Delta Tau 16-AXIS User Manual

^1 SOFTWARE REFERENCE MANUAL ^2 16-AXIS MACRO CPU ^3 16-Axis MACRO CPU ^4 3Ax-603719-xSxx ^5 April 4, 2007 Single So

16-Axis MACRO CPU Software Reference Manual 2 16-Axis MACRO Station MI-Variable Reference MS{anynode},MI3 Station Rotary Switch Setting Range:

16-Axis MACRO CPU Software Reference Manual 16-Axis MACRO Station MI-Variable Reference 3 MS{anynode},MI5 Ring Error Counter Range: $000000 -

16-Axis MACRO CPU Software Reference Manual 4 16-Axis MACRO Station MI-Variable Reference The Station can detect four types of communications erro

16-Axis MACRO CPU Software Reference Manual 16-Axis MACRO Station MI-Variable Reference 5 MS{anynode},MI12 Card Identification Range: 0 – $FFFFF

16-Axis MACRO CPU Software Reference Manual 6 16-Axis MACRO Station MI-Variable Reference If MI16 is set to 1, then the ASIC’s own encoder-loss st

16-Axis MACRO CPU Software Reference Manual 16-Axis MACRO Station MI-Variable Reference 7 The following table shows the relationship between the bit

16-Axis MACRO CPU Software Reference Manual 8 16-Axis MACRO Station MI-Variable Reference MI20 Bit # Bit Value Transfer-Control MI-Variable MI20

16-Axis MACRO CPU Software Reference Manual 16-Axis MACRO Station MI-Variable Reference 9 The following table shows the 2-digit hex format codes and

16-Axis MACRO CPU Software Reference Manual 10 16-Axis MACRO Station MI-Variable Reference MI69 and MI70 are 48-bit variables represented as 12 he

16-Axis MACRO CPU Software Reference Manual 16-Axis MACRO Station MI-Variable Reference 11 MS{anynode},MI71 I/O-Board 24-Bit Transfer Control Rang

Copyright Information © 2007 Delta Tau Data Systems, Inc. All rights reserved. This document is furnished for the customers of Delta Tau Data S

16-Axis MACRO CPU Software Reference Manual 12 16-Axis MACRO Station MI-Variable Reference MS{anynode},MI72-MI89 Output Power-On/Shutdown State

16-Axis MACRO CPU Software Reference Manual 16-Axis MACRO Station MI-Variable Reference 13 MS{anynode},MI91 - MI98 Phase Interrupt 24 Bit Data Co

16-Axis MACRO CPU Software Reference Manual 14 16-Axis MACRO Station MI-Variable Reference MS{anynode},MI109 - MI110 (Reserved for Future Use) M

16-Axis MACRO CPU Software Reference Manual 16-Axis MACRO Station MI-Variable Reference 15 $30 ($B0) Triple-Byte Parallel (24 bits) in middle bytes

16-Axis MACRO CPU Software Reference Manual 16 16-Axis MACRO Station MI-Variable Reference MACRO IC 0 MI-Var. Address MI-Var. Address MI-Var. Addr

16-Axis MACRO CPU Software Reference Manual 16-Axis MACRO Station MI-Variable Reference 17 $Dx 3 Exponential filter of parallel data Max Change p

16-Axis MACRO CPU Software Reference Manual 18 16-Axis MACRO Station MI-Variable Reference High Resolution: With the $Fx method, the table comput

16-Axis MACRO CPU Software Reference Manual 16-Axis MACRO Station MI-Variable Reference 19 When this data is passed to a PMAC, and it reads this dat

16-Axis MACRO CPU Software Reference Manual 20 16-Axis MACRO Station MI-Variable Reference Parallel Feedback Entries ($2x, $3x, $6x, $7x): The par

16-Axis MACRO CPU Software Reference Manual 16-Axis MACRO Station MI-Variable Reference 21 The following table shows the addresses for each channel

REVISION HISTORY REV. DESCRIPTION DATE CHG APPVD 1 UPDATED MI4 FAULT DESCRIPTION, P. 2 04/04/07 CP B.PEDERSEN

16-Axis MACRO CPU Software Reference Manual 22 16-Axis MACRO Station MI-Variable Reference MI152 and MI153 are 48-bit values represented by 12 hex

