Delta Tau GEO BRICK LV User Manual
Turbo PMAC User Manual
32
Turbo PMAC System Configuration and Auto Configuration
I78 must be set greater than 0 if any auxiliary communications is desired with a MACRO Station. This
reserves Node 15 for the Type 1 Auxiliary Communications. A value of 32 is suggested. If I78 is set
greater than 0, bit 15 of I70, I72, I74, and I76 must be set to 0, so Node 15 is not used for flag transfers also.
reserves Node 15 for the Type 1 Auxiliary Communications. A value of 32 is suggested. If I78 is set
greater than 0, bit 15 of I70, I72, I74, and I76 must be set to 0, so Node 15 is not used for flag transfers also.
I79: MACRO Master/Master Auxiliary Communications Timeout
If I79 is set greater than 0, the MACRO Type 1 Master/Master Auxiliary Communications protocol using
Node 14 is enabled. Turbo PMAC implements this communications protocol using the MACROMASTER
(MM), MACROMSTREAD (MMR), and MACROMSTWRITE (MMW) commands. Only the Turbo PMAC that is
the “ring controller” can execute these commands; other Turbo PMACs that are masters on the ring can
respond to these commands from the ring controller.
Node 14 is enabled. Turbo PMAC implements this communications protocol using the MACROMASTER
(MM), MACROMSTREAD (MMR), and MACROMSTWRITE (MMW) commands. Only the Turbo PMAC that is
the “ring controller” can execute these commands; other Turbo PMACs that are masters on the ring can
respond to these commands from the ring controller.
If this function is enabled, I79 sets the “timeout” value in PMAC servo cycles. In this case, if the Turbo
PMAC does not get a response to a Node 14 master/master auxiliary communications command within
I79 servo cycles, it will stop waiting and register a “MACRO auxiliary communications error,” setting Bit
5 of global status register X:$000006.
PMAC does not get a response to a Node 14 master/master auxiliary communications command within
I79 servo cycles, it will stop waiting and register a “MACRO auxiliary communications error,” setting Bit
5 of global status register X:$000006.
I79 must be set greater than 0 if any auxiliary communications is desired with a MACRO Station. A
value of 32 is suggested. If a value of I79 greater than 0 has been saved into PMAC’s non-volatile
memory, then at subsequent power-up/resets, bit 14 of I70 is set to 0, the node-14 broadcast bit (bit 14 of
I6840) is set to 1, and activation bit for node 14 (bit 14 of I6841) is set to 1, regardless of the value saved
for these variables. This reserves Node 14 of MACRO IC 0 for the Type 1 Master/Master Auxiliary
Communications.
value of 32 is suggested. If a value of I79 greater than 0 has been saved into PMAC’s non-volatile
memory, then at subsequent power-up/resets, bit 14 of I70 is set to 0, the node-14 broadcast bit (bit 14 of
I6840) is set to 1, and activation bit for node 14 (bit 14 of I6841) is set to 1, regardless of the value saved
for these variables. This reserves Node 14 of MACRO IC 0 for the Type 1 Master/Master Auxiliary
Communications.
I80, I81, I82: MACRO Ring Check Period and Limits
If I80 is set to a value greater than zero, Turbo PMAC will monitor for MACRO ring breaks or repeated
MACRO communications errors automatically. A non-zero value sets the error detection cycle time in
Turbo PMAC servo cycles. Turbo PMAC checks to see that “sync node” packets (see I6840 and I6841)
are received regularly, and that there have not been regular communications errors.
MACRO communications errors automatically. A non-zero value sets the error detection cycle time in
Turbo PMAC servo cycles. Turbo PMAC checks to see that “sync node” packets (see I6840 and I6841)
are received regularly, and that there have not been regular communications errors.
The limits for these checks can be set with variables I81 and I82. If less than I82 sync node packets have
been received and detected during this time interval, or if I81 or more ring communications errors have
been detected in this interval, Turbo PMAC will assume a major ring problem, and all motors will be shut
down. Turbo PMAC will set the global status bit “Ring Error” (bit 4 of X:$000006) as an indication of
this error.
been received and detected during this time interval, or if I81 or more ring communications errors have
been detected in this interval, Turbo PMAC will assume a major ring problem, and all motors will be shut
down. Turbo PMAC will set the global status bit “Ring Error” (bit 4 of X:$000006) as an indication of
this error.
Turbo PMAC looks for receipt of sync node packets and ring communications errors once per real-time
interrupt – every (I8 + 1) servo cycles). The time interval set by I80 must be large enough that I82 real-
time interrupts in PMAC can execute within the time interval, or false ring errors will be detected.
Remember that long motion program calculations can cause skips in the real-time interrupt. Typically
values of I80 setting a time interval of about 20 milliseconds are used. I80 can be set according to the
formula:
interrupt – every (I8 + 1) servo cycles). The time interval set by I80 must be large enough that I82 real-
time interrupts in PMAC can execute within the time interval, or false ring errors will be detected.
Remember that long motion program calculations can cause skips in the real-time interrupt. Typically
values of I80 setting a time interval of about 20 milliseconds are used. I80 can be set according to the
formula:
I80 = Desired cycle time (msec) * Servo update frequency (kHz)
For example, with the default servo update frequency of 2.26 kHz, to get a ring check cycle interval of 20
msec, I80 would be set to 20 * 2.26
msec, I80 would be set to 20 * 2.26
≅ 45.
MACRO Node Addresses
The MACRO ring operates by copying registers at high speed across the ring. Therefore, each Turbo
PMAC2 master controller on the ring communicates with its slave stations by reading from and writing to
registers in its own address space. MACRO hardware handles the data transfers across the ring automatically.
PMAC2 master controller on the ring communicates with its slave stations by reading from and writing to
registers in its own address space. MACRO hardware handles the data transfers across the ring automatically.