Mapping Macro Station Addresses Turbo Pmac Addresses

(“x” takes the value 8,9,A or B

for the Macro IC 0,1,2 or 3)

Node # Reg. 0 Reg. 1 Reg. 2 Reg. 3 Reg. 0Bits 0 to 23

Reg. 1Bits 8 to 23

Reg. 2Bits 8 to 23

Reg. 3Bits 8 to 23

0 Y:$C0A0 Y:$C0A1 Y:$C0A2 Y:$C0A3 Y:$7x420 Y:$7x421 Y:$7x422 Y:$7x423

1 Y:$C0A4 Y:$C0A5 Y:$C0A6 Y:$C0A7 Y:$7x424 Y:$7x425 Y:$7x426 Y:$7x427

2 X:$C0A0 X:$C0A1 X:$C0A2 X:$C0A3 X:$7x420 X:$7x421 X:$7x422 X:$7x423

3 X:$C0A4 X:$C0A5 X:$C0A6 X:$C0A7 X:$7x424 X:$7x425 X:$7x426 X:$7x427

4 Y:$C0A8 Y:$C0A9 Y:$C0AA Y:$C0AB Y:$7x428 Y:$7x429 Y:$7x42A Y:$7x42B

5 Y:$C0AC Y:$C0AD Y:$C0AE Y:$C0AF Y:$7x42C Y:$7x42D Y:$7x42E Y:$7x42F

6 X:$C0A8 X:$C0A9 X:$C0AA X:$C0AB X:$7x428 X:$7x429 X:$7x42A X:$7x42B

7 X:$C0AC X:$C0AD X:$C0AE X:$C0AF X:$7x42C X:$7x42D X:$7x42E X:$7x42F

8 Y:$C0B0 Y:$C0B1 Y:$C0B2 Y:$C0B3 Y:$7x430 Y:$7x431 Y:$7x432 Y:$7x433

9 Y:$C0B4 Y:$C0B5 Y:$C0B6 Y:$C0B7 Y:$7x434 Y:$7x435 Y:$7x436 Y:$7x437

10 X:$C0B0 X:$C0B1 X:$C0B2 X:$C0B3 X:$7x430 X:$7x431 X:$7x432 X:$7x433

11 X:$C0B4 X:$C0B5 X:$C0B6 X:$C0B7 X:$7x434 X:$7x435 X:$7x436 X:$7x437

12 Y:$C0B8 Y:$C0B9 Y:$C0BA Y:$C0BB Y:$7x438 Y:$7x439 Y:$7x43A Y:$7x43B

13 Y:$C0BC Y:$C0BD Y:$C0BE Y:$C0BF Y:$7x43C Y:$7x43D Y:$7x43E Y:$7x43F

14 X:$C0B8 X:$C0B9 X:$C0BA X:$C0BB X:$7x438 X:$7x439 X:$7x43A X:$7x43B

15 X:$C0BC X:$C0BD X:$C0BE X:$C0BF X:$7x43C X:$7x43D X:$7x43E X:$7x43F



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PPMAC Memory Mapping Macro Station Addresses Power Pmac Addresses

(“i” takes the value 0,1,2 or 3

for the Macro IC 0,1,2 or 3)

Node # Reg. 0 Reg. 1 Reg. 2 Reg. 3 Reg. 0Bits 8 to 31

Reg. 1Bits 16 to 31

Reg. 2Bits 16 to 31

Reg. 3Bits 16 to 31

0 Y:$C0A0 Y:$C0A1 Y:$C0A2 Y:$C0A3 Gate2[i].Macro[0][0] Gate2[i].Macro[0][1] Gate2[i].Macro[0][2] Gate2[i].Macro[0][3]

1 Y:$C0A4 Y:$C0A5 Y:$C0A6 Y:$C0A7 Gate2[i].Macro[1][0] Gate2[i].Macro[1][1] Gate2[i].Macro[1][2] Gate2[i].Macro[1][3]

2 X:$C0A0 X:$C0A1 X:$C0A2 X:$C0A3 Gate2[i].Macro[2][0] Gate2[i].Macro[2][1] Gate2[i].Macro[2][2] Gate2[i].Macro[2][3]

3 X:$C0A4 X:$C0A5 X:$C0A6 X:$C0A7 Gate2[i].Macro[3][0] Gate2[i].Macro[3][1] Gate2[i].Macro[3][2] Gate2[i].Macro[3][3]

4 Y:$C0A8 Y:$C0A9 Y:$C0AA Y:$C0AB Gate2[i].Macro[4][0] Gate2[i].Macro[4][1] Gate2[i].Macro[4][2] Gate2[i].Macro[4][3]

5 Y:$C0AC Y:$C0AD Y:$C0AE Y:$C0AF Gate2[i].Macro[5][0] Gate2[i].Macro[5][1] Gate2[i].Macro[5][2] Gate2[i].Macro[5][3]

6 X:$C0A8 X:$C0A9 X:$C0AA X:$C0AB Gate2[i].Macro[6][0] Gate2[i].Macro[6][1] Gate2[i].Macro[6][2] Gate2[i].Macro[6][3]

7 X:$C0AC X:$C0AD X:$C0AE X:$C0AF Gate2[i].Macro[7][0] Gate2[i].Macro[7][1] Gate2[i].Macro[7][2] Gate2[i].Macro[7][3]

8 Y:$C0B0 Y:$C0B1 Y:$C0B2 Y:$C0B3 Gate2[i].Macro[8][0] Gate2[i].Macro[8][1] Gate2[i].Macro[8][2] Gate2[i].Macro[8][3]

9 Y:$C0B4 Y:$C0B5 Y:$C0B6 Y:$C0B7 Gate2[i].Macro[9][0] Gate2[i].Macro[9][1] Gate2[i].Macro[9][2] Gate2[i].Macro[9][3]

10 X:$C0B0 X:$C0B1 X:$C0B2 X:$C0B3 Gate2[i].Macro[10][0] Gate2[i].Macro[10][1] Gate2[i].Macro[10][2] Gate2[i].Macro[10][3]

11 X:$C0B4 X:$C0B5 X:$C0B6 X:$C0B7 Gate2[i].Macro[11[0] Gate2[i].Macro[11[1] Gate2[i].Macro[11[2] Gate2[i].Macro[11[3]

12 Y:$C0B8 Y:$C0B9 Y:$C0BA Y:$C0BB Gate2[i].Macro[12][0] Gate2[i].Macro[12][1] Gate2[i].Macro[12][2] Gate2[i].Macro[12][3]

13 Y:$C0BC Y:$C0BD Y:$C0BE Y:$C0BF Gate2[i].Macro[13][0] Gate2[i].Macro[13][1] Gate2[i].Macro[13][2] Gate2[i].Macro[13][3]

14 X:$C0B8 X:$C0B9 X:$C0BA X:$C0BB Gate2[i].Macro[14][0] Gate2[i].Macro[14][1] Gate2[i].Macro[14][2] Gate2[i].Macro[14][3]

15 X:$C0BC X:$C0BD X:$C0BE X:$C0BF Gate2[i].Macro[15][0] Gate2[i].Macro[15][1] Gate2[i].Macro[15][2] Gate2[i].Macro[15][3]



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TPMAC/PPMAC Memory Mapping

TPMAC:Motor setup:

I102=$78420

IO Setup:

m960->x:$78420,0,24

m963->x:$78423,8,16

PPMAC:Motor setup:

Motor[1].pDac = Gate2[0].Macro[0][0].a

IO Setup:

MyFirstReg->Gate2[0].Macro[2][0]

MyThirdReg->Gate2[0].Macro[2][3]

Gate2[i].Macro[m][n]

IO address is Base_address + m*16 + n*4 + $100

Gate2[0].Macro[2][0] is $800000 + 32($20) + 0 + $100

Gate2[0].Macro[2][3] is $800000 + 32($20) + 12($C) + $100

MyFirstReg->u.io.$800120.8.24

MyThirdReg->u.io.$80012C.16.16



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MACRO Communications Setup

• Determine Your Ring Frequency– Default of 9 kHz– Based on Phase Clock and Servo Clock Needs

• Determine how many nodes your application is using

• Setup Communications at PMAC• Setup Communications at MACRO CPU

– Switch Settings or Ring Order Method

46


46

MACRO System Clock Setup



47

MACRO RING CLOCK SETUP

It is important for the MACRO user to set the ring cycle frequencies of the synchronizing master, non-synchronizing masters and slaves equal to each other for proper MACRO data transfers.

• Using one of the Delta Tau setup programs then the clocks will always be setup properly.

• The factory default settings for the ring cycle are identical at both the PMAC and the MACRO Station. If the user is using factory default settings for the ring frequency then they will not have to worry about the system ring clock settings.



48

Ring Update Frequency Control

• Ring updated at phase-clock frequency of ring master

• Other master and slave stations kept sync’ed• These should be set to same frequency for best

performance



49

Phase Clock Frequency Control

• Frequency set by two variables• First variable sets “MaxPhase” frequency• Second variable divides MaxPhase to Phase• Turbo PMAC: I6800 & I6801• Power PMAC: Gate2[i].PwmPeriod &

Gate2[i].PhaseClockDiv• MACRO Station: MI992 & MI997



50

Turbo PMAC“MaxPhase” Frequency Control

• MaxPhase (kHz) = 117,964.8 / [2*I6800+3]

• I6800 = (117,964.8 / [2*MaxPhase(kHz)]) – 1

• MACRO Station : MI992

• PWM frequency for Station channels 1 - 8 (ACC-24E2) must be set to

• N * MaxPhase / 2

I6800 = 6527 Default Value

KHz03.9365272

117964.8 Frequency PhaseMax

368002

8.117964Frequency PhaseMax

I



51

Turbo PMAC Phase-Clock Frequency Divide

• Phase (kHz) = MaxPhase (kHz) / [I6801 + 1]

• I6801 =[MaxPhase / Phase] – 1

• MACRO Station divisor: [MI997 + 1]

• Turbo PMAC boards permit phase update tasks (commutation & current loop) to be executed every [I7 + 1] phase clock cycles

– Setting I7 to 1 sets 2 ring updates per phase update



52

Turbo PMAC Servo-Clock Frequency Divide

• Servo clock divided from phase clock

• Turbo divisor: [I6802 + 1]

• MACRO Station divisor: [MI998 + 1]– Servo clock frequency not now important on MACRO Station

• Interpolation, position and velocity loops executed at servo update– Motor x loops closed every [Ix60 + 1] servo clocks

– I10 tells interpolator what servo clock frequency is



53

Power PMAC “MaxPhase” Frequency Control

• MaxPhase (kHz) = 117,964.8 / [2*Gate2[i].PwmPeriod+3]

