User manual

Accessory 24E2

To produce a pulse output frequency of 1.667 kHz with the default PFMCLK frequency of 9.83 MHz,

calculate:

380,9

667.1

*536,65Mxx07 ≅=

To write this value to the register, a power-on PLC routine is suggested; this can also be done with on-

line commands from the host computer. Sample PLC code to do this for Channel 1, using the above

example value, is:

OPEN PLC 1 ; PLC 1 is first program to execute

CLEAR

M107=11 ; Set pulse frequency

CMD”$*” ; Absolute Position Read

DISABLE PLC 1 ; To not execute again

PMAC2/Turbo PMAC2 Conversion Table & Motor I-variables

Once the MACRO Station has been set up to process the MLDT feedback, the PMAC2 or Turbo PMAC2

can process the ongoing position feedback with its conversion table, Ix03, and Ix04 just as for any other

feedback from a MACRO Station.

If the MLDT is used for absolute power-on position for the servo loop, the proper variables must be set

on the PMAC2 or Turbo PMAC2:

PMAC2 Ix10 (Power-On Position Address and Format): To get the absolute position in this format for

Motor x through MACRO node n (n = 0 to 15 decimal), Ix10 should be set to $74000n, where n here is

the hexadecimal representation of the node number (n = 0 to F hex).

Turbo PMAC2 Ixx10 & Ixx95 (Power-On Position Address and Format): To get the absolute

position for Motor xx through MACRO node n (n = 0 to 63 decimal), Ixx10 should be set to n; in hex-

format $0000nn, where nn is the hexadecimal representation of the node number (nn = 00 to 3F hex). If

node 0 is used, Ixx10 should be set to $000100 (256 decimal). Ixx95 should be set to $740000 to specify

parallel data through a MACRO node.

If the MLDT is used for absolute power-on phase position for commutation, the proper variables must be

set on the PMAC2 or Turbo PMAC2:

PMAC2 Ix81 (Power-On Phase Position Address and Format): To get the absolute phase position in

this format for Motor x through MACRO node n (n = 0 to 15 decimal), Ix81 should be set to $74000n,

where n here is the hexadecimal representation of the node number (n = 0 to F hex).

Turbo PMAC2 Ixx81 & Ixx91 (Power-On Phase Position Address and Format): To get the absolute

phase position for Motor xx through MACRO node n (n = 0 to 63 decimal), Ixx81 should be set to n; in

hex-format $0000nn, where nn is the hexadecimal representation of the node number (nn = 00 to 3F hex).

If node 0 is used, Ixx81 should be set to $000100 (256 decimal). Ixx91 should be set to $740000 to

specify parallel data through a MACRO node.

MLDT Feedback for UMAC-MACRO

The data from the MLDT is processed as a parallel word input at the MACRO Station and then

transmitted back to the Ultralite using the traditional Servo Node. The encoder conversion table at the

MACRO Station must be modified to process this data. From the Ultralite standpoint, nothing needs to

be modified to read the position and velocity data.

Since the data is absolute, the data can also be sent at the Ultralite as absolute data for correct position at

power-up. This is accomplished with the proper setup of MSn,MI11x at the MACRO Station, and Ix10 at

the Ultralite or Ix10 and Ix95 with the Turbo Ultralite. Regardless of the type of Ultralite, retrieving the

28 MLDT Feedback for UMAC-Turbo and UMAC-MACRO