16-Axis MACRO CPU Software Reference Manual 16-Axis MACRO Station MI-Variable Reference 23 If MI16x is set to a value greater than 0, then the 24-bi

16-Axis MACRO CPU Software Reference Manual 24 16-Axis MACRO Station MI-Variable Reference When this function is active, the 16-axis MACRO Station

16-Axis MACRO CPU Software Reference Manual 16-Axis MACRO Station MI-Variable Reference 25 Digit # Possible Values Description 1 0 (Reserved fo

16-Axis MACRO CPU Software Reference Manual 26 16-Axis MACRO Station MI-Variable Reference The following table shows the mapping of I/O points on

16-Axis MACRO CPU Software Reference Manual 16-Axis MACRO Station MI-Variable Reference 27 MS{anynode},MI180 MACRO/SERVO IC #2 Base Address Range:

16-Axis MACRO CPU Software Reference Manual 28 16-Axis MACRO Station MI-Variable Reference MACRO IC I/O Transfer MI-Variables Each MACRO IC (0 and

16-Axis MACRO CPU Software Reference Manual 16-Axis MACRO Station MI-Variable Reference 29 MI198 Format Digits (continued) MI198 Digits Address Spac

16-Axis MACRO CPU Software Reference Manual 30 16-Axis MACRO Station MI-Variable Reference MI198 Format Digits (continued) MI198 Digits Address Sp

16-Axis MACRO CPU Software Reference Manual 16-Axis MACRO Station MI-Variable Reference 31 MACRO/SERVO ICs Gate Addr MInns X:MI200 Bit Chip Selec

16-Axis MACRO CPU Software Reference Manual 4 Table of Contents Table of Contents 16-AXIS MACRO STATION MI-VARIABLE REFERENCE...

16-Axis MACRO CPU Software Reference Manual 32 16-Axis MACRO Station MI-Variable Reference MS{anynode}, MI205 Background Cycle Time Range: 0 Uni

16-Axis MACRO CPU Software Reference Manual 16-Axis MACRO Station MI-Variable Reference 33 MS{anynode}, M210 – MI225 Servo IC Identification Variab

16-Axis MACRO CPU Software Reference Manual 34 16-Axis MACRO Station MI-Variable Reference Example: To set a PWM frequency of 10 kHz: MI900 = (1

16-Axis MACRO CPU Software Reference Manual 16-Axis MACRO Station MI-Variable Reference 35 The pulse-frequency-modulation clock PFM_CLK controls the

16-Axis MACRO CPU Software Reference Manual 36 16-Axis MACRO Station MI-Variable Reference MI904 controls the deadtime period between top and bott

16-Axis MACRO CPU Software Reference Manual 16-Axis MACRO Station MI-Variable Reference 37 Generally, MI906 is set to the same value as MI992. If a

16-Axis MACRO CPU Software Reference Manual 38 16-Axis MACRO Station MI-Variable Reference The encoder sample clock signal SCLK controls how often

16-Axis MACRO CPU Software Reference Manual 16-Axis MACRO Station MI-Variable Reference 39 MS{anynode},MI909 DAC 5-8 Strobe Word Range: $000000 -

16-Axis MACRO CPU Software Reference Manual 40 16-Axis MACRO Station MI-Variable Reference In any of the quadrature decode modes, PMAC is expectin

16-Axis MACRO CPU Software Reference Manual 16-Axis MACRO Station MI-Variable Reference 41 MS{node},MI912 Encoder n Capture Control Range: 0 - 15

16-Axis MACRO CPU Software Reference Manual Table of Contents 5 MS{anynode},MI189 MACRO/Encoder IC #3 Base Address ...

16-Axis MACRO CPU Software Reference Manual 42 16-Axis MACRO Station MI-Variable Reference MS{node},MI914 Encoder n Gated Index Select Range: 0

16-Axis MACRO CPU Software Reference Manual 16-Axis MACRO Station MI-Variable Reference 43 MS{node},MI917 Output n Invert Control Range: 0 - 3 Un

16-Axis MACRO CPU Software Reference Manual 44 16-Axis MACRO Station MI-Variable Reference MS{node},MI921 Flag Capture Position (Read Only) Range

16-Axis MACRO CPU Software Reference Manual 16-Axis MACRO Station MI-Variable Reference 45 MS{node},MI927 Encoder Loss Status Bit Range: 0 – 1 Un