• Gate2[i].PwmPeriod= (117,964.8 / [2*MaxPhase(kHz)]) – 1

• MACRO Station : MI992

• PWM frequency for Station channels 1 - 8 (ACC-24E2) must be set to

N * MaxPhase / 2

Gate2[i].PwmPeriod = 6527 Default Value

KHz03.9365272

117964.8 Frequency PhaseMax

3 wmPeriodGate2[i].P2

8.117964Frequency PhaseMax



54

Power PMAC Phase-Clock Frequency Divide

• Phase (kHz) = MaxPhase (kHz) / [Gate2[i].PhaseClockDiv + 1]• Gate2[i].PhaseClockDiv =[MaxPhase / Phase] - 1

• MACRO Station divisor: [MI997 + 1]

• Power PMAC boards permit phase update tasks (commutation & current loop) to be executed every [Sys.PhaseCycleExt + 1] phase clock cycles

– Setting Sys.PhaseCycleExt to 1 sets 2 ring updates per phase update



55

Power PMAC Servo-Clock Frequency Divide

• Servo clock divided from phase clock

• PPMAC divisor: [Gate2[i].ServoClockDiv + 1]

• MACRO Station divisor: [MI998 + 1]– Servo clock frequency not now important on MACRO Station

• Interpolation, position and velocity loops executed at servo update– Motor x loops closed every [Motor[x].Stime + 1] servo clocks

– Sys.ServoPeriod tells interpolator what servo clock frequency is



56

MACRO Station Ring Frequency Control

MI-Variables (Global)

MI992 - MI999 control the global aspects of the hardware setup using the 2-axis piggyback boards on the Compact MACRO Station

MS{anynode},MI992 MaxPhase and Frequency ControlMS{anynode},MI997 Phase Clock Frequency ControlMS{anynode},MI998 Servo Clock Frequency Control



57

MACRO System Clock Summary

PPMAC TPMAC MACRO Station

Servo Card Description

Gate2[i].PwmPeriod I6800, I6850, I6900, I6950

MI992 MI900, MI906 Max Phase Frequency

Gate2[i].PhaseClockDiv I6801, I6851, I6901, I6951

MI997 N/A Phase or Ring Frequency Divisor

Gate2[i].ServoClockDiv I6802, I6852, I6902, I6952

MI998 N/A Servo Clock Divisor

Gate2[i].MacroMode I6840, I6890, I6940, I6990

MI995 N/A MACRO IC Ring Configuration/Status

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58

Master Communications Setup



59

Software Setup

Setting up the PMAC board to work with a MACRO Station requires the proper setup of several I-variables (TPMAC) or Structure Elements (PPMAC) for MACRO-specific features. The variables/elements that have special considerations for use with MACRO stations are listed below.

Note that these are I-variables/ Structure Elements on the PMAC controller itself. The MACRO Station has its own set of setup I-variables, called “MI-variables”, which are detailed in a different section



60

MACRO Type 1 Auxiliary Communications

• Lower frequency, non-cyclic communications

• Often used for setup and diagnostics

• TPMAC supports thru “MS” & “MM” read & write commands

• PPMAC supports thru “MacroSlave” read & write commands

• MACRO Station MI-variables set this way

• Node 15 reserved for master/slave auxiliary

• Node 14 reserved for master/master auxiliary (Turbo support only)



61

Master & Ring Controller Setup

• Turbo PMAC2 Ultralite, MACRO IC 0: I6840• Turbo PMAC2 Ultralite, MACRO IC 1: I6890• Turbo PMAC2 Ultralite, MACRO IC 2: I6940• Turbo PMAC2 Ultralite, MACRO IC 3: I6990• Power PMAC: Gate2[i].MacroMode (i=IC number)• =$30 for ring controller (usually $4030)• =$90 for other master• Only one device (IC) on a ring may be set to $30

Master & Ring Controller Setup

Bit # Value Type Function0 1($1) Status Data Overrun Error (cleared when read)1 2($2) Status Byte Violation Error (cleared when read)2 4($4) Status Packet Parity Error (cleared when read)3 8($8) Status Packet Underrun Error (cleared when read)4 16($10) Config Master Station Enable5 32($20) Config Synchronizing Master Station Enable6 64($40) Status Sync Node Packet Received (cleared when read)7 128($80) Config Sync Node Phase Lock Enable8 256($100) Config Node 8 Master Address Check Disable9 512($200) Config Node 9 Master Address Check Disable10 1024($400) Config Node 10 Master Address Check Disable11 2048($800) Config Node 11 Master Address Check Disable12 4096($1000) Config Node 12 Master Address Check Disable13 8192($2000) Config Node 13 Master Address Check Disable14 16384($4000) Config Node 14 Master Address Check Disable15 32768($8000) Config Node 15 Master Address Check Disable

I6840* on TPMAC and Gate2[i].MacroMode on PPMAC contains configuration and status bits for MACRO ring operation of the PMAC. There are 11 configuration bits and 5 status bits, as follows:

* For MACRO IC0, Turbo also uses I6890, I6940, and I6990



63


• Turbo PMAC2 Ultralite, MACRO IC 0: I6841• Turbo PMAC2 Ultralite, MACRO IC 1: I6891• Turbo PMAC2 Ultralite, MACRO IC 2: I6941• Turbo PMAC2 Ultralite, MACRO IC 3: I6991• Power PMAC: Gate2[i].MacroEnable (i=IC number)• Specifies active node numbers, master number,

and sync packet node number



64


• Bits 0 - 15 specify active nodes– Bit n controls Node n

– Bit = 1 activates node, so packet is sent each cycle

– Bit = 0 de-activates node (can receive broadcast packet)

• Node 15 should always be active for auxiliary communications

• Should be active matching slave node • Matching slave nodes can be on one or several

MACRO Stations



65


• Bits 16 - 19 specify sync packet node number

• Receipt of packet for specified node number causes phase interrupt

• Not used on ring controller master

• Keeps other devices synchronized to ring controller

• Missing sync packets can be used to shut down

• Node 15 ($F) virtually always used– Node always active for Type 1 auxiliary communications

– Always last packet sent, so calculations occur after full data set received



66


• Bits 20 - 23 specify master number (0 - 15)• Each device (MACRO IC) must have a separate

number• Ring controller must be master number 0• Master number must match SW2 setting on

corresponding MACRO Station(s)• Master number sent out in address byte of each

data packet from this IC.

PMAC Node Activation Control

• I6841, I6891, I6941, I6991 on TPMAC• Gate2[i].MacroEnable on PPMAC

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.

HEX($) 0 F 8 0 3 7

BIT 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

VALUE 0 0 0 0 1 1 1 1 1 0 0 0 0 0 0 0 0 0 1 1 0 1 1 1

Node Activation Bits

Sync Node Address = (0 - 15). Always = $F (15) for Type 1 protocol

Master Number = (0 - 15) . Match SW2 Setting on corresponding MACRO Station(s).



68

TPMAC Auxiliary Flag Copy EnableAutomatic in PPMAC

• Turbo PMAC: I70, I72, I74, I76• 16-bit variable: bits 0 - 15• Bit n = 1 enables automatic flag copy between

MACRO node n and RAM registers

HEX($) 3 3 3 3

BIT 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

VALUE 0 0 1 1 0 0 1 1 0 0 1 1 0 0 1 1



69

TPMAC Node Protocol Type

NOT in PPMAC

• Turbo PMAC: I71, I73, I75, I77• 16-bit variable: bits 0 - 15• Bit n = 1 sets Type 1 auxiliary flag protocol for

Node n (required for MACRO Station)• Bit n = 0 sets Type 0 auxiliary flag protocol for

Node n

HEX($) 3 3 3 3

BIT 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

VALUE 0 0 1 1 0 0 1 1 0 0 1 1 0 0 1 1



70

TPMAC Auxiliary Communications Timeout

• TPMAC: I78

• PPMAC: Macro.IOTimeout (0 is 100ms)

• Value > 0 on TPMAC enables Type 1 Auxiliary Master/Slave Communications using Node 15

• Value is timeout period in servo cycles (TPMAC) and ms (PPMAC) for response from MACRO Station

• Value of 32 servo cycles / 20 ms suggested

• Timeout error sets Bit 5 of global status register X:$000006 (TPMAC) or word of Macro.Status[0] (PPMAC)



71

MACRO Ring Check Period

• TPMAC: I80

• PPMAC: Macro.TestPeriod

• Value > 0 enables checking for ring breaks/errors

• Value sets ring check period in servo cycles

• In this period, at least Macro.TestReqdSynchs (I82) sync packets must be received for no shutdown error

• In this period, no more than Macro.TestMaxErrors (I81) ring errors must be detected for no shutdown error

• On shutdown error, PMAC kills all motors



72

Maximum Ring Error Count

• TPMAC: I81• PPMAC: Macro.TestMaxErrors• Value is maximum ring errors permitted in

Macro.TestPeriod (I80) ring check period• Suggested value of 2• Ring errors detected:

– Byte violation error

– Packet checksum, overrun, underrun errors



73

Minimum Sync Packet Count

• TPMAC: I82• PPMAC: Macro.TestReqdSynchs• Value sets minimum number of sync packets that

must be received in Macro.TestPeriod (I80) ring check period

• Suggested value of 2• If sync packet node is not enabled with I6841,

failure will be immediate!

Communications Summary

PPMAC TPMAC Description

Gate2[i].MacroMode I6840, I6890 I6940, I6990

Master and Ring Control Setup

Gate2[i].MacroEnable I6841, I6891 I6941, I6991

Node Activation Control

N/A -Automatic I70, I72, I74, I76 Auxiliary Flag Copy Enable

N/A I71, I73, I75, I77 Node Protocol Type

Macro.IOTimeout I78 Auxiliary Communications Timeout

Macro.TestPeriod I80 Ring Check Period

Macro.TestMaxErrors I81 Maximum Sync Packet Count

Macro.TestReqdSynchs I82 Minimum Sync Packet Count

Once these variables are setup we can immediately communicate to the MACRO Station!



75

PowerPMAC GATE3 MACRO Setup

PPMAC with GATE2 PPMAC with GATE3 Description

Gate2[i].PwmPeriod Gate3[i].PhaseFreq (Hz) Max Phase Frequency (Phase Freq in GATE3)

Gate2[i].PhaseClockDiv Gate3[i].PhaseClockDiv Gate3[i].PhaseClockMult

Phase or Ring Frequency Divisor (only for external clocks on GATE3)

Gate2[i].ServoClockDiv Gate3[i].ServoClockDiv Servo Clock Divisor

Gate2[i].MacroMode Gate3[i].MacroModeA Gate3[i].MacroModeB

MACRO IC Ring Configuration

Gate2[i].MacroEnable Gate3[i].MacroEnableA Gate3[i].MacroEnableB

Node Activation

Gate3[i].PhaseFreq = 9000 9 Khz Phase frequency Gate3[i].PhaseClockDiv Used only when external clocksGate3[i].PhaseClockMult Used only when external clocksGate3[i].ServoClockDiv = 2 3 Khz Servo Frequency

Gate3[i].MacroModeA=$403000 Master (first set A) setup – Ring MasterGate3[i].MacroEnableA=$0f800300 Master (first set A) setup

Master 0, enable nodes 1 and 2Gate3[2].MacroModeB=$009000 Master (first set B) setup- Ring SlaveGate3[2].MacroEnableB=$1f803300 Master (first set B) setup

Master 1, enable node1, 2, 4 and 5



76

GATE3 Clocks generation

77


77

MACRO Station Communication

Set-Up



78

MACRO Communications Setup

• By Default, the MACRO Devices are ready to communicate. The user must activate the nodes to enable data transfers with the MASTER

• MACRO Node activation at MACRO Device– Switch Setting– Ring Order Method



79

Key Node Activation MI-Variables

• MI996 used to activate All Nodes

• MI975 used for IO Node Activation

• MI976 used to deactivate Servo Nodes



80

CPU Board Switches

The MACRO Station has two 16-way rotary switches on the CPU/Interface board that establish the station’s basic configuration on the MACRO ring.

