User's Manual

Geo MACRO Drive User and Reference Manual
Table of Contents v
MS{node},MI916 Output n Mode Select .......................................................................................................148
MS{node},MI917 Output n Invert Control....................................................................................................148
MS{node},MI918 Output n PFM Direction Signal Invert Control ...............................................................149
MS{node},MI919 Hardware 1/T ...................................................................................................................149
MS{node},MI921 Flag Capture Position (Read Only)..................................................................................150
MS{node},MI922 ADC A Input Value (Read Only) ......................................................................................150
MS{node},MI923 Compare Auto-Increment Value.......................................................................................150
MS{node},MI924 ADC B Input Value (Read Only) ......................................................................................150
MS{node},MI925 Compare A Position Value...............................................................................................151
MS{node},MI926 Compare B Position Value...............................................................................................151
MS{node},MI927 (Reserved for future use)......................................................................................................151
MS{node},MI928 Compare-State Write Enable............................................................................................151
MS{node},MI929 Compare-Output Initial State ...........................................................................................151
General Hardware Setup MI-variables..................................................................................................................152
MS{anynode}, MI930 SSI Channel 1 Control Word .....................................................................................152
MS{anynode}, MI931 SSI Channel 2 Control Word ....................................................................................152
MS{anynode}, MI932 Resolver Excitation Frequency Divider....................................................................153
MS{anynode}, MI933 SSI Clock Frequency Divider ...................................................................................153
MS{anynode},MI934-MI939 (Reserved for future use)................................................................................153
MS{anynode}, MI940 Resolver Excitation Gain.........................................................................................153
MS{anynode}, MI941 Resolver Excitation Phase Offset.............................................................................154
MS{anynode},MI942 ADC Strobe Word Channel 1* & 2* ..........................................................................154
MS{node},MI943 Encoder Power control bit ...............................................................................................154
MS{node},MI944-MI949 (Reserved for future use) .....................................................................................154
Global & 2-Axis Board I-Variables ......................................................................................................................155
MS{node},MI992 MaxPhase Frequency Control..........................................................................................155
MS{node},MI993 Hardware Clock Control Handwheel Channels...............................................................155
MS{node},MI994 PWM Deadtime ...............................................................................................................157
MS{node},MI995 MACRO Ring Configuration/Status .................................................................................157
MS{node},MI996 MACRO Node Activate Control .......................................................................................158
MS{node},MI997 Phase Clock Frequency Control ......................................................................................160
MS{node},MI998 Servo Clock Frequency Control .......................................................................................160
ABSOLUTE POWER ON ONLINE COMMANDS.............................................................................................161
$$*.........................................................................................................................................................................161
$*...........................................................................................................................................................................161
APPENDIX A...........................................................................................................................................................166
Fiber Optic Cable Ordering Information ...............................................................................................................166
Mating Connector and Cable Kits .........................................................................................................................166
Mating Connector and Cable Kits ....................................................................................................................166
Connector and pins Part numbers ....................................................................................................................168
Cable Drawings ................................................................................................................................................170
Regenerative Resistor: GAR78/48 .......................................................................................................................176
Type of Cable for Encoder Wiring........................................................................................................................177
APPENDIX B...........................................................................................................................................................180
Schematics.............................................................................................................................................................180
X3: Discrete I/O...............................................................................................................................................180
X6 and X7: Analog Inputs................................................................................................................................182
X8 and X9 Secondary Encoders (3 and 4) ........................................................................................................183
APPENDIX C...........................................................................................................................................................184
Communication to the Geo MACRO via the USB Port ........................................................................................184
APPENDIX D...........................................................................................................................................................186
MACRO Flag Transfer Location...........................................................................................................................186
Turbo PMAC2 Node Addresses............................................................................................................................187