Delta Tau GEO MACRO DRIVE User Manual Page 133
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Geo MACRO Drive User and Reference Manual
Turbo PMAC2 Related I-Variable Reference 121
The following table shows the required values of Ixx10 for all of the MACRO nodes that can be used.
Note that MACRO IC 0 Node 0 uses an Ixx10 value of $000100, because Ixx10=0 disables the absolute
position read function.
Ixx10 for MACRO Absolute Position Reads
(Ixx95=$720000 - $740000, $F20000 - $F40000)
Addresses are MACRO Node Numbers
MACRO Node
Number
Ixx10 for
MACRO IC 0
Ixx10 for
MACRO IC 1
Ixx10 for
MACRO IC 2
Ixx10 for
MACRO IC 3
0 $000100 $000010 $000020 $000030
1 $000001 $000011 $000021 $000031
4 $000004 $000014 $000024 $000034
5 $000005 $000015 $000025 $000035
8 $000008 $000018 $000028 $000038
9 $000009 $000019 $000029 $000039
12 $00000C $00001C $00002C $00003C
13 $00000D $00001D $00002D $00003D
If obtaining the absolute position through a Delta Tau MACRO Station or equivalent, MACRO Station
setup variable MI11x for the matching node must be set properly to obtain the type of information
desired.
Ixx25, Ixx24: Flag Address and Mode
If the auxiliary functions for Node n of MACRO IC 0, 1, 2, or 3 have been enabled by setting Bit n of I70,
I72, I74, or I76, respectively, to 1, the flag information in Register 3 for the node is copied automatically
to and from PMAC RAM register $00347n, $00357n, $00367n, or $00377n, respectively. In this case,
Ixx25 should specify the address of the RAM copy, not the actual MACRO interface register.
The following table lists the default values for Ixx25 on a Turbo PMAC2 Ultralite, which shows the
address of the RAM copy register for each MACRO servo node:
Turbo PMAC2 Ultralite Ixx25 Defaults
Ixx25 Value Register Ixx25 Value Register
I125 $003440 MACRO Flag Register Set 0 I1725 $003460 MACRO Flag Register Set 32
I225 $003441 MACRO Flag Register Set 1 I1825 $003461 MACRO Flag Register Set 33
I325 $003444 MACRO Flag Register Set 4 I1925 $003464 MACRO Flag Register Set 36
I425 $003445 MACRO Flag Register Set 5 I2025 $003465 MACRO Flag Register Set 37
I525 $003448 MACRO Flag Register Set 8 I2125 $003468 MACRO Flag Register Set 40
I625 $003449 MACRO Flag Register Set 9 I2225 $003469 MACRO Flag Register Set 41
I725 $00344C MACRO Flag Register Set 12 I2325 $00346C MACRO Flag Register Set 44
I825 $00344D MACRO Flag Register Set 13 I2425 $00346D MACRO Flag Register Set 45
I925 $003450 MACRO Flag Register Set 16 I2525 $003470 MACRO Flag Register Set 48
I1025 $003451 MACRO Flag Register Set 17 I2625 $003471 MACRO Flag Register Set 49
I1125 $003454 MACRO Flag Register Set 20 I2725 $003474 MACRO Flag Register Set 52
I1225 $003455 MACRO Flag Register Set 21 I2825 $003475 MACRO Flag Register Set 53
I1325 $003458 MACRO Flag Register Set 24 I2925 $003478 MACRO Flag Register Set 56
I1425 $003459 MACRO Flag Register Set 25 I3025 $003479 MACRO Flag Register Set 57
I1525 $00345C MACRO Flag Register Set 28 I3125 $00347C MACRO Flag Register Set 60
I1625 $00345D MACRO Flag Register Set 29 I3225 $00347D MACRO Flag Register Set 61
- Geo MACRO Drive 1
- Copyright Information 3
- Operating Conditions 3
- Safety Instructions 3
- WARNING 4
- INTRODUCTION 13
- MACRO Defined 14
- Feedback Devices 15
- Compatible Motors 15