SW1 establishes how many servo nodes, and which servo nodes, will be used on the MACRO station. It also establishes the mapping of MACRO node numbers to MACRO Station channel numbers. This mapping information will be important in establishing the software setup.

Note: Channels 1-4 are present on a 4-axis piggyback board with jumper E1 joining pins 1 & 2. Channels 5-8 are present on a 4-axis piggyback board with jumper E1 joining pins 2 & 3. Channels 9-10 are present on a 2-axis piggyback board.

SW1 Rotary Switch Settings

SW1Select

I/ONodes

Enabled

ServoNodes Enabled

Node Servo ICBase Address

NodesEnabled

Y:I181…188

0 0 4 $8000,$8008,$8010,$8018

0,1,4,5

I181, I182,I183, I184

1 0 4 $8000,$8008,$8010,$8018

8,9,12,13

I185, I186,I187, I188

2 0 2 $8000,$8008 0,1 I181, I1823 0 2 $8000,$8008 4,5 I183, I1844 0 2 $8000,$8008 8,9 I185, I1865 0 2 $8000,$8008 12,13 I187, I1886 0 6 $8000,$8008,

$8010,$8018,$8040,$8048

0,1,4,5,8,9

I181, I182,I183, I184,I185, I186

7 0 8 $8000,$8008,$8010,$8018,$8040,$8058,$8050,$8058

0,1,4,5,8,9,

12,13

I181, I182,I183, I184,I185, I186,I187, I188

8 2 0 2,3

9 2 0 6,7

10 2 0 10,11

11 4 0 2,3,6,7

12 6 0 2,3,6,7,10,11

13 1 0 11

14 (RingOrder)

0 0 $8000,$8008,$8010,$8018,$8040,$8058,

$8050,$8058(if have 2Servo IC’s)

None I181, I182,I183, I184,I185, I186,I187, I188

15 (Equivalentto a $$$***)

1 0 11



82

SW2 Rotary Switch Setting

SW2 establishes the number of the master to which the MACRO station will respond. The values of 0 to 15 correspond to Master numbers 0 to 15 respectively.

This value must match the master number value in the first hexadecimal digit of TPMAC’s I6841, I6891, I6941 and I6991 or PPMAC’s Gate2[i].MacroEnable.

The default setting is 0, so the station will respond to Master 0.



83

Ring Order Method

• Activates Nodes at MACRO Device through software

• Uses MACRO ASCII Mode Communications• Seeks first MACRO Device that has not been

setup. After the device is setup, the user will assign a number to the MACRO Device. As soon as you assign the number to the MACRO Device, it will look for the next device

• Device number can be between 0 and 254



84

Ring Order Example

D C B A

MACRODrive

MACRODrive

8 chan. A/D

ACC-65M8 Axes96-bits IO8 chan. A/D

A -MACRO IC0B - MACRO IC0C - MACRO IC0D - MACRO IC1

1

0

2 3

STN=1STN=2STN=3STN=4



85

TPMAC MACRO ASCII Mode

• Issue MACSTA255 command– Allows user direct communications to the first MACRO Device

defined as Station Number 0 (default for all).

• Once in this mode, the MASTER can communicate directly to the MACRO device without having to have any of its MACRO Communications variables set!

• Allows user to set I996 at MACRO Device to activate nodes

• To look for the next MACRO Device the user must give the current device a Station Number (STN=2 for example)

• To Exit ASCII mode, the user must issue a <CTRL> T



86

PPMAC MACRO ASCII Mode

• Issue MacroStation255 command

– Allows user direct communications to the first MACRO Device defined as Station Number 0 (default for all).

• Once in this mode, the MASTER can communicate directly to the MACRO device without having to have any of its MACRO Communications variables set!

• Allows user to set I996 at MACRO Device to activate nodes

• To look for the next MACRO Device the user must give the current device a Station Number (STN=2 for example)

• To Exit ASCII mode, the user must issue a <MacroStationClose

(Note the ‘<’ means send the following line to the local command processor and not the remote MACRO Station )

87


87

MACRO StationBasics



88

MACRO Communications

• Direct Communications to Station

• Master to Slave Communications

• Master to Master Communications for TPMAC or PPMAC



89

MACRO Station MI-Variables (TPMAC)

Delta Tau has created new variables to allow the user to setup each station. These variables are called MI-Variables (MACRO I-variables). MI-variables allow the user to enable the axis and I/O nodes, encoder conversion table, data transfer to the PMAC, disable nodes, troubleshoot MACRO data errors, set clock frequencies at the MACRO-Station, and perform special features. These MI-variables can be accessed through on-line commands.

MS{node#}, MI{variable#} - ReadMS{node#}, MI{variable#} = {constant} - WriteMSR{node#}, MI{variable#}, {PMAC-varibale} - Read-Copy (on-line or PLC)

MSW{node#}, MI{variable#}, {PMAC-varibale} - Write-Copy (on-line or PLC)

Most MI-variables can take the number of any active node on the station (usually the lowest numbered active node). These variables have the MS{anynode} description in the reference manual.

There are also node specific MI-variables. These variables have MS{node} in the header of their despriptions in the reference manual



90

MACRO Station MI-Variables (PPMAC)

Delta Tau has created new variables to allow the user to setup each station. These variables are called MI-Variables (MACRO I-variables). MI-variables allow the user to enable the axis and I/O nodes, encoder conversion table, data transfer to the PMAC, disable nodes, troubleshoot MACRO data errors, set clock frequencies at the MACRO-Station, and perform special features. These MI-variables can be accessed through on-line commands.

MacroSlave<node, <MI, MM,MP>> Read MacroSlave<node, <MI, MM,MP> = <constant>> Write MacroSlaveRead<node, <MI, MM,MP> ,< Global Var or array (can be symbolic)>> Read-CopyMacroSlaveWrite<node, <MI, MM,MP> ,< constant, Global Var or array (can be symbolic) >> Write-Copy

Most MI-variables can take the number of any active node on the station (usually the lowest numbered active node). These variables have the MS{anynode} description in the reference manual.

There are also node specific MI-variables. These variables have MS{node} in the header of their descriptions in the reference manual



91

There are three types of MACRO commands:

* Serial Port Commands (direct to station) - The Compact MACRO Station can accept commands directly through the serial

port at connector J7 on the CPU/Interface Board.

- Serial communications is at 9600 baud (CPU board jumper E3 connecting pins 1

& 2) or 38400 baud (E3 connecting pins 2 & 3), 8 bits, 1 stop bit, no parity.

- These commands are intended for basic setup and troubleshooting.

* On-Line & Buffered Commands (thru PMAC) - Type 1 auxiliary communication commands can be used from the TPMAC

and PPMAC controllers to communicate with the Compact MACRO Station.

MACRO Command Statements



92

Direct Station Serial Commands

$$$: Station Reset

Reset the Compact MACRO Station and restore all station MI-variables to their last saved values.

$$$***: Station Re-initialize

Reset the Compact MACRO Station and restore all station MI-variables to their factory default values.

CLRF: Clear Station Faults

Clear all faults on the Compact MACRO Station and prepare it for further operation.

DATE: Report Firmware Date

Report the date of its firmware.

Example: DATE

11/27/98



93

Direct Station Serial Commands

R{address}: Read Station Memory Address

Report the value stored at the specified address[es]. If H is used, the contents of the register[s] are reported back in hexadecimal; otherwise, they are reported back in decimal form. Functions the same as the standard PMAC R{address} command.

SAVE: Save Station MI-Variables

Causes the CMS to copy its MI-variable values from volatile active memory to the non-volatile flash memory. On the next power-up or reset, these values will be copied back from flash memory to active memory.

VERS: Report Firmware Version

Report its firmware version number.

Example: VERS

1.15



94

PMAC Command Statements for the MACRO Station

The command statements created for the MACRO-Station all the user to save node configurations, reset node configurations, set MI-variables, query MI-variables, reset the station, read and write to MACRO-Station memory locations.

Syntax: MS{command}{node} - TPMAC

MacroSlave{command}{node} - PPMAC

Commands: $$$ - station reset $$$*** - station reset and re-iniializeCLRF - station fault clearCONFIG - report station configuration valueDATE - station firmware dateSAVE -save station setupVER - station firmware version



95

TPMAC On-Line Commands

Global MACRO Station Commands

MS{command}{node #}MS$$$0 ; Resets MACRO station which has active node 0

MS$$$***4 ; Reinitializes MACRO station which has active node 4

MSCLRF8 ; Clears fault on Node 8 of MACRO station

MSCONFIG12 ; Causes MACRO station to report its configuration number

37 ; PMAC reports MACRO station configuration number to host

MSCONFIG12=37 ; Sets MACRO station configuration number

MSDATE0 ; Causes MACRO station to report its firmware date

03/27/97 ; PMAC reports MACRO station firmware date to host

MSSAVE4 ; Causes MACRO station to save setup variables

MSVER8 ; Causes MACRO station to report its firmware version

1.110 ; PMAC reports MACRO station firmware version to host



96


MACRO Station Variable Read

MS{node},{MI-Variable}

{node #} is a constant (0-14) representing the number of the node whose variable is to be read (if the variable is not node-specific, the number of any active node on the station may be used).

{slave MI-variable} the slave station variable’s value to be reported.

Causes PMAC to query the MACRO slave station at the specified node # and report back the value of the specified MI-variable to the host computer.

Examples:

MS0,MI910 Causes MACRO station to report value of Node 0 variable MI910

7 PMAC reports this value back to host

MS1,MI997 Causes MACRO station to report value global variable MI997




97


MACRO Station Variable Write

MS{node},{MI-Variable} = {constant}

{node #} see MACRO Station Variable Read.

{slave variable} is the name of the MI-variable or C-command on the slave station whose value is to be set.

{constant} is a number representing the value to be written to the specified MI-variable.

This command causes PMAC to write the specified constant value to the MACRO slave station MI-variable, or if a C-command is specified, it causes the station to execute the specified command number (in which case the constant value does not matter).

Examples: MS0,MI910=7

MS8,C4=0 Clears faults on station with active node 8



98

TPMAC On-Line/Buffered Commands

MACRO Station Variable Read Copy

MSR{node},{MI Variable} ,{PMAC Variable}



{PMAC variable} is the name of the variable on the PMAC into which the value of the slave station variable is to be copied.

