Delta Tau GEO MACRO DRIVE User Manual download pdf (Page 131)

Geo MACRO Drive User and Reference Manual

Turbo PMAC2 Related I-Variable Reference 119

TURBO PMAC2 RELATED I-VARIABLE REFERENCE

Ixx10: Motor xx Power-On Servo Position Address

Range: $000000 - $FFFFFF

Units: Turbo PMAC or Multiplexer Port Addresses

Default: $0

Ixx10 controls whether Turbo PMAC reads an absolute position sensor for Motor xx on power-up/reset

and/or with the $* or $$* commands. If an absolute position read is to be done, Ixx10 specifies what

If Ixx10 is set to 0, no absolute power-on/reset position read is performed. The power-on/reset position is

considered to be zero, even if an absolute sensor reporting a non-zero value is used. Ixx10 should be set

to 0 when an incremental position sensor is used; a homing search move is typically then executed to

establish a position reference.

If Ixx10 is set to a non-zero value, an absolute position read is performed for Motor xx at power-on/reset,

from the register whose location is specified in Ixx10 (unless Bit 2 of Ixx80 is set to 1). This is either the

address of a Turbo PMAC register, the multiplexed data address on the Multiplexer Port, or the number of

the MACRO node on the Turbo PMAC, depending on the setting of Ixx95. The motor’s position is set to

the value read from the sensor location the Ixx26 home offset value.

Ixx10 is used only on power-on/reset, when the $* command is issued for the motor, or when the $$*

command is issued for the coordinate system containing the motor. To get a new value of Ixx10 to take

effect, either the $* or $$* command must be issued, or the value must be stored to non-volatile flash

memory with the SAVE command, and the board must be reset.

Note:

Variable Ixx81 (with Ixx91) performs the same power-on position read function

for the phasing (commutation) algorithm.

R/D Converter Read: If Ixx95 is set to a value from $000000 to $070000, or from $800000 to $870000,

the address specified in Ixx10 is a Multiplexer Port address. Turbo PMAC will read the absolute position

from an Acc-8D Opt 7 Resolver-to-Digital Converter board at that port address, as set by DIP switches on

the board. Ixx95 specifies which R/D converter at that address is read, and whether it is treated as a

signed or unsigned value.

If Ixx99 is greater than 0, the next R/D converter at that port address is also read as a second geared-down

resolver, with Ixx99 setting the gear ratio. If Ixx98 is also greater than 0, the next R/D converter past that

one at the same port address is read as a third geared-down resolver, with Ixx98 setting the gear ratio.

In this mode, bits 1 through 7 of Ixx10 match the settings of DIP-switches SW1-2 through SW1-8,

respectively, on the Acc-8D Opt 7 R/D Converter board. A CLOSED (ON) switch represents a 0 value;

an OPEN (OFF) switch represents a 1 value. Bit 0 and bits 9 through 23 of Ixx10 are always set to 0 in

this mode; bit 8 is only set to 1 if all other bits are 0.

The following table shows the common Multiplexer Port addresses that can be used. Note that address 0

uses an Ixx10 value of $000100, because Ixx10=0 disables the absolute position read function.

1 2 ... 126 127 128 129 130 131 132 133 134 135 136 ... 204 205

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Delta Tau GEO MACRO DRIVE User Manual Page 131