User's Manual
PMAC2 User Manual
68 Using PMAC2 with MACRO Interface
However, in the Type 1 MACRO protocol, it is the same in all modes. The following table contains the
required setup word for each node in each operational mode.
Node # Type 0 Velocity /
Torque Mode
Type 0 Phase
Current Mode
Type 0 Direct
PWM Mode
Type 1:
All Modes
Node 0 $2CC0A2 $2CC0A2 $2CC0A3 $2CC0A0
Node 1 $2CC0A6 $2CC0A6 $2CC0A7 $2CC0A4
Node 2 $6CC0A2 N/A. N/A. N/A.
Node 3 $6CC0A6 N/A. N/A. N/A.
Node 4 $2CC0AA $2CC0AA $2CC0AB $2CC0A8
Node 5 $2CC0AE $2CC0AE $2CC0AF $2CC0AC
Node 6 $6CC0AA N/A. N/A. N/A.
Node 7 $6CC0AE N/A. N/A. N/A.
Node 8 $2CC0B2 $2CC0B2 $2CC0B3 $2CC0B0
Node 9 $2CC0B6 $2CC0B6 $2CC0B7 $2CC0B4
Node 10 $6CC0B2 N/A. N/A. N/A.
Node 11 $6CC0B6 N/A. N/A. N/A.
Node 12 $2CC0BA $2CC0BA $2CC0BB $2CC0B8
Node 13 $2CC0BE $2CC0BE $2CC0BF $2CC0BC
Node 14 $6CC0BA N/A. N/A. N/A.
Node 15 $6CC0BE N/A. N/A. N/A.
The second word contains the bits-enabled mask word. It is a 24-bit word that should have 1’s for each
bit of real feedback, and 0’s for all other bits, after the shift operation. Therefore, the mask word should
be $1FFFE0 for the Type 0 16-bit position feedback from any node. If the position feedback is provided
in only the low 12 bits of the 16-bit register, as in the case of the Kollmorgen FAST Drive or the
Performance Controls FLX Drive, the mask word would be $01FFE0. The mask word should be
$FFFFFF for the Type 1 24-bit position feedback from any node.
The result of the conversion, the processed data, is placed in the X-register of the last line of the entry.
This is the second line if no filtering is used, or the third line if filtering is used.
Examples:
To overwrite the default conversion table and enter a conversion table to process Type 0 16-bit position
feedback from nodes 0-3 in torque mode, and 12-bit position feedback from nodes 4-7 in torque mode,
the following direct memory write commands could be used:
WY:$0720,$2CC0A2,$1FFFE0 ; Node 0 conversion
WY:$0722,$2CC0A6,$1FFFE0 ; Node 1 conversion
WY:$0724,$6CC0A2,$1FFFE0 ; Node 2 conversion
WY:$0726,$6CC0A6,$1FFFE0 ; Node 3 conversion
WY:$0728,$2CC0AA,$01FFE0 ; Node 4 conversion
WY:$072A,$2CC0AE,$01FFE0 ; Node 5 conversion
WY:$072C,$6CC0AA,$01FFE0 ; Node 6 conversion
WY:$072E,$6CC0AE,$01FFE0 ; Node 7 conversion
The results from this conversion are in the following registers:
Node Address Node Address
Node 0: X:$0721 Node 4: X:$0729
Node 1: X:$0723 Node 5: X:$072B
Node 2: X:$0725 Node 6: X:$072D
Node 3: X:$0727 Node 7: X:$072F
To enter a conversion table to process Type 1 24-bit position feedback data from the eight nodes mapped
into PMAC2’s Y-registers in any mode (this is the default conversion table on PMAC2 Ultralites), the
following direct memory write commands could be used: