Delta Tau GEO MACRO DRIVE User Manual download pdf (Page 58)

Geo MACRO Drive User Manual

46 Software Setup

I76=$3333 ; Enabled for MACRO IC 3, Nodes 0,1,4,5,8,9,12,13

I71/I73/I75/I77: MACRO IC 0/1/2/3 Node Protocol Type Control

I71, I73, I75, and I77 are 16-bit I-variables (bits 0 - 15) in which each bit controls whether PMAC uses

the uses MACRO Type 0 protocol or the MACRO Type 1 protocol for the node whose number matches

the bit number for the purposes of the auxiliary servo flag transfer for MACRO ICs 0, 1, 2, and 3,

respectively. A bit value of 0 sets a Type 0 protocol; a bit value of 1 sets a Type 1 protocol.

All 3U MACRO Station nodes use the Type 1 protocol, so each MACRO node n used for servo purposes

with a MACRO Station must have bit n of I1002 set to 1. Generally I71 = I70, I73 = I72, I75 = I74, and

I77 = I76 on a Turbo PMAC2 communicating with a MACRO Station.

Remember that if servo nodes for more than one MACRO Station are commanded from a single MACRO

IC, the protocol must be selected for all of the active servo nodes on each station.

I78: MACRO Master/Slave Auxiliary Communications Timeout

If I78 is set greater than 0, the MACRO Type 1 Master/Slave Auxiliary Communications protocol using

Node 15 is enabled. Turbo PMAC implements this communications protocol using the MACROSLAVE

(MS), MACROSLVREAD (MSR), and MACROSLVWRITE (MSW) commands.

If this function is enabled, I78 sets the timeout value in PMAC servo cycles. In this case, if PMAC does

not get a response to a Node 15 auxiliary communications command within I78 servo cycles, it will stop

waiting and register a MACRO auxiliary communications error, setting Bit 5 of global status register

X:$000006.

I78 must be set greater than 0 if any auxiliary communications is desired with a MACRO Station. This

reserves Node 15 for the Type 1 Auxiliary Communications. A value of 32 is suggested. If I78 is set

greater than 0, bit 15 of I70, I72, I74, and I76 must be set to 0, so Node 15 is not used for flag transfers also.

I79: MACRO Master/Master Auxiliary Communications Timeout

If I79 is set greater than 0, the MACRO Type 1 Master/Master Auxiliary Communications protocol using

Node 14 is enabled. Turbo PMAC implements this communications protocol using the MACROMASTER

(MM), MACROMSTREAD (MMR), and MACROMSTWRITE (MMW) commands. Only the Turbo PMAC that is

the “ring controller” can execute these commands; other Turbo PMACs that are masters on the ring can

respond to these commands from the ring controller.

If this function is enabled, I79 sets the “timeout” value in PMAC servo cycles. In this case, if the Turbo

PMAC does not get a response to a Node 14 master/master auxiliary communications command within

I79 servo cycles, it will stop waiting and register a “MACRO auxiliary communications error,” setting Bit

5 of global status register X:$000006.

I79 must be set greater than 0 if any auxiliary communications is desired with a MACRO Station. A

value of 32 is suggested. If a value of I79 greater than 0 has been saved into PMAC’s non-volatile

memory, then at subsequent power-up/resets, bit 14 of I70 is set to 0, the node-14 broadcast bit (bit 14 of

I6840) is set to 1, and activation bit for node 14 (bit 14 of I6841) is set to 1, regardless of the value saved

for these variables. This reserves Node 14 of MACRO IC 0 for the Type 1 Master/Master Auxiliary

Communications.

I80, I81, I82: MACRO Ring Check Period and Limits

If I80 is set to a value greater than zero, Turbo PMAC will monitor for MACRO ring breaks or repeated

MACRO communications errors automatically. A non-zero value sets the error detection cycle time in

Turbo PMAC servo cycles. Turbo PMAC checks to see that “sync node” packets (see I6840 and I6841)

are received regularly, and that there have not been regular communications errors.

The limits for these checks can be set with variables I81 and I82. If less than I82 sync node packets have

been received and detected during this time interval, or if I81 or more ring communications errors have

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Delta Tau GEO MACRO DRIVE User Manual Page 58

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