This command copies the value of the specified MI-variable on the MACRO slave station into any I, P, Q, or M-variable on PMAC.

The MI-variable on the MACRO slave station can be global to the station, or node-specific.

Examples:MSR0,MI910,P1 Copies value of MACRO station Node 0 variable MI910 into PMAC variable P1

MSR1,MI997,M10 Copies value of MACRO station global variable MI997 into PMAC variable M10



99

TPMAC On-Line/Buffered CommandsMACRO Station Variable Write Copy

MSW{node},{MI-Variable},{PMAC Variable}


{slave variable} is the name of the MI-variable or C-command on the slave station whose value is to be reported

{PMAC variable} is the name of the variable on the PMAC into which the value of the slave station variable is to be copied

Copies the value of any I, P, Q, or M PMAC variable into the MACRO station MI-variable, or if a slave station C-command number is specified, it executes that command (in which case the PMAC variable value is not really used).

Examples:MSW0,MI910,P35 Copies value of PMAC P35 into MACRO station node 0 variable MI910.

MSW4,C4,P0 Causes MACRO station with active node 4 to save its MI-variable values to non-volatile memory (P0 is a dummy variable here).



100

PPMAC On-Line Commands

MACRO Station Variable Read

MacroSlave{node},{MI-Variable}



Causes PMAC to query the MACRO slave station at the specified node # and report back the value of the specified MI-variable to the host computer.

Examples:

MacroSlave0,MI910 Causes MACRO station to report value of Node 0 variable MI910


MacroSlave1,MI997 Causes MACRO station to report value global variable MI997




101

PPMAC On-Line Commands

MACRO Station Variable Write

MacroSlave{node},{MI-Variable} = {constant}

{node #} see MACRO Station Variable Read.

{slave variable} is the name of the MI-variable or C-command on the slave station whose value is to be set.

{constant} is a number representing the value to be written to the specified MI-variable.

This command causes PMAC to write the specified constant value to the MACRO slave station MI-variable, or if a C-command is specified, it causes the station to execute the specified command number (in which case the constant value does not matter).

Examples: MacroSlave0,MI910=7MacroSlave8,C4=0 Clears faults on station with active node

8



102

PPMAC On-Line/Buffered Commands

MACRO Station Variable Read Copy

MacroSlaveRead{node},{MI Variable} ,{PPMAC Variable}



{PPMAC variable} is the name of the variable on the PPMAC into which the value of the slave station variable is to be copied.

This command copies the value of the specified MI-variable on the MACRO slave station into any global variable or array on PPMAC (can be symbolic).

The MI-variable on the MACRO slave station can be global to the station, or node-specific.

Examples:MacroSlaveRead0,MI910,P1 Copies value of MACRO station Node 0 variable MI910 into

PPMAC variable P1

MacroSlaveRead1,MI997,MyVar Copies value of MACRO station Node 1 global variable MI997 into PPMAC variable MyVar



103

PPMAC On-Line/Buffered CommandsMACRO Station Variable Write Copy

MacroSlaveWrite{node},{MI-Variable},{PPMAC Variable}


{slave variable} is the name of the MI-variable or C-command on the slave station whose value is to be reported

{PMAC variable} is the name of the variable on the PMAC into which the value of the slave station variable is to be copied

Copies the value of any global variable or array of PPMAC into the MACRO station MI-variable, or if a slave station C-command number is specified, it executes that command (in which case the PMAC variable value is not really used).

Examples:MacroSlaveWrite0,MI910,P35 Copies value of PPMAC P35 into MACRO station node 0 variable

MI910.

MacroSlaveWite4,C4,P0 Causes MACRO station with active node 4 to save its MI-variable values to non-volatile memory (P0 is a dummy

variable here).

104


104

General MACRO Station

MI-Variables



105

I0: Station Firmware Version

Contains the version of the firmware in use by the MACRO Station.

Analogous to the VERSION on-line PMAC command.

Syntax: MacroSlave{anynode},I0

I1: Station Firmware Date

Contains the compilation date of the firmware in use by the MACRO Station.

Analogous to the DATE on-line PMAC command.


I2: Station ID and Configuration Word

Permits the user to create and save an ID number for this MACRO Station. This value can then be used for diagnostics of the MACRO Station.

Syntax: MacroSlave{anynode},I2 MacroSlave{anynode},I2={constant}

I3: Station Rotary Switch SettingContains the value of the rotary switches SW1 and SW2.


0 5

SW1 setting

SW2 setting

Hex value$ 0000000000

12 - 2 1 0Hex digit

Not Used

BITn Fault Description0 CPU – Fault (No MACRO IC #1 detected)1 Ring Error - Temporary 2 Ring Break3 Station Fault - Station Shutdown4 Ring Fault - Any permanent Ring fault5 Spare6 Amplifier Fault7 Ring Break Received8 Spare9 Spare10 Spare11 Spare12 Ring Active13 Spare14 Detected a MACRO or SERVO IC configuration change or SW1 change from last save. 15 Detected UBUS SERVO IC #7 Attached to MACRO IC #1 & 2 (2 channels each)16 Detected UBUS SERVO IC #6 Attached to MACRO IC #217 Detected UBUS SERVO IC #5 Attached to MACRO IC #118 Detected UBUS SERVO IC #4 Attached to MACRO IC #219 Detected UBUS SERVO IC #3 Attached to MACRO IC #220 Detected UBUS SERVO IC #2 Attached to MACRO IC #121 Detected UBUS SERVO IC #1 Attached to MACRO IC #122 Detected CPU MACRO IC #2 ($C0C0)23 Detected CPU MACRO IC #1 ($C080

I4: Station Status Word (MACRO16 for this example)Contains the status word for the MACRO Station. 0 is false and 1 is true.

Example: MacroSlave0, I4$F010000

I5: Ring Error Counter

Contains the number of ring communications errors detected by the MACRO Station since the most recent power-up or reset.


I6: Maximum Ring Error Frequency

Sets the number of ring errors that can be detected by the MACRO Station in a one second period without causing it to shutdown due to ring failure.

Syntax: MacroSlave{anynode},I6=10

I7: Encoder Loss Detect Enable

If I7=1, losing the encoder signal is treated as an amplifier fault. The node fault is reported back to the controller.

To enable this function, the socketed resistor packs for the encoder must be reversed from their factory default setting.

Syntax: MacroSlave{anynode},I7=0

I8: MACRO Ring Check Period

Determines the period, in phase cycles, for the MACRO Station to evaluate whether there has been a MACRO ring failure or not.

Every phase cycle, the Station checks and records the ring communications status. Every I8 cycles it evaluates what has happened.

(MI8 is implemented in firmware version 1.109 {April 1998} and newer only.)

IF “sync packets” < I10 OR “com errors” !< I9 • set servo command output values to zero• amplifier enable outputs set to “disable” state• digital outputs set to “shutdown” state (MI72-MI89)• report a ring fault.

Note: If MI8 = 0 at power-on/reset, the MACRO Station will automatically set it to 8.

In Station firmware versions before 1.109, a fixed value of 8 phase cycles was used.

I9: Ring Error Shutdown Count

Determines the number of MACRO communications errors that will cause a shutdown fault of the MACRO Station.

Only one ring communications error per phase cycle can be detected. MI9 > MI8 means that a communications error can’t shut down the ring.


There are four types of communications errors: byte “violation” errors packet checksum errors packet overrun errors packet under-run errors

If at least half of the errors are byte “violation” errors, the Station will conclude that there is a ring break immediately upstream of it. In this case all MI8 shutdown tasks will occur plus it will turn itself into a master so it can report to other devices downstream on the ring.

If MI9 is set to 0 at power-on/reset, the MACRO Station will automatically set it to 4.

I10: Sync Packet Shutdown Count

Determines the number of ring “sync packets” that must be received during a check period for the Station to not shut down according to the MI8 conditions.


The sync packet node number (0-15) is set by bits 16-19 of variable MI996. On the Station, this is always node 15 ($F), since this node is always active for Type 1 auxiliary communications.

MI10 = 0 means the Station can’t shut down for lack of sync packets. MI10 > MI8 = always shut down for lack of sync packets.

If MI10 is set to 0 at power-on/reset, the MACRO Station will automatically set it to 4.

I11: Station Order Number

Range: 0 – 254

Units: none

Default: 0

MI11 contains the “station-order” number of the 16 Axis MACRO Station on the ring. This permits it to respond to auxiliary MacroStation<stn> commands from a PPMAC ring controller, regardless of the 16 Axis MACRO Station’s rotary-switch settings.

The station ordering scheme permits the ring controller to isolate each master or slave station on the ring in sequence and communicate with it, without knowing in advance how the ring is configured or whether there are any conflicts in the regular addressing scheme. This is very useful for the initial setup and debugging of the ring configuration.

Normally, station order numbers of devices on the ring are assigned in numerical order, with the station downstream of the ring controller getting station-order number 1. This does not have to be the case, however.

“Unordered” stations have the station-order number 0. When the ring controller executes a MacroStation255 command, the first “unordered” station in the ring will respond.

MI11 can also be set with the ASCII command STN={constant}. The value of MI11 can also

be queried with the ASCII command STN.

I17: Amplifier Fault Disable Control

Controls whether the amplifier input to the machine interface channel mapped to each servo node by SW1 is used as one of the conditions that creates a “node fault”. The variable consists of 8 bits; each bit controls the disabling of the amplifier fault input for one of the nodes on the Station.

Syntax: MacroSlave{anynode},I17=$E6

Not used

Node 0 Enabled

Node 1 Disabled

Node 4 Disabled

Node 5 Enabled

Node 8 Enabled

Node 9 Disabled

Node 12 Disabled

Node 13 Disabled

12 - 3Hex digit

1 0Binary 0 11 01 1Hex $ 6E0

2 1

I18: Amplifier Fault Polarity

Controls the polarity of the amplifier fault input for each servo node. The variable consists of 8 bits; each bit controls the polarity for one of the servo nodes on the Station. A 0 in a bit specifies a low-true fault (low voltage input means fault); a 1 in a bit specifies a high-true fault (high voltage input means fault).

