1
^1 USER MANUAL
^2 Accessory 52
^3 Macro I/O Device
^4 3Ax-603071-xUxx
^5 September 24, 2003
Single Source Machine Control Power // Flexibility // Ease of Use
21314 Lassen Street Chatsworth, CA 91311 // Tel. (818) 998-2095 Fax. (818) 998-7807 // www.deltatau.com
Copyright Information
© 2003 Delta Tau Data Systems, Inc. All rights reserved.
This document is furnished for the customers of Delta Tau Data Systems, Inc. Other uses are
unauthorized without written permission of Delta Tau Data Systems, Inc. Information contained in
this manual may be updated from time-to-time due to product improvements, etc., and may not
conform in every respect to former issues.
To report errors or inconsistencies, call or email:
Delta Tau Data Systems, Inc. Technical Support
Phone: (818) 717-5656
Fax: (818) 998-7807
Email: support@deltatau.com
Website: http://www.deltatau.com
Operating Conditions
All Delta Tau Data Systems, Inc. motion controller products, accessories, and amplifiers contain
static sensitive components that can be damaged by incorrect handling. When installing or handling
Delta Tau Data Systems, Inc. products, avoid contact with highly insulated materials. Only
qualified personnel should be allowed to handle this equipment.
In the case of industrial applications, we expect our products to be protected from hazardous or
conductive materials and/or environments that could cause harm to the controller by damaging
components or causing electrical shorts. When our products are used in an industrial environment,
install them into an industrial electrical cabinet or industrial PC to protect them from excessive or
corrosive moisture, abnormal ambient temperatures, and conductive materials. If Delta Tau Data
Systems, Inc. products are directly exposed to hazardous or conductive materials and/or
environments, we cannot guarantee their operation.
EN
Dispose in accordance with applicable regulations.
Accessory-52
Table of Contents i
Table of Contents
INTRODUCTION ....................................................................................................................................................... 1
How IOdevice Works ................................................................................................................................................ 2
Mapping MACRO for Your Application .................................................................................................................. 2
System Binding...................................................................................................................................................... 2
Sample MACRO Mapping Chart and IOdevice Addressing ................................................................................. 2
MACRO Mapping Chart ....................................................................................................................................... 2
CONFIGURING THE IODEVICE ........................................................................................................................... 3
Setting the Rotary Switches ...................................................................................................................................... 3
Loop-Break Timers ................................................................................................................................................... 3
MAKING PMAC2 WORK WITH THE IODEVICE .............................................................................................. 5
Enabling MACRO Operation on PMAC2 ................................................................................................................. 5
Example PMAC2 Configuration ........................................................................................................................... 7
PMAC2 Memory Address Map ................................................................................................................................ 8
PLC for MACRO Control ......................................................................................................................................... 8
MAKING TURBO PMAC2 ULTRALITE WORK WITH THE IODEVICE ....................................................... 9
Enabling MACRO Operation on Turbo PMAC2 Ultralite ........................................................................................ 9
Example Turbo PMAC2 Ultralite Configuration ................................................................................................ 11
Turbo PMAC2 Ultralite Memory Address Map ...................................................................................................... 11
PLC for MACRO Control in Turbo PMAC2 Ultralite ............................................................................................ 12
LCD DISPLAY OPERATION (JDISP) .................................................................................................................. 13
KEYBOARD OPERATION ..................................................................................................................................... 15
Keycodes ................................................................................................................................................................. 15
Keyboard Input Programming Example .................................................................................................................. 16
RS232 Operation ..................................................................................................................................................... 17
Mailbox Register #37 (RS232 Status) ................................................................................................................. 17
RS232 I/O Programming Example ..................................................................................................................... 17
MAILBOX REGISTERS .......................................................................................................................................... 19
IO Device Mapping Table ....................................................................................................................................... 19
IO Device Configuration Registers ......................................................................................................................... 19
Type .................................................................................................................................................................... 20
Description of IOdevice Mapping Registers ....................................................................................................... 20
Description of IOdevice Configuration Registers ............................................................................................... 20
IMMEDIATE EXECUTE COMMANDS ............................................................................................................... 23
