User's Manual

Geo MACRO Drive User and Reference Manual
Turbo PMAC2 Related I-Variable Reference 127
Ixx91 Value Range Absolute Position Source Ixx81 Address Type
$000000 - $070000 ACC-8D Opt 7 R/D Converter Multiplexer Port
$080000 - $180000 Parallel Data Y-Register Turbo PMAC Memory-I/O
$480000 - $580000 Parallel Data X-Register Turbo PMAC Memory-I/O
$730000 MACRO Station R/D Converter MACRO Node Number
$740000 MACRO Station Parallel Read MACRO Node Number
$800000 - $FF0000 Hall Sensor Read Turbo PMAC Memory-I/O
Parallel Data Read: If Ixx91 contains a value from $08000n to $18000n, or from $48000n to $58000n,
Motor xx will do a parallel data read of the Turbo PMAC memory or I/O register at the address specified
by Ixx81.
In this mode, bits 16 to 21 specify the number of bits to be read. If the last hex digit of Ixx91 is 0,
consecutive bits will be read from the address specified by Ixx81, with the least significant bit read from
bit 0. This format is used for registers and I/O devices with 24-bit interfaces.
If the last hex digit of Ixx91 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 the next byte (if used) at
one more address higher. 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 Ixx91 determines which byte of the 24-bit word is used, according to
the following table:
Ixx91 Last Digit Byte Bits
4 Low 0 – 7
5 Middle 8 – 15
6 High 16 – 23
In this mode, bit 22 of Ixx91 specifies whether a Y-register is to be read, or an X-register. A value of 0 in
this bit, yielding Ixx91 values from $080000 to $180000, specifies a Y-register; a value of 1, yielding
Ixx91 values from $480000 to $580000, specifies an X-register.
For the Acc-8D Option 9 Yaskawa Absolute Encoder Converter, Turbo PMAC’s 24-bit encoder phase
position register, an X-register, is read, so Ixx91 is set to $580000 ($180000 + $400000).
For the Acc-49 Sanyo Absolute Encoder Converter, the encoder provides a 13-bit value within one motor
revolution, and the data is read from a Y-register, so Ixx91 is set to $0D0000.
Example 1: If Ixx81=$078D01 and Ixx91=$140000, Turbo PMAC would read 20 bits (bits 0 – 19) from
Y:$078D01.
Example 2: If Ixx81=$078C00 and Ixx91=$100004, Turbo PMAC would read 16 bits, with the low
eight bits from the low byte of Y:$078C00, and the high eight bits from the low byte of Y:$078C01.
Example 3: If Ixx81=$079E03 and Ixx91=$120005, Turbo PMAC would read 18 bits, with the low
eight bits from the middle byte of Y:$079E03, and the next eight bits from the middle byte of Y:$079E04,
and the high two bits from the first two bits of the middle byte of Y:$079E05.
MACRO R/D Read: If Ixx91 contains a value of $730000, Motor xx will read the absolute phase
position from an Acc-8D Option 7 Resolver-to-Digital Converter through a MACRO Station or
compatible device.
In this mode, Ixx81 specifies the MACRO node number. MACRO Station setup variable MI11x for the
matching node must be set to read the R/D converter.
MACRO Parallel Read: If Ixx91 contains a value of $740000, Motor xx will read the absolute phase
position from a parallel data source through a MACRO Station or compatible device.
In this mode, Ixx81 specifies the MACRO node number. MACRO Station setup variable MI11x for the
matching node must be set to read the parallel data source.