Delta Tau Geo MACRO, Руководство пользователя и справочное руководство

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Geo MACRO Drive User Manual
122 Turbo PMAC2 Related I-Variable Reference
Ixx24 specifies how the address in Ixx25 is to be used. Bit 0 of Ixx24 must be set to 1 to specify
PMAC2-style flag arrangements, which are used in the MACRO protocol. Bit 18 of Ixx24 must be set to
1 to specify that the flags are sent and received across MACRO. Bit 23 of Ixx24, which specifies the
polarity of the amplifier/node fault bit into the Turbo PMAC2, must be set to match the polarity defined
in the Station with the appropriate bit of MI18. If the bit n of MI18, and bit 23 of Ixx24 are set to 0, a
low-true fault (logical 0 means fault, regardless of the input voltage) is specified. If the bit n of MI18,
and bit 23 or Ixx24 are set to 1, a high-true fault (logical 1 means fault) is specified.
If no other bits of Ixx24 are set, the value of Ixx24 is $040001 or $840001. $040001 is the default value
for Ixx24 on Turbo PMAC2 Ultralite boards. Refer to the detailed description of Ixx24 in the Turbo
PMAC Software Reference for descriptions of the other bits.
When Bit 18 of Ixx24 is set to 1, and bit n of I1000 is set to 1, then the Motor xx flag information is
automatically copied between the holding registers at $00344 n , $00345 n , $00346 n , or $00347 n , and the
MACRO interface registers for node n of MACRO IC 0, 1, 2, or 3, respectively, on the Turbo PMAC2.
The command flags, such as amplifier enable, are held in the Y-register of $0034x n . The feedback flags,
such as overtravel limits and amplifier fault, are held in the X-registers of $0034x n . Monitoring of flag
values should use these holding registers in RAM, not the actual MACRO node registers.
The following tables show the locations of the individual flags in these registers:
Motor Command Flags: Y:$0034 xn for MACRO IC ( x -4) Node n
Bit # Function Notes
0 Position Capture Prepare Flag Must be set to 1 to prepare for hardware capture over ring;
to 0 when done
1-7 (Not Used)
8-10 (Reserved for future use)
11 Position Capture Enable Flag Must be set to 1 to prepare for hardware capture over ring;
to 0 when done
12 Node Position Reset Flag
13 (Reserved for future use)
14 Amplifier Enabled Command to Station
15-23 (Reserved for future use)
Motor Status Flags: X:$0034 xn for MACRO IC ( x -4) Node n
Bit # Function Notes
0-7 (Not Used)
8-10 (Reserved for future use)
11 Position Captured Flag Latched from selected flag
12 Power-On Reset or Node Reset Occurred
13 Ring Break Detected Elsewhere
14 Amplifier Enabled Status from Station
15 Amplifier/Node Shutdown Fault 1 is treated as shutdown if Ix25 bit 23 = 1; 0 if
Ix25 bit 23 = 0
16 Home Flag (HOME) Input Value
17 Positive Limit Flag (PLIM) Value
18 Negative Limit Flag (MLIM) Value
19 User Flag (USER) Input Value
20 Flag W Input Value
21 Flag V Input Value
22 Flag U Input Value
23 Flag T Input Value