PPMAC Support for Macro?

[KEJR]

Hello, Does the Power PMAC support MACRO currently? We are looking to use our first PPMAC application with MACRO and approx 8 axes of motion coupled to Copley Macro drives. Are there any issues using MACRO from a "C" language? Admittedly we won't be doing hardly any setup from the C language, especially if the IDE can handle it as a "wizard" or setup screen. We already own a Macro UMAC card with DSPGate 2B, is this compatable? Thanks, KEJR

[bradp]

PPmac does support Macro. From C and the terminal you have Macro functions to read and write and save data on the ring. What I am told is that the script language does not have much macro support yet so you need to use CMD syntax. And there are no setup tools yet. This means you will be doing a lot of manual work to set things up.

[KEJR]

We just got our Power PMAC CPU and I'll be playing around with it as time allows in the next month or two. I have a couple of MACRO cards (Acc-5E) as well as some Copley Accelnet MACRO drives. Since I have not even done MACRO in the turbo PMAC I really don't know where to start with the PowerPMAC. Is the setup basically the same except for the way I access the parameters? Is it possible to set up MACRO using data structures instead of hardcoded addresses (e.g. Gate[n].SomeParameter, etc)? Alternatively, does anyone have a quick start guide for MACRO on PowerPMAC? KEJR

[bradp]