Syntax: MacroSlave{anynode},I18=$E6

Not used

12 - 3Hex digit

Node 0 Low-true

1 0Binary 0 1

Node 1 High-true

Node 4 High-true

Node 5 Low-true

Node 8 Low-true

1 01 1

Node 9 High-true

Node 12 High-true

Node 13 High-true

Hex $ 6E0

2 1

I974: Station Display Status

This variable, when queried, reports the hexadecimal digit displayed on the 16 Axis MACRO Station’s 7-segment display. The meaning of each digit is:

0: No motors enabled on Station1: 1 motor enabled on Station2: 2 motors enabled on Station3: 3 motors enabled on Station4: 4 motors enabled on Station5: 5 motors enabled on Station6: 6 motors enabled on Station7: 7 motors enabled on Station8: 8 motors enabled on Station9: (reserved for future use)A: Amplifier faultB: Ring-break faultC: Configuration change faultD: Ring data-error faultE: Loss-of-encoder faultF: Other fault

116


116

PMAC/ MACRO StationAxis Control



117

TPMAC Motor Address I-Variables

• Ixx02 Command Output Address

• Ixx03 Position-Loop Feedback Address

• Ixx04 Velocity-Loop Feedback Address

• Ixx10, Ixx95 Absolute Position Address

• Ixx25, Ixx24, Ixx42, Ixx43 Flag Address

• Ixx81, Ixx91 Absolute Phase Position Address

• Ixx82 Current-Loop Feedback Address

• Ixx83 Commutation Position Feedback Address



118

PPMAC Motor Address I-Variables

• Motor[x].pDac Command Output Address

• Motor[x].pEnc Position-Loop Feedback Address

• Motor[x].pEnc2 Velocity-Loop Feedback Address

• Motor[x].pAbsPos, Motor[x].AbsPosFormat Absolute Position Address and format

• Motor[x].pEncStatus, Motor[x].pEncCtrl Position Capture Addresses

• Motor[x].pAmpEnable, Motor[x].pAmpFault, Motor[x].pLimits Flag Addresses

• Motor[x].pAbsPhasePos, Motor[x].AbsPhasePosFormat Absolute Phase Position Address and format

• Motor[x].pAdc Current-Loop Feedback Address

• Motor[x].pPhaseEnc Commutation Position Feedback Address



119

ACC-24E2 & ACC-2E Servo IC Clock Control

MI-Variables (Global 4-Axis Board)

MI900 - MI909 control the global aspects of the hardware setup using the 4-axis piggyback boards on the Compact MACRO Station.

MS{anynode}, MI900 - PWM Channels 1-4 Frequency ControlMS{anynode}, MI903 - Hardware Clock Control Channels 1-4MS{anynode}, MI904 - PWM 1-4 Deadtime / PFM 1-4 Pulse Width ControlMS{anynode}, MI905 - DAC 1-4 Strobe WordMS{anynode}, MI906 - PWM Channels 5-8 Frequency ControlMS{anynode}, MI907 - Hardware Clock Control Channels 5-8MS{anynode}, MI908 - PWM 5-8 Deadtime / PFM 1-4 Pulse Width ControlMS{anynode}, MI909 - DAC 5-8 Strobe Word

MACRO Station Axis Node Specific RegistersMI-Variables MI910-MI919 control the hardware setup of the hardware interface channel on the station associated to a MACRO node.

MS{node}, MI910 - Encoder/Timer n Decode ControlMS{node}, MI911 - Position Compare n Channel SelectMS{node}, MI912 - Encoder Capture ControlMS{node}, MI913 - Capture n Flag Select ConrolMS{node}, MI914 - Encoder n Gated Index SelectMS{node}, MI915 - Encoder n Index Gate StateMS{node}, MI916 - Output Mode Select (PWM, DAC, PFM)MS{node}, MI917 - Output Invert ControlMS{node}, MI918 - Output n PFM Direction Signal Invert ControlMS{node}, MI920 - Absolute Power-On PositionMS{node}, MI921 - Flag Capture Position ReadMS{node}, MI922 - ADC A Input ValueMS{node}, MI923 - Compare Auto-Increment ValueMS{node}, MI924 - ADC B Input ValueMS{node}, MI925 - Compare A Position ValueMS{node}, MI926 - Compare B Position Value

Flag Status RegistersPPMAC Motor[n].MacroStatus TPMAC X:$3440, $3441, $3444, $3445,$3448,$3449,$344C, $344D

B0 - Position Capture (Trigger Event) Enable FlagB1-7 = not used.B08 - Encoder Count ErrorB09 - Position Compare Status (EQUn)B10 - Position Capture on Gated ResponseB11 - * Position Captured Flag ( See Note 1 )B12 - A Power On Reset POR or Node Reset has occurred B13 - This Node detected a MACRO Ring Break MRB B14 - Amplifier EnabledB15 - * Amplifier or Station Node shutdown Fault B16 - Home Flag (HMFLn ) Input ValueB17 - * Positive End Limit Flag(PILMn) Input Value.B18 - * Negative End Limit Flag(NILMn) Input Value. B19 - User Flag(USERn) Input Value - Available at JMACH-DIG Connector.B20 - Flag Wn Input Value - Available at JMACH-DIG Connector.B21 - Flag Vn Input Value - Available at JMACH-DIG Connector.B22 - Flag Un Input Value - Available at JMACH-DIG Connector.B23 - Flag Tn Input Value - Available at JMACH-DIG Connector.



122

Encoder Conversion Table

The Encoder Conversion Table is located at the MACRO Station. The converted data is then transferred to the PMAC as a parallel word. The conversion table has all the functionality of a PMAC conversion table. Like the PMAC, the default conversion is 1/T interpolation of quadrature type encoders.

Other conversion types include: A/D conversion, Parallel Word, Sub-count interpolation, Time-Base conversion.

MACRO Station Encoder Conversion Table

The encoder conversion table is located at memory locations $0010 through $002F

X:$0010 - $002F Converter Encoder & Time Base

Y:$0010 - $002F Source and Format

MACRO Station Variables MI120 through MI151 are memory mapped to these locations for easy conversion table setup. The data is transferred to the PMAC automatically via MACRO Station variable MI10x, where x stands for the encoder/feedback channel.

The PMAC will then read the information sent from the MACRO-Station as a parallel word.

Feedback Process

ACC-1EACC-24E2(GATE 1B)

MOTOR

Process Feedback inMACRO Station ECT andgenerate 24-bit word

MACRO CPU(GATE 2B)

MACRO IC

ECT

Create position from up/down counter

Position FeedbackVelocity Feedback

Receive Position Feedbackas Parallel word in MACROAxis Node Address

Process Feedback inUltralite as parallel word

Close position and velocityloops



125

Feedback Process

MacroSlave{anynode}, MI101-MI108 - Ongoing Position Source AddressMacroSlave{anynode}, MI111 - MI118 - Power-Up Position Source AddressMacroSlave{anynode}, MI120 - MI151 - Encoder Conversion TableMacroSlave{anynode}, MI152-MI153 - Phase-Clock Latched I/OMacroSlave{anynode}, MI161-MI168 - MLDT Frequency Control

EncoderDecoderCounter

EncoderConversion

TableMSn,MI120MSn,MI121MSn,MI122MSn,MI123

NodeTransferVariables

MSn,MI101MSn,MI102MSn,MI103MSn,MI104

Send Datato Ultralite

every phaseclock

MSn,MI910=7(example)

IntegerCount

24-bit

X:$C000X:$C008X:$C010X:$C018

$0010$0011$0012$0013

ProcessedData

Transfer to AxisNode Addresses

Y:$C0A0Y:$C0A4Y:$C0A8Y:$C0AC

QuadratureInputs

Note: MSn (TPMAC)=MacroSlaven (PPMAC)



126

Encoder Conversion Table

Example: Feedback Device 1 - Quadrature Encoder Feedback Device 2 - Analog Input From 12-bit converter board

Use Node 0 (axis1) and Node 1 (axis2)

MacroSlave0, MI120=$00C000 ($10) ;1/T information from Servo IC0 channel 1MacroSlave0, MI121=$200200 ($11) ;parallel convesrion via auto-converted data at Y:$0200 MacroSlave0, MI122=$000FFF ($12) ;mask lower 12-bits from previous entry

MacroSlave0, MI101 = $0010 ;converted data from MI120MacroSlave0, MI102 = $0012 ;converted data from MI122

The data is automatically transferred to the PMAC encoder MACRO gate array address and is converted at the PMAC conversion table as a parallel word.

TPMAC: Y:$78420 (node0), Y:$78424 (node1), Y:$78428 (node4)…PPMAC: Acc5E[i].Macro[node][0].a (node=0, 1, 4, 5…)



127

Position Feedback Process

1. Signal(s) into hardware registers in MACRO Station

2. MACRO Station Encoder Conversion Table processes feedback (e.g. 1/T extension)

3. MI10x sets ECT register to be copied into MACRO register

4. Value transmitted over ring to PMAC2 MACRO register

5. PMAC Encoder Conversion Table copies feedback from MACRO register to RAM register

6. TPMAC variables Ixx03 & Ixx04 set RAM register to be used for servo loop

7. PPMAC elements Motor[x].pEnc & Motor[x].pEnc2 set RAM register to be used for servo loop

128


128

MACRO I/O Node Data Transfer



129

Transferring Data to IO Nodes

Card MACRO CPU MACRO16 Notes UMAC IO Gate Type B

9 cards 16 cards Limited by addressing. Each card uses 48-bits.

UMAC IO Gate Type A

9 cards 12 cards Limited by Addressing. Each Card uses 48-bits.

UMAC 12-bit A/D 1 card 2 cards Limited by firmware. 8 A/D use 96-bits. 16 A/D use 192 bits. Firmware transfers use up to 14 node addresses

UMAC 16-bit A/D 7 cards 7 cards Fully populated card uses 64-bits. Most efficient to use 16-bit transfers

MACRO IO Peripheral

6 cards 12 cards One card uses one IO Node

Node 2 3 6 7 10 1124-bit 24 24 24 24 24 24

16-bit0 16 16 16 16 16 1616-bit1 16 16 16 16 16 1616-bit2 16 16 16 16 16 16



130

IO Node Use for an Order

Node 2 3 6 7 10 1124-bit 24 24 24 24 24 24

16-bit0 16 16 16 16 16 1616-bit1 16 16 16 16 16 1616-bit2 16 16 16 16 16 16

Example 1: Four ACC-65E

Example 2: One ACC-36E and Two ACC-65E

Example 3: Three ACC-65M

MACRO I/O Accessory Data Transfer

The MACRO-Station I/O can be can be configured as either an input or an output. It is the hardware connected to the MACRO I/O boards which determine whether or not the addresses defined are inputs or outputs. Each I/O node has 72-bits of data to be transferred automatically to the PMAC. For the MACRO-Station , there are three methods of transfer, 316-bit, 124-bit, or 72-bit transfer.

There are several variables at the MACRO-Station and PMAC to enable the I/O data transfer. Once these variables are set to the appropriate values, the user can then process the data like a normal PMAC. The variables to be modified at the MACRO-Station are MI19, MI69, MI70, MI71, MI169*, MI170*, MI171*, MI172*, MI173*, MI975, and MI996. The PMAC must have I6841 on TPMAC and Gate2[i].MacroEnable on PPMAC modified to enable the I/O nodes used.

MACRO Station I/O MI-Variables

MI19 will enable the MACRO station I/O reads and writes. If this value is set to a value of zero, the feature will be disabled

MI69 and MI70 are used to transfer data using the 316-bit (48-bit) reads or writes per node. Up to three I/O nodes can be specified by each of these MI-variables giving us a total of 288-bits (648)of data transfer to the PMAC.

MI71 is used to transfer data using the 24-bit transfer method. Up to 6 nodes can be specified to transfer data using MI71 giving us a total of 144-bits (624).

MI169 and MI170 transfers data using the 72-bits of data for one I/O node consisting of 316-bit (48-bit) and 124-bit transfers.

