Delta Tau GEO MACRO DRIVE User Manual download pdf (Page 143)

Geo MACRO Drive User and Reference Manual

Turbo PMAC2 Related I-Variable Reference 131

In this mode, bit 22 of Ixx95 specifies whether a Y-register is to be read, or an X-register. A value of 0 in

this bit specifies a Y-register; a value of 1 specifies an X-register. Almost all-common sources of

absolute position information are located in Y-registers, so this digit is usually 0.

In this mode, bit 23 of Ixx95 specifies whether the position is interpreted as an unsigned or a signed value.

If the bit is set to 0, it is interpreted as an unsigned value, if the bit is 1, it is interpreted as a signed value.

Combining these components, Ixx95 values in this mode can be summarized as:

$08000n - $30000n: Parallel Y-register read, unsigned value, 8 to 48 bits

$48000n - $70000n: Parallel X-register read, unsigned value, 8 to 48 bits

$88000n - $B0000n: Parallel Y-register read, signed value, 8 to 48 bits

$C8000n - $F0000n: Parallel X-register read, signed value, 8 to 48 bits

Example 1: If Ixx10=$078D00 and Ixx95=$200000, Turbo PMAC would read 32 bits, the low 24 bits

from Y:$078D00, and the high eight bits from the low eight bits of Y:$078D01.

Example 2: If Ixx10=$078C00 and Ixx95=$100004, Turbo PMAC would read 16 bits, with the low

eight bits from the low byte of Y:$078C00, and the high eight bits from the low byte of Y:$078C01.

Example 3: If Ixx10=$079E03 and Ixx95=$120005, Turbo PMAC would read 18 bits, with the low

eight bits from the middle byte of Y:$079E03, and the next eight bits from the middle byte of Y:$079E04,

and the high two bits from the first two bits of the middle byte of Y:$079E05.

Geo MACRO Drive Example for Absolute Position Data

If there are two Geo MACRO drives, the first one has two axis and axis 2 uses Resolver. The other Geo

MACRO drive has only one axis, quadrature encoder feedback.

I210=$3508

I295=$5B0000 ; Turbo PMAC would read 19 bits X-register

Turbo Ultralite ECT

I8000=$2F8420 ; $3501

I8001=$18000 ; $3502

I8002=$2F8424 ; $3503 Resolver

I8003=$18000 ; $3504

I8004=$2F8428 ; $3505

I8005=$18000 ; $3506

I8006=$603503 ; $3507 Read Y/X word-parallel, no filtering

; (2 line entry)

I8007=$01301D ; $3508 Uses 19 bits ($013) parallel data,

; shifted by 5-bits ($01D)

MS0,MI101=0 ;Geo1-ch1 quadrature

MS1,MI102=5 ;Geo1-ch2 resolver

MS4,MI101=0 ;Geo2-ch1 quadrature

Ixx97 Motor xx Position Capture and Trigger Mode

Range: 0 - 3

Units: none

Default: 0

Ixx97 controls the triggering function and the position capture function for triggered moves on Motor xx.

These triggered moves include homing search moves, on-line jog-until-trigger moves, and motion

program RAPID-mode move-until-trigger. Ixx97 is a 2-bit value: bit 0 controls the how the capture of the

trigger position is done (the post-trigger move is relative to the trigger position), and bit 1 specifies what

the trigger condition is.

Hardware Capture: If Ixx97 is set to 0 or 2 (bit 0 = 0), Turbo PMAC will use the hardware-captured

position in the Servo IC as the trigger position. This is the “flag-capture” register associated with the flag

set used for the motor, as specified for Ixx25. In order for this to work properly, the position-loop

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Delta Tau GEO MACRO DRIVE User Manual Page 143

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