Macro on PPmac is essentially the same as Turbo PMAC except that setup is done via structures and not addresses. I have no quick start guide, just the data in the saved data structures manual and this project from a real application. It was for Etel drives so drive specific data will need to change but it will give you a good list of structures to verify the setup. // Gate2[i]. MACRO Ring Setup Elements 55 Gate2[0].MacroEnable = $0fC133 // master 0 and 5 servo nodes Gate2[0].MacroMode = $4070 // make synch master Macro.TestPeriod = 50 // macro ring cycles in test period (i80) Macro.TestMaxErrors = 2 // max macro errors allowed in test period (i81) Macro.TestReqdSynchs = 2 // min synch packets needed in test period (i82) // Sys.PhaseErrorCtr will increment on a ring break when ring test is active // Bit defs of Macro.Status[0] when ring test is active (from RtGpShm.h vers 1.2.0.27) // Spare1 // bit 14 - 31 // BrkMsgSent // bit 13 // AsciiRespRdy // bit 12 // AsciiCmdRdy // bit 11 // AsciiCmdOn // bit 1 // AsciiCom // bit 9 // Master // bit 8 // SynchMaster // bit 7 // TestEnabled // bit 6 // RingError // bit 5 - Any Ring detected error // SynchFault // bit 4 // ErrorsFault // bit 3 // BrkReceivd // bit 2 // BrkDetected // bit 1 // Active // bit 0 // Gate2[i]. Multi-Channel Setup Elements Gate2[0].ServoClockDiv = 1 Gate2[0].PhaseClockDiv = 0 Gate2[0].PwmPeriod = 2456 Sys.ServoPeriod = 1/12 // 12 kHz //Gate2[0].AdcStrobe //Gate2[0].ClockCtrl //Gate2[0].DacStrobe //Gate2[0].HardwareClockCtrl //Gate2[0].PhaseServoDir //Gate2[0].PwmCtrl //Gate2[0].PwmDeadTime // Gate2[i]. General-Purpose I/O Setup Elements 49 //Gate2[0].DispDir //Gate2[0].DispMode //Gate2[0].DispPol //Gate2[0].HighIoDir //Gate2[0].HighIoPol //Gate2[0].IoGrayCtrl //Gate2[0].LowIoDir //Gate2[0].LowIoMode //Gate2[0].LowIoPol //Gate2[0].MuxDir //Gate2[0].MuxMode //Gate2[0].MuxPol //---------------------------- General motor 1 setup --------------------------- Motor[1].ServoCtrl = 1 // Ixx00 Motor[1].AmpFaultLevel = 0 // default = 0 //---------------------------- General motor 2 setup --------------------------- Motor[2].ServoCtrl = 1 // Ixx00 Motor[2].AmpFaultLevel = 0 // default = 0 //---------------------------- General motor 3 setup --------------------------- Motor[3].ServoCtrl = 1 // Ixx00 Motor[3].AmpFaultLevel = 0 // default = 0 //---------------------------- General motor 4 setup --------------------------- Motor[4].ServoCtrl = 0 // Ixx00 Motor[4].AmpFaultLevel = 0 // default = 0 //---------------------------- General motor 5 setup --------------------------- Motor[5].ServoCtrl = 0 // Ixx00 Motor[5].AmpFaultLevel = 0 // default = 0 // Want motors 1 to 6 over MACRO so re-map some pointers Motor[1].PwmSf = 7686 Motor[1].pDac = Acc5E[0].Macro[0][0].a Motor[1].pAdc = Acc5E[0].Macro[0][1].a Motor[1].pPhaseEnc = Acc5E[0].Macro[0][0].a Motor[1].pEncStatus = Acc5E[0].Macro[0][3].a Motor[1].pEncCtrl = Acc5E[0].Macro[0][3].a Motor[1].AmpEnableBit = 22 Motor[1].LimitBits = 25 Motor[1].pAmpEnable = Acc5E[0].Macro[0][3].a Motor[1].pAmpFault = Acc5E[0].Macro[0][3].a Motor[1].pLimits = Acc5E[0].Macro[0][3].a Motor[1].AmpFaultBit = 23 Motor[1].CaptControl = $13000801 Motor[1].CaptPosRightShift = 0 Motor[1].CaptPosLeftShift = 8 // when the Etel drive is set to work with Turbo PMAC (K249 = 5 in Etel ver 1.29a) //Motor[1].CaptPosLeftShift = 13 // when the Etel drive is set default (K249 = 0 in Etel ver 1.29a) Motor[1].pCaptFlag = Acc5E[0].Macro[0][3].a Motor[1].pCaptPos = Sys.pushm Motor[1].EncType = 4 Motor[2].PwmSf = 7686 Motor[2].pDac = Acc5E[0].Macro[1][0].a Motor[2].pAdc = Acc5E[0].Macro[1][1].a Motor[2].pPhaseEnc = Acc5E[0].Macro[1][0].a Motor[2].pEncStatus = Acc5E[0].Macro[1][3].a