MI171, MI172, and MI173 are used to transfer 144-bits of data using two consecutive I/O nodes.

MI975 is used to specify which I/O nodes are to be activated at the MACRO Station.

MACRO Accessory I/O Transfer

MACROIC Gate at

PPMAC or TPMAC

MACRO StationGate 2B

MACRO I/O Gate at Accessory

MACHINE I/O

C0A0, C0A1, C0A2, C0A3C0A4, C0A5, C0A6, C0A7C0A8,C0A9, C0AA, C0ABC0AC,C0AD,C0AE,C0AFC0B0,C0B1, C0B2, C0B3C0B4, C0B5, C0B6, C0B7

FFC0, FFC8, FFD0, FFD8FFE0, FFE8, FFF0, FFF8

For all MACRO-Station I/O accessories, the information is transferred to or from the accessory I/O Gate to the MACRO-Station CPU Gate 2B. The information from the MACRO-Station Gate 2B is then read or written directly to the MACRO IC Gate on the PMAC. This is an automatic function once the I/O node is activated. Once the information is at the PMAC, it can then be used in the users application motion programs or PLC programs.



134

MACRO Accessory I/O TransferMACRO I/O Accessory Transfer Gate LocationsACC-9E, ACC-10E, ACC-11E,ACC-12E, ACC-14E

ACC-3E, ACC-4E, ACC-6E

$FFE0, $FFE2, $FFE4$FFE8, $FFEA, $FFEC$FFF0, $FFF2, $FFF4$FFF8, $FFFA, $FFFC

$FFC0, $FFC2, $FFC4$FFC8, $FFCA, $FFCB$FFD0, $FFD2, $FFD4$FFD8, $FFDA, $FFDC

Once the nodes have been activated at both the MACRO Station and theUltralite, the data will be transferred to the Node Transfer Addressesaccording to the setting of MACRO Station MI variables MI69, MI70, orMI71.

Node Transfer AddressesNode(s) Node 24-bit

Transfer AddressesNode 16-bit (upper 16 bits)

Transfer Addresses

2 X:$C0A0 X:$C0A1, X:$C0A2, X:$C0A3

3 X:$C0A4 X:$C0A5, X:$C0A6, X:$C0A7

6 X:$C0A8 X:$C0A9, X:$C0AA, X:$C0AB

7 X:$C0AC X:$C0AD, X:$C0AE, X:$C0AF

10 X:$C0B0 X:$C0B1, X:$C0B2, X:$C0B3

11 X:$C0B4 X:$C0B5, X:$C0B6, X:$C0B7



135

UMAC IO Card Extended Addressing for MACRO

UMAC IO Addresses for MACRO CPU

DIP SWITCH SW1 POSITIONCHIPSELECT

3U Turbo PMAC Address 6 5 4 3 2 1

Y:$8800 CLOSE CLOSE CLOSE CLOSE CLOSE CLOSE

Y:$9800 CLOSE CLOSE CLOSE OPEN CLOSE CLOSEY:$A800 CLOSE CLOSE OPEN CLOSE CLOSE CLOSE

CS10

Y:$B800 ($FFE0*) CLOSE CLOSE OPEN OPEN CLOSE CLOSE

Y:$8840 CLOSE CLOSE CLOSE CLOSE CLOSE OPEN

Y:$9840 CLOSE CLOSE CLOSE OPEN CLOSE OPENY:$A840 CLOSE CLOSE OPEN CLOSE CLOSE OPEN

CS12

Y:$B840 ($FFE8*) CLOSE CLOSE OPEN OPEN CLOSE OPENY:$8880 CLOSE CLOSE CLOSE CLOSE OPEN CLOSE

Y:$9880 CLOSE CLOSE CLOSE OPEN OPEN CLOSEY:$A880 CLOSE CLOSE OPEN CLOSE OPEN CLOSE

CS14

Y:$B880 ($FFF0*) CLOSE CLOSE OPEN OPEN OPEN CLOSEY:$88C0 CLOSE CLOSE CLOSE CLOSE OPEN OPEN

Y:$98C0 CLOSE CLOSE CLOSE OPEN OPEN OPENY:$A8C0 CLOSE CLOSE OPEN CLOSE OPEN OPEN

CS16

Y:$B8C0 CLOSE CLOSE OPEN OPEN OPEN OPEN

*Setting used for legacy systems. The default setting is ALL CLOSED position

MI19 and MI975

MI19 is used to enable the I/O node transfer process. If MI19 is set zero, then the I/O transfer is disabled. If MI19 is set to a value greater than zero, then the data is transferred in units of the phase clock cycles (9 KHz by default).

Example:

MI19 = 4 then the data will be transferred every four phase clock cycles.

MI975 is used at the power-on/reset of the Compact MACRO Station in combination with rotary switch SW1 and MI976 to determine which MACRO nodes are to be enabled. The net result can be read in Station variable MI996. To get a value of MI975 to take effect, the value must be saved (MacroSlaveSAVE{node}) and the Station reset (MacroSlave$$${node})

Example: Set MI975 to enable nodes 2 and 3

MacroSlave0, I975 Set Number MACRO IO nodes to be enabled BIT 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

VALUE 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0

MacroSlave0,i975=$000C

MI69 & MI70 (316-bit)

Hex 3 0 C 0 A 1 3 0 F F E 0

Number ofNode

Tranfers

Node Transfer Address(Starting)

Number ofConsecutive

Transfers

MACRO Station I/OAddress (Starting)

(1) 48 bit I/O transfer using node 2 with jumper E1 of ACC-9E selected

MacroSlave0, MI69=$10C0A130FFE0

(2) 96 bit I/O transfer using nodes 2 & 3, jumper E1 of ACC-9E & ACC-11E (72 inputs, 24 outputs),E6A-E6H set to 1-2 on 1st board and E6A-E6H set to 2-3 on 2nd board.


(3) 244 bit I/O transfer using nodes 2, 3, 6, 7, 10, and 11, using 3 ACC-9E (144 inputs)and 3 ACC-10E (144 outputs). Jumpers E1 on all ACC-9E selected, and jumpers E2 on all ACC-10E’s selected. Jumpers E6A-E6H selected 1-2, 2-3, 4-5 on Input Boards 1, 2, and 3 respectively. Jumpers E6A-E6H selected 1-2, 2-3, 4-5 on Onput Boards 1, 2, and 3 respectively.


MacroSlave0, MI70=$30C0AD30FFE8

MI71(124-bit)Hex 3 0 C 0 A 0 2 0 F F E 0

Pairs of NodeTransfers

Node Transfer Address(Starting)

Number ofConsecutiveResgisters

MACRO Station I/O Address(Starting)

For example:

(1) Two 24-bit I/O transfers using nodes 2 and 3 with jumper E1 of ACC-9E selected


(2) 96 bit I/O transfer using nodes 2, 3, 6, and 7, jumper E1 of ACC-9E & ACC-11E (72 inputs, 24 outputs),E6A-E6H set to 1-2 on 1st board and E6A-E6H set to 2-3 on 2nd board.


(3) 144 bit I/O transfer using nodes 2, 3, 6, 7, 10, and 11, using two ACC-9E (96 inputs)and one ACC-10E (48 outputs). Jumpers E1 on all ACC-9E selected, and jumpers E1 on all ACC-10E’s selected. Jumpers E6A-E6H selected 1-2, 2-3, 4-5 on Boards 1, 2, and 3 respectively


MI169 & MI170 (172-bit Transfer)

Hex 0 0 C 0 A 0 0 0 F F E 0

Reserved Node Transfer Address(Starting)

Reserved MACRO Station I/OAddress (Starting)





MI171, MI172, MI173 (272-bit Transfer)

Hex 0 0 C 0 A 0 0 0 F F E 0

Reserved Node Transfer Address(Starting)

Reserved MACRO Station I/O Address(Starting)

(1) 144-bit I/O transfers using nodes 2 and 3 with jumper E1 of ACC-9E selected


(2) 288 bit I/O transfer using nodes 2, 3, 6, and 7, jumper E1 of ACC-9E & ACC-11E),E6A-E6H set to 1-2 on 1st board and E6A-E6H set to 2-3 on 2nd board.

MacroSlave0, MI171=$00C0A000FFE0MacroSlave0, MI172=$00C0A800FFE8

(3) 432 bit I/O transfer using nodes 2, 3, 6, 7, 10, and 11, using two ACC-9E (96 inputs)and one ACC-10E (48 outputs). Jumpers E1 on all ACC-9E selected, and jumpers E1 on all ACC-10E’s selected. Jumpers E6A-E6H selected 1-2, 2-3, 4-5 on Boards 1, 2, and 3 respectively

MacroSlave0, MI171=$00C0A000FFE0MacroSlave0, MI172=$00C0A800FFC8MacroSlave0, MI173=$00C0B400FFF0

MACRO Data Transfer via the I/O Nodes

MACROIC Gate at

PPMAC or TPMAC

MACRO StationGate 2B

Any MACRO StationMemory Location

C0A0, C0A1, C0A2, C0A3C0A4, C0A5, C0A6, C0A7C0A8,C0A9, C0AA, C0ABC0AC,C0AD,C0AE,C0AFC0B0,C0B1, C0B2, C0B3C0B4, C0B5, C0B6, C0B7

The MACRO Station also allows the user to transfer data back to the PMAC from any MACRO station memory location. This function is useful to read the 12-bit A/D coverters, transferring data from either Gate1B or Gate 2B which are not automatically transferred, or any other location for verification or troubleshooting purposes.

The data transfer process uses MI20 and MI21-MI68 to enable this function. Since the I/O nodes are used, MI975, MI19, and the PMAC I/O node activation I-variables must also be set to appropriate values



142

Data Transfer Operation

MI20 controls which of 48 possible data transfer operations are performed at the data transfer period set by MI19. MI20 is a 48-bit value; each bit controls whether the data transfer specified by one of the variables MI21 through MI68 is performed

Hex 0 0 0 0 0 0 0 0 0 0 0 F

MI20 = $1 ;transfer MI21

MI20 = $3 ;transfer MI21 and MI22

MI20 = $F ;transfer MI21, MI22, MI23, and MI24



143

Data Transfer Operation

MI21 through MI68 are 48-bit addresses describing the transfer of data from the desired memory location to the MACRO Station I/O node location. This transfer can be done on a bit by bit basis, but typically, this data transfer process is done as a 24-bit transfer. MI20 tells the MACRO Station how many of these data transfers will take place for a given period.

MI21 - MI68 Addressing Hex Digit # 1 2 3 4 5 6 7 8 9 10 11 12

Contents “From”RegisterFormatCode

“From” Register Address “To”RegisterFormatCode

“To” Register Address

The first 24 bits (6 hex digits) specify the address of the register on the Compact MACRO Station from which the data is to be copied; the second 24 bits (6 hex digits) specify the address on the Compact MACRO Station to which the data is to be copied. In each set of six hex digits, the last four hex digits specify the actual address. The first 2 digits (8 bits) specify what portion of the address is to be used.



