Delta Tau 300-602804-10x, Hardware Reference Manual

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MACRO CPU Board Hardware Reference Manual
12 Jumper and Switch Configurations
Switch Configurations
SW1: MACRO Slave Node Configure
SW1 Setting # of Servo Channels
and Nodes Used
MACRO Servo
Nodes Specified
Station
Channel Nos.
Station Channel
Starting Addresses
0 (default) 4 0, 1, 4, 5 1, 2, 3, 4 $C000, $C008, $C010, $C018*
1 4 8, 9, 12, 13 1, 2, 3, 4 $C000, $C008, $C010, $C018*
2 2 0, 1 1, 2 $C000, $C008*
3 2 4, 5 3, 4 $C010, $C018*
4 2 8, 9 1, 2 $C000, $C008*
5 2 12, 13 3, 4 $C010, $C018*
6 6 0, 1, 4, 5, 8, 9 1, 2, 3, 4, 5, 6 $C000, $C008, $C010, $C018,
$C020, $C028*
7 8 0, 1, 4, 5, 8, 9, 12,
13
1, 2, 3, 4, 5, 6, 7,
8
$C000, $C008, $C010, $C018,
$C020, $C028, $C030, $C038*
8 2 0, 1 9, 10 $C090, $C098
9 2 4, 5 9, 10 $C090, $C098
10 2 8, 9 9, 10 $C090, $C098
11 2 12. 13 9, 10 $C090, $C098
12 6 0, 1, 4, 5, 8, 9 1, 2, 3, 4, 9, 10 $C000, $C008, $C010, $C018,*
$C090, $C098
13 0 (I/O only) None None None
14 (Reserved For Future Use)
15 *** 0 11 - -
* These addresses are for stack axis boards. Add $40 to these addresses for backplane axis boards.
** Other bits of this I-variable may also be set to enable I/O nodes or other slave stations it is commanding
*** A setting of 15 forces the station to use its factory default I-variables on power-up/reset.
SW1
Setting
First Axis
Board Servo IC
Second Axis
Board Servo IC
PMAC2’s I996 Value
** (Turbo PMAC2’S
I6840, etc.
PMAC2’s I1000, I1002
Value (Turbo PMAC2’s
I70, I71, etc.)
0 (default) 4-axis None $F8033 $0033
1 4-axis None $FB300 $3300
2 4-axis None $F8003 $0003
3 4-axis None $F8030 $0030
4 4-axis None $F8300 $0300
5 4-axis None $FB000 $3000
6 4-axis 4-axis $F8333 $0333
7 4-axis 4-axis $FB333 $3333
8 2-axis None $F8003 $0003
9 2-axis None $F8030 $0030
10 2-axis None $F8300 $0300
11 2-axis None $FB000 $3000
12 4-axis 2-axis $FB333 $0333
13 None None $F8000 $0000
14 (Reserved For Future Use)
15*** - - $F8800 -
* These addresses are for stack axis boards. Add $40 to these addresses for backplane axis boards.
** Other bits of this I-variable may also be set to enable I/O nodes or other slave stations it is commanding
*** A setting of 15 forces the station to use its factory default I-variables on power-up/reset.
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