Motor[2].pEncCtrl = Acc5E[0].Macro[1][3].a Motor[2].AmpEnableBit = 22 Motor[2].LimitBits = 25 Motor[2].pAmpEnable = Acc5E[0].Macro[1][3].a Motor[2].pAmpFault = Acc5E[0].Macro[1][3].a Motor[2].pLimits = Acc5E[0].Macro[1][3].a Motor[2].AmpFaultBit = 23 Motor[2].CaptControl = $13000801 Motor[2].CaptPosLeftShift = 8 // when the Etel drive is set to work with Turbo PMAC (K249 = 5 in Etel ver 1.29a) //Motor[2].CaptPosLeftShift = 13 // when the Etel drive is set default (K249 = 0 in Etel ver 1.29a) Motor[2].pCaptFlag = Acc5E[0].Macro[1][3].a Motor[2].pCaptPos = Sys.pushm Motor[2].EncType = 4 Motor[3].PwmSf = 7686 Motor[3].pDac = Acc5E[0].Macro[4][0].a Motor[3].pAdc = Acc5E[0].Macro[4][1].a Motor[3].pPhaseEnc = Acc5E[0].Macro[4][0].a Motor[3].pEncStatus = Acc5E[0].Macro[4][3].a Motor[3].pEncCtrl = Acc5E[0].Macro[4][3].a Motor[3].AmpEnableBit = 22 Motor[3].LimitBits = 25 Motor[3].pAmpEnable = Acc5E[0].Macro[4][3].a Motor[3].pAmpFault = Acc5E[0].Macro[4][3].a Motor[3].pLimits = Acc5E[0].Macro[4][3].a Motor[3].AmpFaultBit = 23 Motor[3].CaptControl = $13000801 Motor[3].CaptPosLeftShift = 8 // when the Etel drive is set to work with Turbo PMAC (K249 = 5 in Etel ver 1.29a) //Motor[3].CaptPosLeftShift = 13 // when the Etel drive is set default (K249 = 0 in Etel ver 1.29a) Motor[3].pCaptFlag = Acc5E[0].Macro[4][3].a Motor[3].pCaptPos = Sys.pushm Motor[3].EncType = 4 Motor[4].PwmSf = 7686 Motor[4].pDac = Acc5E[0].Macro[5][0].a Motor[4].pAdc = Acc5E[0].Macro[5][1].a Motor[4].pPhaseEnc = Acc5E[0].Macro[5][0].a Motor[4].pEncStatus = Acc5E[0].Macro[5][3].a Motor[4].pEncCtrl = Acc5E[0].Macro[5][3].a Motor[4].AmpEnableBit = 22 Motor[4].LimitBits = 25 Motor[4].pAmpEnable = Acc5E[0].Macro[5][3].a Motor[4].pAmpFault = Acc5E[0].Macro[5][3].a Motor[4].pLimits = Acc5E[0].Macro[5][3].a Motor[4].AmpFaultBit = 23 Motor[4].CaptControl = $13000801 Motor[4].CaptPosLeftShift = 8 // when the Etel drive is set to work with Turbo PMAC (K249 = 5 in Etel ver 1.29a) //Motor[4].CaptPosLeftShift = 13 // when the Etel drive is set default (K249 = 0 in Etel ver 1.29a) Motor[4].pCaptFlag = Acc5E[0].Macro[5][3].a Motor[4].pCaptPos = Sys.pushm Motor[4].EncType = 4 Motor[5].PwmSf = 7686 Motor[5].pDac = Acc5E[0].Macro[8][0].a Motor[5].pAdc = Acc5E[0].Macro[8][1].a Motor[5].pPhaseEnc = Acc5E[0].Macro[8][0].a Motor[5].pEncStatus = Acc5E[0].Macro[8][3].a Motor[5].pEncCtrl = Acc5E[0].Macro[8][3].a Motor[5].AmpEnableBit = 22 Motor[5].LimitBits = 25 Motor[5].pAmpEnable = Acc5E[0].Macro[8][3].a Motor[5].pAmpFault = Acc5E[0].Macro[8][3].a Motor[5].pLimits = Acc5E[0].Macro[8][3].a Motor[5].AmpFaultBit = 23 Motor[5].CaptControl = $13000801 Motor[5].CaptPosLeftShift = 8 // when the Etel drive is set to work with Turbo PMAC (K249 = 5 in Etel ver 1.29a) //Motor[5].CaptPosLeftShift = 13 // when the Etel drive is set default (K249 = 0 in Etel ver 1.29a) Motor[5].pCaptFlag = Acc5E[0].Macro[8][3].a Motor[5].pCaptPos = Sys.pushm Motor[5].EncType = 4 Motor[6].PwmSf = 7686 Motor[6].pDac = Acc5E[0].Macro[9][0].a Motor[6].pAdc = Acc5E[0].Macro[9][1].a Motor[6].pPhaseEnc = Acc5E[0].Macro[9][0].a Motor[6].pEncStatus = Acc5E[0].Macro[9][3].a Motor[6].pEncCtrl = Acc5E[0].Macro[9][3].a Motor[6].AmpEnableBit = 22 Motor[6].LimitBits = 25 Motor[6].pAmpEnable = Acc5E[0].Macro[9][3].a Motor[6].pAmpFault = Acc5E[0].Macro[9][3].a Motor[6].pLimits = Acc5E[0].Macro[9][3].a Motor[6].AmpFaultBit = 23 Motor[6].CaptControl = $13000801 Motor[6].CaptPosLeftShift = 8 // when the Etel drive is set to work with Turbo PMAC (K249 = 5 in Etel ver 1.29a) //Motor[6].CaptPosLeftShift = 13 // when the Etel drive is set default (K249 = 0 in Etel ver 1.29a) Motor[6].pCaptFlag = Acc5E[0].Macro[9][3].a Motor[6].pCaptPos = Sys.pushm Motor[6].EncType = 4 // Re-map ECT so Macro motors come first // ECT 0 default setup EncTable[0].type = 1 EncTable[0].index1 = 0 EncTable[0].index2 = 0 EncTable[0].index3 = 0 EncTable[0].index4 = 0 EncTable[0].pEnc1 = Sys.pushm EncTable[0].pEnc = Sys.pushm EncTable[0].MaxDelta = 0 EncTable[0].ScaleFactor = 0 // ECT 1 to 6 for ACC5E EncTable[1].type = 1 EncTable[1].index1 = 8 // right shift 8-bits to remove potential garbage when 24-bit data is placed into 32-bit register (left justified) EncTable[1].index2 = 8 // left shift 8-bits to put LSB at bit-8 of 32-bit PPmac register EncTable[1].index3 = 0 EncTable[1].index4 = 0 EncTable[1].pEnc1 = Sys.pushm EncTable[1].pEnc = Acc5E[0].Macro[0][0].a EncTable[1].MaxDelta = 0 EncTable[1].ScaleFactor = 1/256/4096000 // Output is mm. shift 8 as 24-bit reg is in high bits of 32-bit word // and divide by cts per mm. default was 0.0001220703125 EncTable[2].type = 1 EncTable[2].index1 = 8 // right shift 8-bits to remove potential garbage when 24-bit data is placed into 32-bit register (left justified) EncTable[2].index2 = 8 // left shift 8-bits to put LSB at bit-8 of 32-bit PPmac register EncTable[2].index3 = 0 EncTable[2].index4 = 0 EncTable[2].pEnc1 = Sys.pushm EncTable[2].pEnc = Acc5E[0].Macro[1][0].a EncTable[2].MaxDelta = 0 EncTable[2].ScaleFactor = 1/256/4096000 // Output is mm. shift 8 as 24-bit reg is in high bits of 32-bit word // and divide by cts per mm. default was 0.0001220703125 EncTable[3].type = 1 EncTable[3].index1 = 8 // right shift 8-bits to remove potential garbage when 24-bit data is placed into 32-bit register (left justified) EncTable[3].index2 = 8 // left shift 8-bits to put LSB at bit-8 of 32-bit PPmac register EncTable[3].index3 = 0 EncTable[3].index4 = 0 EncTable[3].pEnc1 = Sys.pushm EncTable[3].pEnc = Acc5E[0].Macro[4][0].a EncTable[3].MaxDelta = 0 EncTable[3].ScaleFactor = 1/256/409600 // Output is mm. shift 8 as 24-bit reg is in high bits of 32-bit word // and divide by cts per mm. default was 0.0001220703125 EncTable[4].type = 1 EncTable[4].index1 = 8 // right shift 8-bits to remove potential garbage when 24-bit data is placed into 32-bit register (left justified) EncTable[4].index2 = 8 // left shift 8-bits to put LSB at bit-8 of 32-bit PPmac register EncTable[4].index3 = 0 EncTable[4].index4 = 0 EncTable[4].pEnc1 = Sys.pushm EncTable[4].pEnc = Acc5E[0].Macro[5][0].a EncTable[4].MaxDelta = 0 EncTable[4].ScaleFactor = 1/256/4096000 // Output is mm. shift 8 as 24-bit reg is in high bits of 32-bit word // and divide by cts per mm. default was 0.0001220703125 EncTable[5].type = 1 EncTable[5].index1 = 8 // right shift 8-bits to remove potential garbage when 24-bit data is placed into 32-bit register (left justified) EncTable[5].index2 = 8 // left shift 8-bits to put LSB at bit-8 of 32-bit PPmac register EncTable[5].index3 = 0 EncTable[5].index4 = 0 EncTable[5].pEnc1 = Sys.pushm EncTable[5].pEnc = Acc5E[0].Macro[8][0].a EncTable[5].MaxDelta = 0 EncTable[5].ScaleFactor = 1/256/4096000 // Output is mm. shift 8 as 24-bit reg is in high bits of 32-bit word // and divide by cts per mm. default was 0.0001220703125 EncTable[6].type = 1 EncTable[6].index1 = 8 // right shift 8-bits to remove potential garbage when 24-bit data is placed into 32-bit register (left justified) EncTable[6].index2 = 8 // left shift 8-bits to put LSB at bit-8 of 32-bit PPmac register EncTable[6].index3 = 0 EncTable[6].index4 = 0 EncTable[6].pEnc1 = Sys.pushm EncTable[6].pEnc = Acc5E[0].Macro[9][0].a EncTable[6].MaxDelta = 0 EncTable[6].ScaleFactor = 1/256/4096000 // Output is mm. shift 8 as 24-bit reg is in high bits of 32-bit word // and divide by cts per mm. default was 0.0001220703125