- Motor Poles 16
- Motor Inductance 16
- Motor Resistance 16
- Motor Back EMF 16
- Motor Torque Constant 17
- Motor Inertia 17
- Motor Cabling 17
- 6 Introduction 18
- GL03 1 0 19
- Geo MACRO Feedback Options 20
- Package Types 20
- Electrical Specifications 21
- 480VAC Input Drives 23
- Environmental Specifications 25
- 14 Specifications 26
- RECEIVING AND UNPACKING 27
- 16 Receiving and Unpacking 28
- MOUNTING 29
- Low Profile 30
- Single Width 31
- Double Width 32
- CONNECTIONS 33
- Noise Problems 34
- Operating Temperature 34
- Single Phase Operation 34
- Wiring AC Input, J1 35
- Wiring Earth-Ground 35
- Wiring the Motors 36
- Wiring the Motor Thermostats 37
- Shunt Regulation 39
- Minimum Resistance Value 39
- Maximum Resistance Value 39
- Energy Transfer Equations 39
- Bonding 41
- Filtering 42
- Input Power Filtering 43
- Motor Line Filtering 43
- I/O Filtering 43
- Digital Quadrature Encoders 44
- SSI Encoders 45
- In_Therm_Mot 46
- Hiperface® Interface 47
- EnDat Interface 48
- Resolvers 49
- Hardware Setup 50
- Sample wiring the I/O 51
- Sample Wiring the Flags 52
- Connections 41 53
- -10VDC to 54
- Introduction 55
- 44 Software Setup 56
- Software Setup 45 57
- 46 Software Setup 58
- MACRO Node Addresses 59
- 48 Software Setup 60
- Software Setup 49 61
- 50 Software Setup 62
- Software Setup 51 63
- Software Setup 53 65
- 54 Software Setup 66
- Software Setup 55 67
- 56 Software Setup 68
- Software Setup 57 69
- 58 Software Setup 70
- • Ring Controller 70
- • MACRO Station #n 70
- Software Setup 59 71
- 60 Software Setup 72
- Software Setup 61 73
- 62 Software Setup 74
- Software Setup 63 75
- MACRO ASCII Communications 76
- Software Setup 65 77
- 66 Software Setup 78
- SETTING UP PRIMARY FEEDBACK 79
- Controller 81
- Four hardware counts per line 82
- One HW count 82
- Setting up Endat 84
- Setting up Resolvers 84
- Scaling the Feedback Units 86
- PWM/ADC Phase Match 97
- Current Loop Polarity Check 97
- Troubleshooting 98
- Purpose 98
- Preparation 99
- Signal Format 100
- Hall Sensors at 0 102
- HEZ @ +60 degrees electrical 103
- Reversed Hall Sense (1) 106
- Ixx91=$CB0000 107
- Setting I 108
- T Protection 108
- Inputs and Outputs 111
- CONNECTORS 117
- X2: Encoder Input 2 118
- X3: General Purpose I/O 119
- X4: Safety Relay (Optional) 120
- X8: S. Encoder 1 121
- X9: S. Encoder 2 121
- X13: Discrete I/O 121
- MACRO Link Connectors 123
- USB Connector 123
- TROUBLESHOOTING 125
- MACRO Network Errors 126
- Status LEDs 127
- Status Word 129
- 118 Troubleshooting 130
- WARNING: 136
- Global MI-Variables 145
- Range: 0 – 255 166
- 164 Useful Notes 176
- Appendix A 165 177
- APPENDIX A 178
- CONKIT1A 180
- CONKIT1C 180
- CONKIT2A 180
- CONKIT2C 180
- CONKIT4A 181
- Cable Drawings 182
- Appendix A 171 183
- 172 Appendix A 184
- Appendix A 173 185
- 174 Appendix A 186
- Appendix A 175 187
- Model Description 188
- , single or dual axis 188
- Appendix A 177 189
- 178 Appendix A 190
- Appendix A 179 191
- APPENDIX B 192
- General Purpose Inputs 1-4 193
- General Purpose Outputs 1-4 193
- X6 and X7: Analog Inputs 194
- ENCODER 3/4 195
- APPENDIX C 196
- Appendix C 185 197
- APPENDIX D 198
- Turbo PMAC2 Node Addresses 199
- ADC Register Table 201
- USEFUL NOTES 205
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