144

Data Transfer Operation continuedThe following table shows the 2-digit hex format codes and the portions of the address that eachone selects.

Code X or Y Bit Width Bit Range Notes$40 Y 8 0-7$48 Y 8 8-15$50 Y 8 16-23$54 Y 12 0-11 Lower 12-bit ADC registers$60 Y 12 12-23 Upper 12-bit ADC registers$64 Y 16 0-15$6C Y 16 8-23 16-bit Y Register Unsigned$6D Y 16 8-23 16-bit Y register Signed$78 Y 24 0-23 24-bit Y Register Unsigned$78 Y 24 0-23 24-bit Y Register Signed$B0 X 8 0-7$B8 X 8 8-15$C0 X 8 16-23$C4 X 12 0-11$D0 X 12 12-23$D4 X 16 0-15$DC X 16 8-23 16-bit X Register Unsigned$DD X 16 8-23 16-bit X register Signed$E8 X 24 0-23 24-bit X Register Unsigned$E9 X 24 0-23 24-bit X Register Signed

MI21=$780200E8C0A0copies 24-bit data from Station address Y:$0200 to X:$C0A0



145

Data Transfer Example EXAMPLE: TRANSFER ADC FROM ACC-28E Transfer ADC1, ADC2, ADC3, and ADC4 to PMAC using MACRO Data Transfer. (Assume MACRO Station 0). The S2 switch setting is set to the CS10 ($FFE0) selection. Since the ADC data is 16-bit data, the most efficient method of transfer is through the MACRO 16-bit data registers from nodes 2 and 3. MACRO STATION SETUP MACRO Commands Notes MacroSlave0,MI19=$4 Transfer data once every 4 phase clocks (servo default) MacroSlave0,MI975=$C Activate first I/O nodes 2 and 3 at Station MacroSlave0,MI20=$F Transfer MI21, MI22,MI23, and MI24 MacroSlave0,MI21=$6C8800DCC0A1 copies upper 16-bits data from Station address Y:$8800 to X:$C0A1 (node2) MacroSlave0,MI22=$6C8801DCC0A2 copies upper 16-bits data from Station address Y:$8801 to X:$C0A2 (node2) MacroSlave0,MI23=$6C8802DCC0A3 copies upper 16-bits data from Station address Y:$8802 to X:$C0A3 (node2) MacroSlave0,MI24=$6C8803DCC0A5 copies upper 16-bits data from Station address Y:$8803 to X:$C0A5 (node3) MacroSlaveSAVE0 Save these changes to the MACRO Sation MacroSlave$$$0 Reset the MACRO Station for changes to take affect PMAC SETUP PPMAC TPMAC Description

Gate2[0].MacroEnable=$0FB33F I6841=$0FB33F Enable nodes 0,1,2,3,4,5,8,9,12, & 13 at Ultralite

MyADC1->Gate2[0].Macro[2][1] or MyADC1->u.io.$800124.16.16

M980->X:$78421,8,16 ADC #1, 1st 16 bit word node2


M981->X:$78422,8,16 ADC #2, 2nd 16 bit word node 2

MyADC3->Gate2[0].Macro[2][3] or MyADC3->u.io.$80012C.16.16

M982->X:$78423,8,16 ADC #3, 3rd 16 bit word node 2


M983->X:$78425,8,16 ADC #4, 1st 16 bit word node 3



146

MACRO Read/Write Variables

The MACRO I-Variables MI198 and MI199 can be used to look at any MACRO Station memory location. This can be especially useful when trying to test the hardware at the MACRO Station. MI198 contains the register we want to read, and we can read the information in MI198 by querying MI199.

MacroSlave(n),MI198 is a 24 bit register where the lower 16 bits contain the address we want to read or write to and the upper 8 bits contain the number of bits and tell us whether its is an X or Y memory address.

MacroSlave(n),MI199 will respond back with the value in MacroSlave(n), MI198.



147

MI198 and MI199 Example

Example Read Using MI198 and MI199. The ACC-28E has S2 switch settings for CS10 ($8800) Selection.

MacroSlave0,MI198=$6C8800 ;For ADC1MacroSlave0,MI199 ;Request Data$000000004B78 ;Response 19320 ADC bits

MacroSlave0,MI198=$6C8801 ;For ADC2MacroSlave0,MI199 ;Request Data$00000000B46A ;Response 46186 ADC bits

148


148

Troubleshooting Techniques



149

MACRO Communications Errors

• Check Lower 4-bits of I6840 (TPMAC) or Macro.Status[0-3] (PPMAC)

• Check MI4

• Check Location Y:$343B,0,24 (TPMAC) or Macro.RingTest[0-3].PwrOnErrCntr (PPMAC)

• Check MI5



150

No Position Feedback

• Make sure Nodes are active at both the Master and Slave device• Check MI4 to make sure MACRO CPU sees the Servo Card • Check Encoder Decode parameter MacroSlaven,MI910• Check Encoder Conversion Table Setup MI120-MI151• Check Encoder Node Transfer Register MI101-MI108• Check Motor[x].pEnc (Ixx03) and Motor[x].pEnc2 (Ixx04) for proper

assignment• Check 5V supply to encoder• If quadrature encoder, check Gate Array up/down counter

– Use MI198 and MI199 to quickly check

• Check the encoder inputs to UMAC with Oscilloscope• Check Encoder Shields



151

Motor Does Not Move• Make sure Nodes are active at both the Master and Slave device• Check Auxiliary Flag Copy Variables (I70..77) (TPMAC only)• Check MI4 to make sure UMAC sees the Servo Card• Check MacroSlave(n), MI916 (Motor Output Mode)• Check Fatal Following Error• Check ± 15V supply for DAC’s• Check Limit Status

– If limits are active motor will not move• Change Motor[x].pLimits (Ixx24) if necessary

• Check Motor[x].pAmpEnable (Ixx25) to see if Amplifier Enable is directed to proper memory location

• Check Motor[x].pDac (Ixx02) to see if Effort Command is directed to proper location• Check PID and/or Motor parameters

– If at defaults, motor might not move• Check Feedrate Override (% Command)



152

Machine IO Troubleshooting• Inputs are not Working

– Check indicator LED’s– Check Inputs Directly at UBUS memory location

• Use MI198 and MI199– Make sure IO board is addressed properly– Check the actual input state coming into IO card.– Check power to Card

• Outputs are not working– Write Directly to output UMAC memory location– Make sure IO board is addressed properly– Check indicator LED’s– Check power to Card

To troubleshoot Inputs or Outputs the user may have to turn off the PLC which is servicing the read/write functions of the hardware. If problems persist you can re-initialize the card to factory defaults and

create simple definitions to the memory locations.



153

Machine IO Troubleshooting

• Make sure IO nodes are activated at both the Master and Slave device

• Make Sure MI19>0

• Verify IO transfer variables are set the appropriate value

– MI69,MI70,MI71 (usually)



154

Changing Firmware

• Obtain firmware file from Delta Tau

• Make a backup configuration file (or know where the files are at your company)

• Power Down System

• Jumper E2 from 1-2 to put Device into bootstrap mode. Also jump E1 from 1-2 to disable Watchdog

• Download file using MacroFWDown.exe

• Power down system and set E2 from 2-3 and remove E1

• Download configuration file or source code to the Device

• SAVE configuration to MACRO Device memory

• Restart MACRO Device ($$$ command or cycle power)



155

MACRO STATION SETUP EXAMPLEPlease please use your demobox to setup a 4-axis MACRO system consisting of a PMAC Ultralite, MACRO-Station CPU and a 4-axis Option card with the DAC outputs.

(1) Set switch settings on the MACRO-Station (SW1 and SW2) to the appropriate values. (2) Set the communication variables on the Ultralite

I6840, I6841, I70, I71, I78, I80, I81, I82Gate2[i].MacroMode, Gate2[i].MacroEnable, Macro.IOTimeout, Macro.TestPeriod, Macro.TestMaxErrors, Macro.TestReqdSynchs

(3) Establish Communications with the MACRO Station.Check MacroSlaven, I996Encoder 1 should be operation in the position window

(4) Set the output Mode on the MACRO Station Nodes for DAC outputMacroSlaven, MI916 = 3

(5) Set the Encoder decode to its proper value MacroSlaven, MI910 = 7 or 3

(6) Set Ix25 on the Ultralite (Motor[x].pEncStatus, Motor[x].pEncCtrl , Motor[x].pAmpEnable, Motor[x].pAmpFault, Motor[x].pLimits Motor[x].pAbsPhasePos,

Motor[x].AbsPhasePosFormat )(7) Tune the motor (Tuning Session)(8) Home motor to Home Flag Input (MacroSlaven,MI912)



156

Data Transfer MI-Variables

MacroSlave{anynode}, MI19 - I/O Data Transfer PeriodMacroSlave{anynode}, MI20 - Data transfer Enable MaskMacroSlave{anynode}, MI21-MI68 - Data transfer Source and Destination AddressMacroSlave{anynode}, MI69, MI70 - I/O Board Transfer Control (16-bit)MacroSlave{anynode}, MI71 - I/O Board Transfer Control (24-bit)

MacroSlave{anynode}, MI987 - A/D Input EnableMacroSlave{anynode}, MI988 - A/D Unipolar/Bipolar Control

MacroSlave{anynode}, MI975 - I/O Node EnableMacroSlave{anynode}, MI976 - Motor Node Disable



157

I/O Transfer Example

Active Nodes for Compact MACRO I/O Station (Jumper2)Option Node(s) Gate

Addresses Node Transfer Addresses48-Bit 2 $FFC8 $C0A1,$C0A2,$C0A396-Bit 2,3 $FFC8 $C0A1,$C0A2,$C0A3

$FFCA $C0A5,$C0A6,$C0A7144-Bit 2,3,6 $FFC8 $C0A1,$C0A2,$C0A3

$FFCA $C0A5,$C0A6,$C0A7$FFCC $C0A9,$C0AA,$C0AB

MacroSlave0,I69=$10C0A130FFC8 ;sets up macro to transfer dataMacroSlave0,I975=4 ;enable node 2 for I/OMacroSlave0,I19=1 ;sets interrupt period for data transferI6841(Gate2[i].MacroEnable)=$FB337 ;sets up macro PMACMacroSlaveSAVE0 ;save to macro stationMacroSlave$$$0 ;reset macro station to enable

Create M-variables at the PMAC to test the inputs and outputs.



158

I/O Data TransferPMAC M-Variable Definitions

TPMAC:M10->X:$78421,8,16 ;IO word #1, 1st 16 bit wordM11->X:$78422,8,16 ;IO word #2, 2nd 16 bit wordM12->x:$78423,8,16 ;IO word #3, 3rd 16 bit word

PPMAC (IC0, Node2, Registers 1,2 and 3):IOword1->u.io:$800124,16,16 ;IO word #1, 1st 16 bit wordIOword2->u.io:$800128,16,16 ;IO word #2, 2nd 16 bit wordIOword3->u.io:$80012C,16,16 ;IO word #3, 3rd 16 bit word

ACC-28E A/D Transfer Example

USING MI198 and MI199 to Verify The ACC-28E ADC’s

The MACRO I-Variables MI198 and MI199 can be used to look at any MACRO Station memory location. This can be especially useful when trying to test the hardware at the MACRO Station. MI198 contains the register we want to read, and we can read the information in MI198 by querying MI199.