[KEJR]

Hello, Thank you so much for that example code. I know it will help me out alot and I'm sure it will to others. This is exactly the starting point I needed. Vive la Structures!!!! I am so glad not to deal with addresses! It is all so much more readable. :o) KEJR

[Guest DavisG]

i/o over MACRO This example assumes 2 umac macro stations. Station 1 has 2 ea ACC-65E 48 bit digital i/o cards and one ACC-28E 16 bit analog input card, and Station 2 has 1 ea ACC-65E and 1 ea ACC-28E. Both have 16 motors apiece. To set up I/O you need to first look at how many points of i/o you have, and how many bits per point. Each MACRO i/o node has four registers. Register 0 has 24 bits, and registers 1-3 have 16 bits each. If I have an ACC-65E (or any other 48 bit i/o cards), I like to use the 24 bit space – then there are 1 node of inputs and 1 node of outputs, each in register 0 of the node. For 16 bit analog input the 16 bit registers are perfect. Make sure that bits 2 ,3,6,7 of Acc5E[0].MacroEnable (i6841) are set high Make sure that bits 2,3 of Acc5E[2].MacroEnable (i6941) are set high Acc5E[0].MacroEnable = $0fB3ff // master 0, 4 i/o nodes, and 8 servo nodes Acc5E[0].MacroMode = $4030 // make synch master and allow MACRO ASCII using broadcast on node 14 Acc5E[2].MacroEnable = $2fB33f // master 2. 2 i/o nodes, and 8 servo nodes Acc5E[2].MacroMode = $10 // make master Macro.TestPeriod = 50 // macro ring cycles in test period (i80) Macro.TestMaxErrors = 2 // max macro errors allowed in test period (i81) Macro.TestReqdSynchs = 2 // min synch packets needed in test period (i82) Now set up the transfer at the MACRO CPU. MACRO STATION 1 (this station has nodes 0-31 - lots of motors) MacroSlave0,i975=$CC ;enable local node 2, 3, 6, and 7 for I/O at MACRO Station MacroSlave0,i19=4 ;sets interrupt period for data transfer every 4th phase clock tick MacroSlave0,i71=$20C0A0218840 ;sets up macro to transfer data for 2 ea ACC-65E ACC-65E will be found at Acc5E[0].Macro[2][0].a, Acc5E[0].Macro[3][0].a, Acc5E[0].Macro[6][0].a, Acc5E[0].Macro[7][0].a MacroSlave0,i20=$F ;Transfer i21, i22, i23, and i24 MacroSlave0,i21=$6C8800DCC0A1 ;Copies upper 16-bits data from Station address Y:$8800 to X:$C0A1 (node2) MacroSlave0,i22=$6C8801DCC0A2 ;Copies upper 16-bits data from Station address Y:$8801 to X:$C0A2 (node2) MacroSlave0,i23=$6C8802DCC0A3 ;Copies upper 16-bits data from Station address Y:$8802 to X:$C0A3 (node2) MacroSlave0,i24=$6C8803DCC0A5 ;Copies upper 16-bits data from Station address Y:$8803 to X:$C0A5 (node3) ACC-28E will be found at Acc5E[0].Macro[2][1].a, Acc5E[0].Macro[2][2].a, Acc5E[0].Macro[2][3].a, Acc5E[0].Macro[3][1].a MACRO STATION 2 (this station has nodes 32-63 - lots of motors) MacroSlave32,mi71=$10C0A0118800 ;sets up macro to transfer data for 1 Acc-65E ACC-65E will be found at Acc5E[2].Macro[2][0].a, Acc5E[2].Macro[3][0].a, Acc5E[2].Macro[6][0].a, Acc5E[2].Macro[7][0].a MacroSlave32,mi975=$C ;enable local node 2 and 3 for I/O at MACRO Station MacroSlave32,mi19=5 ;sets interrupt period for data transfer

[Guest DavisG]

Thanks to Richard Naddaf for figuring this out: Symptom - we have feedback across the MACRO ring, but cannot get motors to move. Fix: Set Motor[x].EncType=4 (was at 0) Set Motor[x].PwmSf = 7686 (was at 0) Since we have feedback we know that the Ring is talking. Assuming the correct settings for motor address etc this MAY be your problem

[pennells]

