Accessory 24E2S
MLDT Feedback for UMAC-Turbo & UMAC-MACRO
30
PMAC2/Turbo PMAC2 Conversion Table and Motor I-Variables
Once the MACRO Station has been set up to process the MLDT feedback, the PMAC2 or Turbo PMAC2
can process the ongoing position feedback with its conversion table, Ix03, and Ix04 just as for any other
feedback from a MACRO Station.
If the MLDT is used for absolute power-on position for the servo loop, the proper variables must be set
on the PMAC2 or Turbo PMAC2:
PMAC2 Ix10
(Power-On Position Address and Format)
To get the absolute position in this format for Motor x through MACRO node n (n = 0 to 15 decimal),
Ix10 should be set to $74000n, where n here is the hexadecimal representation of the node number (n = 0
to F hex).
Turbo PMAC2 Ixx10 and Ixx95 (Power-On Position Address and Format)
To get the absolute position for Motor xx through MACRO node n (n = 0 to 63 decimal), Ixx10 should be
set to n; in hex-format $0000nn, where nn is the hexadecimal representation of the node number (nn = 00
to 3F hex). If node 0 is used, Ixx10 should be set to $000100 (256 decimal). Ixx95 should be set to
$740000 to specify parallel data through a MACRO node.
If the MLDT is used for absolute power-on phase position for commutation, the proper variables must be
set on the PMAC2 or Turbo PMAC2:
PMAC2 Ix81 (Power-On Phase Position Address and Format)
To get the absolute phase position in this format for Motor x through MACRO node n (n = 0 to 15
decimal), Ix81 should be set to $74000n, where n is the hexadecimal representation of the node number (n
= 0 to F hex).
Turbo PMAC2 Ixx81 and Ixx91 (Power-On Phase Position Address and Format)
To get the absolute phase position for Motor xx through MACRO node n (n = 0 to 63 decimal), Ixx81
should be set to n; in hex-format $0000nn, where nn is the hexadecimal representation of the node
number (nn = 00 to 3F hex). If node 0 is used, Ixx81 should be set to $000100 (256 decimal). Ixx91
should be set to $740000 to specify parallel data through a MACRO node.
MLDT Feedback for UMAC-MACRO
The data from the MLDT is processed as a parallel word input at the MACRO Station and then
transmitted back to the Ultralite using the traditional Servo Node. The encoder conversion table at the
MACRO Station must be modified to process this data. From the Ultralite standpoint, nothing must be
modified to read the position and velocity data.
Since the data is absolute, the data can be sent at the Ultralite also as absolute data for correct position at
power-up. This is accomplished with the proper setup of MSn,MI11x at the MACRO Station, and Ix10 at
the Ultralite or Ix10 and Ix95 with the Turbo Ultralite. Regardless of the type of Ultralite, retrieving the
power-on-position is the same. The information must be retrieved from MACRO Station variable
MSn,MI920 for each node transfer as specified by Ix10 at the Ultralite. MSn,MI920 does not have to be set
up because the MACRO Station will place the power-on position in the appropriate register at power-up.
MLDT Software Setup of the UMAC MACRO
When the Acc-24E2S is used for MLDT feedback in a UMAC MACRO system, there are a few MI-
variables in the MACRO Station, and a few in the PMAC2 or Turbo PMAC2 driving the Station, that
must be set up properly.
Station Hardware Setup I-Variables for Servo IC
MS{anynode},MI903/MI907 (PFM Clock Frequency)
In almost all cases, the clock frequency driving the pulse-generation circuitry for all channels on the Servo
IC can be left at its default value of 9.83 MHz (0.102
sec). Few will need to change MI903/MI907, which
also controls other clock signals, from its default value of 2258.
