Accessory 24E2S
MLDT Feedback for UMAC-Turbo & UMAC-MACRO
33
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.
Remember that the output from the encoder conversion table will reside in the X register. For example,
with the following entry:
MS0,MI120=$30C040
($10 of ECT)
MS0,MI121=$FFFFFF
($11 of ECT)
MS0,MI122=32
($12 of ECT)
The output from the ECT will reside in X:$12 and this will be the register to obtain the absolute data from.
MI11
x
consists of two parts. The low 16 bits (last four hexadecimal digits) specify the address on the
MACRO Station from which the absolute position information is read. The high eight bits (first two
hexadecimal digits) tells the Compact MACRO Station how to interpret the data at that address.
X/Y Address Bit:
If bit 22 of Ix10 is 0, the PMAC looks for the parallel sensor in its Y address space.
This is the standard choice, since all I/O ports map into the Y address space. If this bit is 1, PMAC looks
for the parallel sensor in its X address space.
Содержание ACC-24E2S
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