We are really struggling trying to utilize cards from the Power PMAC in a second card cage via a ACC-5E and 16-axis MACRO CPU card. We have multiple (4) ACC-24E2A's and an ACC-36E in the second cage and are trying to utilize all the axis (actually only 14) as well as read analog inputs off of the ACC-36E. The instructions for accessing MACRO bus I/O and servo nodes seems extremely confusing. When we run (the undocumented) command MacroControllerInit, the terminal returns Ring 0:Includes the following Accessories ACC5E[0].RingMasterNum = 0 ACC5E[1].MasterNum = 1 From here, I need to know how to initialize the MACRO CPU to read the ACC-36E (and if possible read it through the ADCDemux calls or block memory copies) as well as read the encoders off the ACC24E2As. Is there a quick tutorial that shows this to make our lives easier. A lot of the settings (like Macro.Enable) seem to have hidden flags that are not detailed in the software reference manual. For example, the Node bits are 0-15 but nothing notes that 2,3,6,7,10,11 are I/O while 0,1,4,5,8,9,12,13 are axis nodes as shown in the MACRO Training Seminar slides (slide 38) not to mention the requirements for bits 14 (I/O vs Master) and 15 (Protocol--don't know what type 1 protocol means). Can any of these commands be made in the terminal window? When we try to run any of the MacroSlave or MacroMaster commands, the terminal hangs and we have to 'Ctrl-C' to disconnect/connect the terminal window. In the MACRO Status window, we seem to only be able to get the SynchMaster flag to change to true (MacroControllerInit). We cannot seem to change any of the other flags. We urgently need to get this working. [quote='bradp' pid='618' dateline='1281640063'] Macro on PPmac is essentially the same as Turbo PMAC except that setup is done via structures and not addresses. I have no quick start guide, just the data in the saved data structures manual and this project from a real application. It was for Etel drives so drive specific data will need to change but it will give you a good list of structures to verify the setup. // Gate2[i]. MACRO Ring Setup Elements 55 Gate2[0].MacroEnable = $0fC133 // master 0 and 5 servo nodes Gate2[0].MacroMode = $4070 // make synch master Macro.TestPeriod = 50 // macro ring cycles in test period (i80) Macro.TestMaxErrors = 2 // max macro errors allowed in test period (i81) Macro.TestReqdSynchs = 2 // min synch packets needed in test period (i82) [/quote]

[pennells]

We seemed to have got this working--well at least with the ACC-36E. Apparently, because our ACC-36E was at $A00000 ($8800), it was interfering with the ACC-5E and MACRO CPU. Most of our difficulties went away when we moved it to $B00000 ($8840). The only other problem that we ended up having was accidently enabling both manual and auto transfers so the data was jumping around. We've corrected that. We'll look into the ACC-24E2As next but that does look easier and we have a bit more experience with the MACRObus interface to the PowerPMAC now.

[pennells]

In BradP's post, it suggests entering the following: Gate2[0].ServoClockDiv = 1 Gate2[0].PhaseClockDiv = 0 Gate2[0].PwmPeriod = 6527 But, setting the ServoClockDiv to 1, seems to mess up the reported servo freq and the time on any plots that are gathered. The IDE reports that the frequency is still 2.2589kHz but it should report twice that. The time calculated in the plotting app uses the 2.2kHz clock so that the reported time is twice as long as reality. I've switch the ServoClockDiv back to 3 since it creates an issue that took me a while to figure out. Is this a know issue. Should I put it into BugZilla?

[Sina.Sattari]

[quote='pennells' pid='4295' dateline='1353348368'] In BradP's post, it suggests entering the following: Gate2[0].ServoClockDiv = 1 Gate2[0].PhaseClockDiv = 0 Gate2[0].PwmPeriod = 6527 But, setting the ServoClockDiv to 1, seems to mess up the reported servo freq and the time on any plots that are gathered. The IDE reports that the frequency is still 2.2589kHz but it should report twice that. The time calculated in the plotting app uses the 2.2kHz clock so that the reported time is twice as long as reality. I've switch the ServoClockDiv back to 3 since it creates an issue that took me a while to figure out. Is this a know issue. Should I put it into BugZilla? [/quote] Pennells, When you change the clock settings in Power PMAC, you should make sure to set the Sys.ServoPeriod and Sys.PhaseOverServoPeriod parameters accordingly. This is not a bug and only a setting which user is responsible to modify as a part of clock setting parameters if any clock other than default is desired. Regards,