MacroSlaven,MI198 is a 24 bit register where the lower 16 bits have the address and the upper 8 bits contain the number of bits and tell us whether its is an X or Y memory address.

MacroSlaven,MI199 will respond back with the value in MacroSlave0,MI198.

Example Read Using MI198 and MI199. The ACC-28E has S2 switch settings for CS10 ($FFE0) Selection.

MacroSlave0,MI198=$6CFFE0 ;For ADC1MacroSlave0,MI199 ;Request Data$000000004B78 ;Response 19320 ADC bits

MacroSlave0,MI198=$6CFFE1 ;For ADC2MacroSlave0,MI199 ;Request Data$00000000B46A ;Response 46186 ADC bits



160

ACC28BSample MACRO Station Setup for ADC channel 1A

(1)ADC1A mapped to Y:$C005 at 4-Axis option Gate 1B with E1 jumpered 1-2.(2)Y:$C005 is automatically read by Y:$C0A1 at gate2B at the MACR0 CPU. Since this memory location is essentially shared with the PMAC, we could then point an M-variable to this location to use without going through the encoder conversion table on the MACRO station or using its complex I/O transfer.

TPMAC:M10->Y:$78421,8,16 ;ADC1A

PPMAC (IC0, Node0, Register 1):IOword1->u.io:$800104,16,16 ; ADC1A



161

ACC36E A/D Conversion

This example uses the I/O transfer method. This method will allow a user to transfer data from any MACRO station memory location to the I/O transfer node. This could be done on a bit by bit basis or as a 24-bit transfer. For ACC-6E, the ADC locations are found at locations Y:$0200 through Y:$0207. These 24-bit registers contain the information for 2 channels of data. The lower 12 bits contains ADC value for channel 1-8 and the upper 12-bits contains the ADC value for channels 9-16.

ADC1 Y:$0200,0,12 ADC9 Y:$0200,12,12 ADC2 Y:$0201,0,12 ADC10 Y:$0201,12,12ADC3 Y:$0202,0,12 ADC11 Y:$0202,12,12 ADC4 Y:$0203,0,12 ADC12 Y:$0203,12,12ADC5 Y:$0204,0,12 ADC13 Y:$0204,12,12 ADC6 Y:$0205,0,12 ADC14 Y:$0205,12,12ADC7 Y:$0206,0,12 ADC15 Y:$0206,12,12 ADC8 Y:$0207,0,12 ADC16 Y:$0207,12,12



162

ACC-36E A/D Conversion

This information can be transferred to the MACRO station node address and then read and processed at the PMAC. The read method used with MacroSlaven, I21 through MacroSlaven, I68 are of the following format: 8-bit 16-bit 8-bit 16-bit MacroSlaven, I21 = [register type][source][register type][address]

The register type describes whether it is an X or Y register and also how many bits will be transferred.

Example MacroSlave0, I21=$780200E8C0A0

This will transfer Y:$0200,0,24 to X:$C0A0,0,24

Data Acquisition Example uses 2 nodes with multiple reads uses a countdown timerTPMAC:m960->x:$78420,0,24 ;uses node 2, 24-bit registerm961->x:$78424,0,24 ;uses node 3, 24-bit registerPPMAC:FirstReg->u.io:$800120,8,24 ;uses node 2, 24-bit registerSecondReg->u.io:$800130,8,24 ;uses node 3, 24-bit register

MacroSlave0,i975=$c ;enable nodes 2 and 3MacroSlave0,i19=4 ;transfer every 4 phase clocksMacroSlave0,i20=3 ;enable 2 i/o transfersMacroSlave0,i987=1 ;enable ADC ACC 6EMacroSlave0,i988=0 ;uni-polar modeMacroSlave0,i989=$8800 ;base address of acc36e



163

Turbo Ultralite Setup Example

This section explains the special considerations that are required for the setup of PMAC with two MACRO IC’s on board (at least) and three MACRO station. MACRO IC0 interfaces with MS1 and MACRO IC1 interfaces with MS2. and MS3

MS 1

PMAC 2x ICs

M 1 M 4M 3M 2

MS 2

M 1 M 4M 3M 2

MS 3

M 5 M 8M 7M 6



164

MS Jumper Settings: MACRO Station 1, 4-axis board: E1 jumpers pins 1 and 2 to select 1st 4 motors MACRO Station 2, 4-axis board: E1 jumpers pins 1 and 2 to select 1st 4 motors MACRO Station 3, 4-axis board: E1 jumpers pins 1 and 2 to select 1st 4 motors

MS Switch Settings: MACRO Station 1, CPU board: SW1: Set @ 0 to select MACRO nodes 0,1,4,5

SW2: Set @ 0 to Master # 0 MACRO Station 2, CPU board: SW1: Set @ 0 to select MACRO nodes 0,1,4,5

SW2: Set @ 1 to select Master # 1 MACRO Station 3, CPU board: SW1: Set @ 1 to select MACRO nodes 8,9,12,13

SW2: Set @ 1 to select Master # 1



165

I-Variables Setup: MACRO IC0: I6840=$30 ;Sets MACRO IC0 as a Ring Master and Ring Controller I6841=$F8033 ;Specify master # 0 and enables nodes 0,1,4,5 I70=$33 ;Enables flag registers of nodes 0,1,4,5 for data transfer I71=$33 ;Specify Protocol type 1 for nodes 0,1,4,5

MACRO IC1: I6890=$90 ;Sets MACRO IC1 as a Ring Master only I6891=$1FB333;Specify master # 1 and enables nodes 0,1,4,5,8,9,12,13 I72=$3333 ;Enables flag registers of nodes 0,1,4,5,8,9,12,13 for data transfer I73=$3333 ;Specify Protocol type 1 for nodes 0,1,4,5,8,9,12,13

Notes: I6840 (TPMAC) is Gate2[0].MacroMode (PPMAC) I6841 (TPMAC) is Gate2[0]. MacroEnable (PPMAC) I6890 (TPMAC) is Gate2[1].MacroMode (PPMAC) I6891 (TPMAC) is Gate2[1]. MacroEnable (PPMAC) I70 to I73 (TPMAC) not exiting on PPMAC (automatic copy of flags, Type 1 communication only)



166

MACRO Comparisons:

• Firewire

• USB

• SERCOS



167

Limitations of FireWire for Servo Interface

• Limited distance: 4.5m (15 ft) between nodes

• Electrical transmission only: limited noise immunity

• No isolation possible: potential ground-loop problems– Requirement to provide power to nodes through cable

• Synchronous transmission at 125 usec intervals only– Maximum possible update rate is 8 kHz

• Standard does not support synchronous feedback

• Complex protocol for collision prevention limits bandwidth; high bit rate effectively reduced (/4)– Ormec’s ServoWire updates 8 axes at only 2 kHz

• Cable more expensive than RJ-45



168

Limitations of USB for Servo Interface

• Maximum of 5m (16 ft) between nodes

• Electrical transmission only: limited noise immunity

• No isolation possible: potential ground-loop problems– Requirement to provide power to nodes through cable

• Low data rate (12.5 Mbps max.) limits bandwidth

• Complex protocol limits effective bandwidth

• No synchronous data-transfer protocol

• Design optimized for connecting low-power desktop peripherals



169

Limitations of SERCOS for Servo Interface

• Low data rate (4 Mbps) limits bandwidth

• Generally low ring update rates (~1 kHz)

• Usually all loops must be closed in drive– Requires sophisticated algorithms in drive

– Requires extensive software setup of drive

• Significant delays in reacting to remote events

• Very complex protocol– Needed to support all the functions that must be distributed

• Limited to 75m (250ft) between nodes



170

MACRO and Turbo RACK Accessories



171

ACC-24E2 Backplane Axis Board

• Backplane connection to Interface/CPU Board

• 2 axes of axis interface circuitry and breakout

• Standard direct PWM drives

• 2 Mini-D 36-pin connectors for drives

• 2 optional PFM outputs for Steppers or MLDT’s

• Removable terminal block for flags

• Optional 2-slot 4-axis configuration

• Occupies 1 of 4 backplane axis-board addresses

• Encoder Loss Circuit

• 5V to 24V Flag Circuits



172

ACC-24E2A Backplane Axis Board



• 2 DAC’s per channel



• Optional 2-slot 4-axis configuration






173

ACC-24E2S Backplane Axis Board




• 4 quadrature encoder inputs





ACC-24E2A



175

ACC-51E 4096 Interpolator

• For UMAC MACRO or UMAC Turbo

• Single-slot 3U Board

• Backplane connection to Interface/CPU

• Two or four 1V pp Sinusoidal Encoders




176

ACC-53E SSI Encoder Interface

• For UMAC MACRO or UMAC Turbo

• Single-slot 3U Board

• Backplane connection to Interface/CPU

• Up to 8 Synchronous Serial Interface (SSI) encoders processed

• Up to 24-bit resolution

SSI Interface



178

ACC-9E 48-Input Board

• Backplane connection to Interface/CPU Board• 48 isolated 12-24V inputs, sinking/sourcing by

user configuration• Removable terminal block breakout, top and

bottom edges• 3 can occupy 1 of 4 backplane I/O-board

addresses



179

ACC-10E 48-Output Board

• Backplane connection to Interface/CPU Board• 48 isolated 12-24V outputs, 100 mA each

– Option A1 provides sinking drivers

– Option A2 provides sourcing drivers

• Removable terminal block breakout, top and bottom edges

• 3 can occupy 1 of 4 backplane I/O-board addresses



180

ACC-11E 24-In/24-Out Board


• 24 isolated 12-24V inputs, sinking/sourcing by user configuration

• 24 isolated 12-24V outputs, 100 mA each– Option A1 provides sinking drivers




ACC-11E



182

ACC-12E 24-In/24-Out Board


• 24 isolated 12-24V inputs, sinking/sourcing by user configuration

• 24 isolated 12-24V outputs, 1A each– Option A1 provides sinking drivers




ACC-12E



184

ACC-14E 48-I/O Board


• 48 I/O points, direction individually controlled

• 5V low-current sinking drivers

• 2 50-pin IDC headers, top and bottom– Flat cable connection to Opto-22/Grayhill boards

• Usable for parallel-format feedback

• 3 can occupy 1 of 4 backplane I/O board addresses



185

ACC-28E A/D-Converter Board

• 2 or 4 16-bit A/D converters• +/-10V input range• Optically isolated A/Ds• Same A/D circuitry as ACC-28B• Backplane connection to CPU/interface board• 2 can occupy 1 of 4 backplane I/O spaces• Does not require DSPGATE interface



186

ACC-36E A/D-Converter Board

• 8 or 16 12-bit A/D converters• +/-20V input range• Same A/D circuitry as ACC-36P/V• Backplane connection to CPU/interface board

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