Delta Tau Geo MACRO, User Manual And Reference Manual

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Geo MACRO Drive User and Reference Manual
Software Setup 45
Bits 20-23: Master Number. These four bits together form the master number (0 to 15) of the MACRO
IC on the MACRO ring. Each MACRO IC acting as a master on the ring, whether on the same card or
different cards, must have its own master number, and acts as a separate master station for the purposes of
the ring protocol. This master number forms half of the address byte with each packet sent by the
PMAC2 over the MACRO ring.
The master number can be the same number as the MACRO IC number (e.g. MACRO IC 0 has master
number 0, MACRO IC 1 has master number 1, and so on), and if there is only one Turbo PMAC2 in the
ring, this probably will be the case. However, this is not required. The MACRO IC that is the ring
controller must have master number 0 if Type 1 master-to-master auxiliary communications are to be used.
Bit
Hex ($) 0 0 0 0 0 0
Slave node Enables
Sync node Address
Master Address (0-15)
(0-15)
The table shown in an above section and in the Hardware Reference Manual for the 3U MACRO
Station’s SW1 switch setting provides a starting point for the Turbo PMAC2’s I6841/I6891/I6941/I6991
value. Additional bits of these I-variables may be set to 1 if I/O nodes are enabled or if more than one 3U
MACRO station is commanded from a single MACRO IC.
I70/I72/I74/I76: MACRO IC 0/1/2/3 Node Auxiliary Function Enable
I70, I72, I74, and I76 are 16-bit I-variables (bits 0 - 15) in which each bit controls the enabling or
disabling of the auxiliary flag function for the MACRO node number matching the bit number for
MACRO ICs 0, 1, 2, and 3, respectively. A bit value of 1 enables the auxiliary flag function; a bit value
of 0 disables it. If the function is enabled, PMAC automatically copies information between the MACRO
interface flag register and RAM register $00344
n , $00345 n , $00346 n , and $00347 n (where n is the IC’s
node number 0 – 15) for MACRO ICs 0, 1, 2, and 3, respectively.
Note that Turbo PMAC MACRO node numbers (as opposed to individual MACRO IC node numbers) go
from 0 to 63, with board nodes 0 – 15 on MACRO IC 0, board nodes 16 – 31 on MACRO IC 1, board
nodes 32 – 47 on MACRO IC 2, and board nodes 48 – 63 on MACRO IC 3.
Each MACRO node n that is used for servo functions should have the corresponding bit n of I70, I72,
I74, or I76 set to 1. I xx 25 for the Motor x that uses Node n should then address $00344 n , $00345 n ,
$00346 n , or $00347 n , not the address of the MACRO register itself (see below). If Register 3 of a
MACRO node n is used for other purposes, such as direct I/O, the corresponding bit n of I70, I72, I74, or
I76 should be set to 0, so this copying function does not overwrite these registers.
Typically, non-servo I/O functions with a MACRO Station do not involve auxiliary flag functions, so this
flag copy function should remain disabled for any node used to transmit I/O between the Turbo PMAC2
and the MACRO Station. If any auxiliary communications is done between the Turbo PMAC2 and the
MACRO Station on Nodes 14 and/or 15, bits 14 and 15 of these variables must be set to 0.
Examples:
I70=$3 ; Enabled for MACRO IC 0, Nodes 0 and 1
I72=$30 ; Enabled for MACRO IC 1, Nodes 4 and 5
I74=$3300 ; Enabled for MACRO IC 2, Nodes 8,9,12,13