16-Axis MACRO CPU Software Reference Manual 46 16-Axis MACRO Station MI-Variable Reference MS{node},MI931-MI937 (Reserved for Future use) MS{node

16-Axis MACRO CPU Software Reference Manual 16-Axis MACRO Station MI-Variable Reference 47 MS{anynode},MI943 Phase and Servo Direction Range: $0-

16-Axis MACRO CPU Software Reference Manual 48 16-Axis MACRO Station MI-Variable Reference MI975 is used at the power-on/reset of the 16-Axis MACR

16-Axis MACRO CPU Software Reference Manual 16-Axis MACRO Station MI-Variable Reference 49 MI977 is a 16-bit value – bits 0 to 15 – with bit n contr

16-Axis MACRO CPU Software Reference Manual 50 16-Axis MACRO Station MI-Variable Reference This variable specifies the source address of the multi

16-Axis MACRO CPU Software Reference Manual 16-Axis MACRO Station MI-Variable Reference 51 ADC_CLK Frequency = 39.3216 MHz / (2 ^ ADC_CLK Divide

16-Axis MACRO CPU Software Reference Manual 6 Table of Contents MS{anynode},MI940 ADC1-4 Strobe Word ...

16-Axis MACRO CPU Software Reference Manual 52 16-Axis MACRO Station MI-Variable Reference Examples: The maximum encoder count frequency in the ap

16-Axis MACRO CPU Software Reference Manual 16-Axis MACRO Station MI-Variable Reference 53 MS{anynode},MI995 MACRO Ring Configuration/Status Range:

16-Axis MACRO CPU Software Reference Manual 54 16-Axis MACRO Station MI-Variable Reference The bits of MI996 are arranged as follows: Bit # Value

16-Axis MACRO CPU Software Reference Manual 16-Axis MACRO Station MI-Variable Reference 55 MS{anynode},MI997 Phase Clock Frequency Control Range:

16-Axis MACRO CPU Software Reference Manual 56 16-Axis MACRO Station MI-Variable Reference MS{anynode},MI999 Handwheel DAC Strobe Word (Not used)

16-Axis MACRO CPU Software Reference Manual 16-Axis MACRO Station Mm and MP-Variables 57 16-AXIS MACRO CPU STATION MM AND MP-VARIABLES The 16-Axis M

16-Axis MACRO CPU Software Reference Manual 58 16-Axis MACRO Station Mm and MP-Variables

16-Axis MACRO CPU Software Reference Manual 16-Axis MACRO Station MacPLCCs 59 16-AXIS MACRO CPU STATION MACPLCCS The Open MACPlcc compiler in PeWinP

16-Axis MACRO CPU Software Reference Manual 60 16-Axis MACRO Station MacPLCCs Special MACRO Program Commands CHAN = Exp. (limited to 1 –8) (Sets

16-Axis MACRO CPU Software Reference Manual 16-Axis MACRO Station MacPLCCs 61 MAC PLCC Related ASCII Commands Commands Operation SAVE Saves PLCCs fr

16-Axis MACRO CPU Software Reference Manual Table of Contents 7 MM{constant}={constant} Set Station MM-Variable Value...

16-Axis MACRO CPU Software Reference Manual 62 16-Axis MACRO Station MacPLCCs

16-Axis MACRO CPU Software Reference Manual 16-Axis MACRO Station Serial Commands 63 16-AXIS MACRO CPU STATION SERIAL COMMANDS The 16-Axis MACRO Sta

16-Axis MACRO CPU Software Reference Manual 64 16-Axis MACRO Station Serial Commands MI{constant}={constant} Set Station MI-Variable Value The MI

16-Axis MACRO CPU Software Reference Manual 16-Axis MACRO Station Serial Commands 65 SID Reports Serial Identification Number The reports the SI

16-Axis MACRO CPU Software Reference Manual 66 16-Axis MACRO Station Serial Commands

16-Axis MACRO CPU Software Reference Manual Turbo PMAC Type 1 16-Axis MACRO Station Commands 67 TURBO PMAC TYPE 1 16-AXIS MACRO CPU STATION COMMANDS

