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Macro Servo Node Input/Output Information


sbondhus
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I am looking for detailed information on the contents of the Macro Nodes. In our particular case, we're using an Acc5E to communicate to a Macro 16-Axis station which controls four Acc24E2A cards with servo motors and quadtrature encoders, and I'm trying to understand the "16 bits of channel status/flag information/commands", i.e. the input and output of Gate2.Macro[j][3]. I've found various bits of information in various manuals, but never a comprehensive table.
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The 16 Axis MACRO CPU User manual has a pretty good description on page 3.

http://www.deltatau.com/manuals/pdfs/16%20AXIS%20MACRO%20CPU%20USER.pdf?id=635331532604661507

There are 72 bits of data in a MACRO packet (one 24 bit word and 3 16 bit words). The data in these words varies by control method. If you are using torque control or velocity control, for example, the 24 bit control word (from PPMAC to the MACRO CPU) contains the servo output command, and the 3rd 16 bit control word contains control bits (e.g. amp enable). The first and second 16 bit control words are unused. In this case, the 24 bit feedback word (from the MACRO CPU to PPMAC) contains the ECT data, and the 3rd 16 bit feedback word contains status data (e.g. amp fault). In the case of direct PWM over MACRO, all registers are used (with PWM commands for each phase in the first three command words, and command data in the final word, and ECT data, ADC A, ADC B, Status occupying the feedback words).

The breakdown of what bits go where in the flag registers can be found in the Turbo SRM "MACRO Flag Registers" section.

http://www.deltatau.com/manuals/pdfs/TURBO%20SRM.pdf?id=635331532581848423

REMEMBER - in Power PMAC, the Bits are in the Upper 24 (or 16) bits of the 32 bit word, so you will have to +8 on the bit numbers.

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MACRO Status Flag Registers (Gate3.MacroInA[j][3]/Gate3.MacroInB[j][3] and Gate2.Macro[j][3])

Bit 0 – 18 (Reserved for future use)

19 Position captured flag

20 MACRO node reset (power-on or command)

21 Ring break detected elsewhere

22 Amplifier enabled at station

23 Amplifier/node shutdown fault

24 Home flag input value

25 Positive limit flag value

26 Negative limit flag value

27 User flag value

28 W flag value

29 V flag value

30 U flag value

31 T flag value

 

MACRO Command Flag Registers (Gate3.MacroOutA[j][3]/Gate3.MacroOutB[j][3] and Gate2.Macro[j][3])

Bit 0 – 18 (Reserved for future use)

19 Position capture enable

20 Node position reset flag

21 Ring break detected

22 Amplifier enable

23 – 31 (Reserved for future use)

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MACRO Status Flag Registers (Gate3.MacroInA[j][3]/Gate3.MacroInB[j][3] and Gate2.Macro[j][3])

Bit 0 – 18 (Reserved for future use)

19 Position captured flag

20 MACRO node reset (power-on or command)

21 Ring break detected elsewhere

22 Amplifier enabled at station

23 Amplifier/node shutdown fault

24 Home flag input value

25 Positive limit flag value

26 Negative limit flag value

27 User flag value

28 W flag value

29 V flag value

30 U flag value

31 T flag value

 

MACRO Command Flag Registers (Gate3.MacroOutA[j][3]/Gate3.MacroOutB[j][3] and Gate2.Macro[j][3])

Bit 0 – 18 (Reserved for future use)

19 Position capture enable

20 Node position reset flag

21 Ring break detected

22 Amplifier enable

23 – 31 (Reserved for future use)

 

It looks like there is no direct way to determine that an encoder has faulted -- is that correct?

 

We tried reversing resistor pack RP22 (as described in the ACC24E2A manual), wiring the signals to the T,U,V,W input flags, and setting MI16 to 1 (all as described in the MI16 section of the MACRO CPU SRM). Though we saw encoder loss hardware status bit change in MI927, it doesn't appear to change any of the bits in the MACRO status flag register. Furthermore, the amps did not disable when the encoder loss should have been detected (as described in the note in that section).

 

The MI16 section also indicates that "automatic encoder-loss shutdown function... can be enabled with MI7", but the MI7 section simply says "(Reserved for future use)".

 

For now, it looks like we'll be able to detect encoder loss by writing our own AB Quad signal pattern check and re-wiring all of our cables to jumper the A+/- & B+/- signals to the T, U, V, and W input flags, respectively, which we can then read through the MACRO status flag register Gate2.Macro[j][3]. Is this correct? Is there a better way to retrieve encoder loss information (that doesn't involve re-wiring our encoders)?

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