User manual

Accessory 24E2
Connector and Terminal Description 31
Compact MACRO Station Feedback Type
Ixx95 (Unsigned)
Ixx95 (Signed)
Acc-8D Opt 7 Resolver/Digital Converter
$730000
$F30000
Acc-8D Opt 9 Yaskawa Absolute Encoder Converter
$720000
$F20000
Acc-8D Opt 10 Sanyo Absolute Encoder Converter
$740000
$F40000
Acc-28B Analog/Digital Converter
$740000
$F40000
MACRO Station Option 1C/Acc-6E A/D Converter
$740000
$F40000
MACRO Station Parallel Input, MLDT, SSI
$740000
$F40000
When PMAC or PMAC2 has Ix10 set to get absolute position over MACRO, it executes a station
auxiliary read command MS{node},I920 to request the absolute position from the Compact MACRO
Station. The station then references its own I11x value to determine the type, format, and address of the
data to be read.
MACRO Parallel Absolute Position Setup
MI111 through MI118 (MI11x) specify whether, where, and how absolute position is to be read on the
Compact MACRO Station for a motor node (MI11x controls the xth motor node, usually which
corresponds to Motor x on PMAC) and sent back to the Ultralite.
If MI11x is set to 0, no power-on reset absolute position value will be returned to PMAC. If MI11x is set
to a value greater than 0, then when the PMAC requests the absolute position because its Ix10 and/or Ix81
values are set to obtain absolute position through MACRO (sending an auxiliary MS{node},MI920
command), the Compact MACRO Station will use MI11x to determine how to read the absolute position,
and report that position back to PMAC as an auxiliary response.
For an MLDT, take the output from the encoder conversion table (ECT) at the MACRO Station and
process it as an absolute position because the information in the ECT is synchronized properly.
Remember, the output from the encoder conversion table will reside in the X register. For example, with
the following entry:
MS0,MI120=$30C040 ($10 of ECT)
MS0,MI121=$FFFFFF ($11 of ECT)
MS0,MI122=32 ($12 of ECT)
The output from the ECT will reside in X:$12 and this will be the register to obtain the absolute data from.
MI11x consists of two parts. The low 16 bits (last four hexadecimal digits) specify the address on the
MACRO Station from which the absolute position information is read. The high eight bits (first two
hexadecimal digits) tell the Compact MACRO Station how to interpret the data at that address (the
method.
MACRO MI11x Parallel Word Example: Signed 24-bit Absolute MLDT $0010
HEX($)
D
8
0
0
1
0
BIT
23
22
21
20
19
18
17
16
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
0
VALUE
1
1
0
1
1
0
0
0
0
0
0
0
0
0
0
0
0
0
0
1
0
0
0
0
# of bits/location ($18=24dec) Source Address ($0011)
Y-address(0)/X-address(1) control bit
Unsigned(0)/signed(1) format bit