16-Axis MACRO CPU Software Reference Manual 68 Turbo PMAC Type 1 16-Axis MACRO Station Commands MS Variable Read Syntax: MACROSLAVE{node #},{sla

16-Axis MACRO CPU Software Reference Manual Turbo PMAC Type 1 16-Axis MACRO Station Commands 69 MS Variable Read Copy Syntax: MACROSLVREAD{node #}

16-Axis MACRO CPU Software Reference Manual 70 Turbo PMAC Type 1 16-Axis MACRO Station Commands Examples: MSW0,MI910,P35 ; Copies value of PMAC P

16-Axis MACRO CPU Software Reference Manual Turbo PMAC Type 1 16-Axis MACRO Station Commands 71 The valid C-commands are: • C1 Clear station faults

16-Axis MACRO CPU Software Reference Manual 72 Turbo PMAC Type 1 16-Axis MACRO Station Commands

16-Axis MACRO CPU Software Reference Manual 16-Axis MACRO Station Memory and I/O Map 73 16-AXIS MACRO CPU STATION MEMORY AND I/O MAP In the listing

16-Axis MACRO CPU Software Reference Manual 74 16-Axis MACRO Station Memory and I/O Map MM and MP Variables Table X: $00400 - $005FF ; MP Variabl

16-Axis MACRO CPU Software Reference Manual 16-Axis MACRO Station Memory and I/O Map 75 Servo IC # Chan. 1 Chan. 2 Chan. 3 Chan. 4 Notes 2 $8001

16-Axis MACRO CPU Software Reference Manual 76 16-Axis MACRO Station Memory and I/O Map Bits (X:$8004 bits 0-11 is I903; X:$8044 bits 0-11 is

16-Axis MACRO CPU Software Reference Manual 16-Axis MACRO Station Memory and I/O Map 77 Servo IC # Chan. 1 Chan. 2 Chan. 3 Chan. 4 Notes 2 $8005

16-Axis MACRO CPU Software Reference Manual 78 16-Axis MACRO Station Memory and I/O Map 21: Invert C Output Control (0=no inversion, 1=invert

16-Axis MACRO CPU Software Reference Manual 16-Axis MACRO Station Memory and I/O Map 79 X/Y:$B840 UBUS Port I/O Base Address 2D (CS12, A13=0, A12

16-Axis MACRO CPU Software Reference Manual 80 16-Axis MACRO Station Memory and I/O Map X:$C082 General I/O Data Direction Control Register Note:

16-Axis MACRO CPU Software Reference Manual 16-Axis MACRO Station Memory and I/O Map 81 19 I/O19 Data Type Control (0=USER10; 1=I/O19) 20

16-Axis MACRO CPU Software Reference Manual 16-Axis MACRO Station MI-Variable Reference 1 16-AXIS MACRO STATION MI-VARIABLE REFERENCE The 16-Axis MA

16-Axis MACRO CPU Software Reference Manual 82 16-Axis MACRO Station Memory and I/O Map 8 SEL0 Inversion Control ... 15 SEL7 Inversion Contr

16-Axis MACRO CPU Software Reference Manual 16-Axis MACRO Station Memory and I/O Map 83 16-19 Sync packet slave node number control 20-23 Mas

16-Axis MACRO CPU Software Reference Manual 84 16-Axis MACRO Station Memory and I/O Map 10 Position-Captured-On-Gated-Index Flag (=0 on r

16-Axis MACRO CPU Software Reference Manual 16-Axis MACRO Station Memory and I/O Map 85 Bits: 0-7: PWM Dead Time (16*PWM CLK cycles) also

16-Axis MACRO CPU Software Reference Manual 86 16-Axis MACRO Station Memory and I/O Map 23: Output C Mode Select (0=PWM, 1=PFM) Chan # 1*

16-Axis MACRO CPU Software Reference Manual 16-Axis MACRO Station Memory and I/O Map 87 X:$C0A7 MACRO Node 3 3rd 16-bit command(write) and feedback

16-Axis MACRO CPU Software Reference Manual 88 16-Axis MACRO Station Memory and I/O Map X:$C0B2 MACRO Node 10 2nd 16-bit command(write) and feedb

16-Axis MACRO CPU Software Reference Manual 16-Axis MACRO Station Memory and I/O Map 89 X:$C0BD MACRO Node 15 1st 16-bit command(write) and feedbac