Axis 24E2, Руководство пользователя, Страница: 35 / 44

Accessory 24E2
Absolute Position for Ultralite
Compact MACRO Station Feedback Type
(firmware version 1.16H and above) Ix10
(Unsigned)
Ix10
(Signed)
ACC-8D Opt 7 Resolver/Digital Converter $73000n $F3000n
ACC-8D Opt 9 Yaskawa Absolute Encoder Converter $72000n $F2000n
ACC-8D Opt 10 Sanyo Absolute Encoder Converter $74000n $F4000n
ACC-28B or ACC-28E Analog/Digital Converter $74000n $F4000n
MACRO Station Option 1C/ACC-6E A/D Converter $74000n $F4000n
MACRO Station Parallel Input $74000n $F4000n
MACRO Station MLDT Input $74000n $F4000n
‘n’ is the MACRO node number used for Motor x: 0, 1, 4, 5, 8, 9, C(12), or D(13).
Absolute Position for Turbo Ultralite (Ixx95=$720000 - $740000, $F20000 - $F40000)
Addresses are MACRO Node Numbers
MACRO
Node Number
Ixx10 for
MACRO IC 0
Ixx10 for
MACRO IC 1
Ixx10 for
MACRO IC 2
Ixx10 for
MACRO IC 3
0 $000100 $000010 $000020 $000030
1 $000001 $000011 $000021 $000031
4 $000004 $000014 $000024 $000034
5 $000005 $000015 $000025 $000035
8 $000008 $000018 $000028 $000038
9 $000009 $000019 $000029 $000039
12 $00000C $00001C $00002C $00003C
13 $00000D $00001D $00002D $00003D
Compact MACRO Station Feedback Type Ixx95 (Unsigned) Ixx95 (Signed)
ACC-8D Opt 7 Resolver/Digital Converter $730000 $F30000
ACC-8D Opt 9 Yaskawa Absolute Encoder Converter $720000 $F20000
ACC-8D Opt 10 Sanyo Absolute Encoder Converter $740000 $F40000
ACC-28B Analog/Digital Converter $740000 $F40000
MACRO Station Option 1C/ACC-6E A/D Converter $740000 $F40000
MACRO Station Parallel Input, MLDT, SSI $740000 $F40000
When PMAC or PMAC2 has Ix10 set to get absolute position over MACRO, it executes a station
auxiliary read command MS{node},I920 to request the absolute position from the Compact MACRO
Station. The station then references its own I11x value to determine the type, format, and address of the
data to be read.
MACRO Parallel Absolute Position Setup
MI111 through MI118 (MI11 x ) specify whether, where, and how absolute position is to be read on the
Compact MACRO Station for a motor node (MI11 x controls the x th motor node, which usually
corresponds to Motor x on PMAC) and sent back to the Ultralite.
If MI11 x is set to 0, no power-on reset absolute position value will be returned to PMAC. If MI11 x is set
to a value greater than 0, then when the PMAC requests the absolute position because its Ix10 and/or Ix81
values are set to obtain absolute position through MACRO (sending an auxiliary
MS{node},MI920
command), the Compact MACRO Station will use MI11 x to determine how to read the absolute position,
and report that position back to PMAC as an auxiliary response.
For an MLDT, take the output from the encoder conversion table (ECT) at the MACRO Station and
process it as an absolute position because the information in the ECT is synchronized properly.
MLDT Feedback for UMAC-Turbo and UMAC-MACRO 31