Delta Tau GEO MACRO DRIVE User Manual download pdf (Page 142)

Geo MACRO Drive User Manual

130 Turbo PMAC2 Related I-Variable Reference

Ixx95 is used only on power-on/reset or on the $* or $$* command. To get a new value of Ixx95 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.

Ixx95 is a 24-bit value; currently bits 16-23, which comprise the first two of six hex digits, are used.

Ixx95 is only used if Ixx10 is set to a non-zero value.

The possible values of Ixx95 and the absolute position feedback devices they reference are summarized in

the following table:

Ixx95 Value Range Absolute Position Source Ixx10 Address Type Format

$000000 - $070000 ACC-8D Opt 7 R/D Converter Multiplexer Port Unsigned

$080000 - $300000 Parallel Data Y-Register Turbo PMAC Memory-I/O Unsigned

$310000 ACC-28 A/D Converter Turbo PMAC Memory-I/O Unsigned

$320000 ACC-49 Sanyo Abs. Encoder Turbo PMAC Memory-I/O Unsigned

$480000 - $700000 Parallel Data X-Register Turbo PMAC Memory-I/O Unsigned

$710000 ACC-8D Opt 9 Yaskawa Abs. Enc. Multiplexer Port Unsigned

$720000 MACRO Station Yaskawa Abs. Enc. MACRO Node Number Unsigned

$730000 MACRO Station R/D Converter MACRO Node Number Unsigned

$740000 MACRO Station Parallel Read MACRO Node Number Unsigned

$800000 - $870000 Acc-8D Opt 7 R/D Converter Multiplexer Port Signed

$880000 - $B00000 Parallel Data Y-Register Turbo PMAC Memory-I/O Signed

$B10000 ACC-28 A/D Converter Turbo PMAC Memory-I/O Signed

$B20000 ACC-49 Sanyo Abs. Encoder Turbo PMAC Memory-I/O Signed

$C80000 - $F00000 Parallel Data X-Register Turbo PMAC Memory-I/O Signed

$F10000 ACC-8D Opt 9 Yaskawa Abs. Enc. Multiplexer Port Signed

$F20000 MACRO Station Yaskawa Abs. Enc. MACRO Node Number Signed

$F30000 MACRO Station R/D Converter MACRO Node Number Signed

$F40000 MACRO Station Parallel Read MACRO Node Number Signed

The following section provides details for Geo Macro Drive:

Parallel Data Read: If Ixx95 contains a value from $080000 to $300000, from $480000 to $700000,

from $880000 to $B00000, or from $C80000 to $F00000, Motor xx will do a parallel data read of the

Turbo PMAC memory or I/O register at the address specified by Ixx10. It expects to find the least

significant bit of the feedback in Bit 0 of this register.

In this mode, bits 16 to 21 specify the number of bits to be read. If the last hex digit of Ixx95 is 0,

consecutive bits will be read from the address specified by Ixx81, with the least significant bit read from

bit 0. If the number of bits is greater than 24, the high bits are read from the register at the next higher-

numbered address. This format is used for registers and I/O devices with 24-bit interfaces.

If the last hex digit of Ixx95 is 4, 5, or 6, data will be read in byte-wide pieces, with the least significant

byte at the address specified in Ixx81, the next byte at one address higher, and so on, up to a possible 6

consecutive addresses. This format is intended for getting parallel data from the Acc-3E 3U-format stack

I/O board or the Acc-14E 3U-format pack (UMAC) I/O board, which have byte-wide interfaces. For this

format, the last hex digit of Ixx95 determines which byte of the 24-bit word is used, according to the

following table:

Ixx95 Last Digit Byte Bits

4 Low 0 – 7

5 Middle 8 – 15

6 High 16 – 23

In this mode, bits 16 to 21 of Ixx95 specify the number of bits to be read, starting with bit 0 at the

specified address. In this mode, they can take a value from $08 to $30 (8 to 48). If the number of bits is

greater than 24, the high bits are read from the register at the next higher-numbered address.

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Delta Tau GEO MACRO DRIVE User Manual Page 142

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