Accessory 24E2S
Ultralite/MACRO Station Setup
20
ULTRALITE/MACRO STATION SETUP
The Acc-24E2 family of JEXP accessories also can be used with MACRO Station to breakout the
standard amplifier, flag, and encoder signals. The gate arrays on the Acc-24E2 family of accessories are
located in the traditional channel 9-16 locations of the PMAC2 memory map.
Note:
In order for the MACRO Station to setup its output and input channels
automatically, MACRO Station firmware 1.114 or greater must be used.
Currently there are three types of Acc-24Es to be used with the MACRO Station:
Acc-24E2
Direct PWM commutation outputs
Acc-24E2A
10V Outputs for torque, velocity and sinusoidal input amplifiers
Acc-24E2S
Dedicated 4-channel stepper interface card
MACRO Station Gate Array Locations for Acc-24E2
Chan #
9
10
11
12
13
14
15
16
Hex
[$C040]
[$C048]
[$C050]
[$C058]
[$C060]
[$C068]
[$C070]
[$C078]
Hardware Setup for MACRO Station Use
A few hardware selections must be set in order to use this accessory with the MACRO Station:
E5
Jumper 1-2 for MACRO or Turbo communications (603804-105 and above)
E16
Jumper 1-2 for Clock Settings
SW1
SW1-1 and SW1-2 both on for $C040, both off for $C060 SW1-3 through SW1-6 set to off
Node-Specific Gate Array MI-variables
MI-variables MI910 through MI919 on the MACRO station control the hardware setup of the hardware
interface channel on the station associated a MACRO node. The matching of hardware interface channels
to MACRO nodes is determined by the setting of the SW1 rotary switch on the CPU/Interface Board of
the MACRO station.
These variables are accessed using the MS station auxiliary read and write commands. The number
immediately after the MS specifies the node number, and therefore the channel number mapped to that
node by the SW1 setting.
Encoder/Timer n Decode Control (MSn,MI910)
MI910 controls how the input signal for the encoder mapped to the specified node is decoded into counts.
As such, this defines the sign and magnitude of a count. The following settings may be used to decode an
input signal.
0:
Pulse and direction CW
1:
x1 quadrature decode CW
2:
x2 quadrature decode CW
3:
x4 quadrature decode CW
4:
Pulse and direction CCW
5:
x1 quadrature decode CCW
6:
x2 quadrature decode CCW
7:
x4 quadrature decode CCW
8:
Internal pulse and direction
9:
Not used
10:
Not used
