Delta Tau Geo MACRO, User Manual And Reference Manual

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Geo MACRO Drive User Manual
44 Software Setup
Note:
When making this change, change the Turbo PMAC2’s I6800 variable first, then
the MACRO Station’s MI992. Changing the MACRO Station’s MI992 alone,
followed by an
MSSAVE<node>
command and an
MS$$$<node>
, could cause
the Station’s watchdog timer to trip.
I6840: MACRO IC 0 Master Configuration
Any MACRO IC on a Turbo PMAC2 talking to a MACRO Station must be configured as a master on the
ring. For purposes of the MACRO protocol, each MACRO IC is a separate logical master with its own
master number, even though there may be multiple MACRO ICs on a single physical Turbo PMAC2.
Each ring must have one and only one ring controller (synchronizing master). This should be the
MACRO IC 0 one and only one of the Turbo PMAC2 boards on the ring.
On a Turbo PMAC2, set I6840 to $30 to make the card’s MACRO IC 0 the ring controller. This sets bits
4 and 5 of the variable to 1. Setting bit 4 to 1 makes the IC a master on the ring; setting bit 5 to 1 makes
the IC the ring controller” starting each ring cycle by itself.
On a Turbo PMAC2 whose MACRO IC 0 will be a master but not ring controller, I6840 should be set to
$90. This sets bits 4 and 7 of the variable to 1. Setting bit 4 to 1 makes the IC a master on the ring;
setting bit 7 to 1 will cause this IC to be synchronized to the ring controller IC every time it receives a
ring packet specified by I6841.
I6890/I6940/I6990: MACRO IC 1/2/3 Master Configuration
A Turbo PMAC2 Ultralite may have additional MACRO ICs if Options 1U1, 1U2, and/or 1U3 are
ordered. A UMAC Turbo system may have additional MACRO ICs if Option 1 on an Acc-5E is ordered,
or if multiple Acc-5E boards are ordered. These additional ICs should be set to be masters but not ring
controllers by setting I6890, I6940, and I6990, respectively to $10. This sets bit 4 of the variable to 1,
making the IC a master on the ring. These ICs should never be synchronizing masters, and since they do
not control the clock signals on their own board, their internal clocks do not need to be synchronized to
the ring (only MACRO IC 0 needs to do this).
I6841/I6891/I6941/I6991: MACRO IC 0/1/2/3 Node Activation Control
I6841, I6891, I6941, and I6991 on Turbo PMAC2 control which of the 16 MACRO nodes for MACRO
ICs 0, 1, 2, and 3, respectively, on the card are activated. They also control the master station number for
their respective ICs, and the node number of the packet that creates a synchronization signal. The bits of
these I-variables are arranged as follows:
Bits 0-15: Activation of MACRO Nodes 0 to 15, respectively (1 = active, 0 = inactive). These 16 bits
(usually read as four hex digits) individually control the activation of the MACRO nodes in the MACRO
IC on a Turbo PMAC2. Each node that is active on the matching MACRO Station, whether for servo,
I/O, or auxiliary communications, should have its node activation bit set to 1.
When working with a Delta Tau MACRO Station, Node 15 of each MACRO IC on a Turbo PMAC2
must be activated to permit auxiliary communications, so bit 15 of this variable should always be set to 1
if the IC is used to communicate with a MACRO Station.
Bits 16-19: Packet Sync Node Slave Number. These four bits together (usually read as one hex digit)
form the slave number (0 to 15) of the packet whose receipt by the PMAC2 will set the Sync Packet
Received status bit in the MACRO IC. Usually, this digit is set to $F (15), because Node 15 is always
activated.
Turbo PMAC2 must see this bit set regularly; otherwise it will assume ring problems and shut down servo
and I/O outputs on the ring. Bit 7 of I6840 must be set to 1 on the MACRO IC 0 of all Turbo PMAC2s
that are not ring controllers to enable the synchronization of their phase clocks to that of the ring
controller based on receipt of the sync packet.