Example of MACRO Immediate Command ........................................................................................................... 23
ERROR DISPLAY CODES...................................................................................................................................... 25
THINGS TO KNOW ................................................................................................................................................. 27
CONNECTOR PINOUTS......................................................................................................................................... 29
J1 - Analog Inputs ................................................................................................................................................... 29
J2 - Handwheel Encoder Inputs ............................................................................................................................... 30
J3 - Power Supply ................................................................................................................................................... 30
J4 - Outputs 0 - 7 ..................................................................................................................................................... 30
J5 - Outputs 8 - 15 ................................................................................................................................................... 31
J6 - JDISP LCD Display Connector (14-Pin Box Header) ...................................................................................... 32
J8 - RJ45 MACRO Wire Output ............................................................................................................................. 32
J10 - RJ45 MACRO Wire Input .............................................................................................................................. 32
J7 - Inputs 0 - 7 ........................................................................................................................................................ 33
J9 - Inputs 8 - 15 ...................................................................................................................................................... 33
Accessory-52
ii Table of Contents
J11 - Inputs 16 - 23 .................................................................................................................................................. 33
J12 - Ext Kybd......................................................................................................................................................... 34
J13 - ISP Header (Not Used) ................................................................................................................................... 34
J14 - Ext Kybd......................................................................................................................................................... 35
J15 - RS232 Connector............................................................................................................................................ 35
RS232 Interface Cable............................................................................................................................................. 35
JUMPERS .................................................................................................................................................................. 37
APPENDICES ............................................................................................................................................................ 39
How MACRO Works .............................................................................................................................................. 39
Master Nodes ...................................................................................................................................................... 39
Slave Nodes ......................................................................................................................................................... 39
Ring Master Node ............................................................................................................................................... 39
MACRO Mapping Chart ......................................................................................................................................... 40
Accessory-52
Introduction 1
INTRODUCTION
Delta Tau’s MACRO IOdevice is a communications interface designed to connect external I/O devices
such as switches, indicator lamps, LCD display, encoder, analog inputs, and a keyboard (optional) by
means of MACRO (Multiple Access Control Ring Optical) to a PMAC2 Ultralite or other MACRO
communication device.
MACRO interfaces allow a user to provide complete motor, relay control, solid state input/output, analog
to digital conversion and variable voltage output by means of a decentralized field bus that operates at a
speed of 125 megabits per second.
The IOdevice product provides a system of I/O interface with optical fiber: An ideal companion for a
motor/control system that prefers an electronically isolated control center.
The IOdevice is also ideal for large systems that are designed around a single control center.
The IOdevice is designed to be addressed into the MACRO TYPE 0 protocol. There may be up to 256
unique addressed devices on any MACRO optical link system. These are addressed as 16 master controls
that select 16 slave addresses each in the type 0 MACRO protocol.
A numeric indicator shows the status of the MACRO ring connection.
The IOdevice system is arranged as three real-time words of 16-bits each. These words are arranged into
one slave address which allows the user to read data from any 3 input devices or write data to the 16
outputs very quickly. All other input ports are available by reading MACRO registers (mailbox
registers).
There are two Loop-Break timers which are fully user configurable. The host loads the timer values and
stores them to the EEROM. They default to 00 (disabled) at system startup. Each output gets configured
to act at either or both Loop-Break timers when the MACRO ring goes down or communication with the
IOdevice ceases.
With loop-timers the action for each output is user configurable. The user may AND the output data bits,
OR the output data bits, or write an output data word (send specific bit data) for each loop-break timer.
16 outputs are available as sourcing or sinking. The IOdevice is provided with sinking outputs if sourcing
is not specified. The outputs are driven using the first MACRO real-time register which is a 16 bit word.
24 inputs are available. They are opto-isolated from the IOdevice internal circuitry, but use a common
8Vdc or GND to complete their circuit. These inputs are not polar, therefore they may be connected to
either sink or source devices.
Eight analog to digital converter inputs (10 bit) are provided. These inputs are +5Vdc full-scale only and
may easily be used for potentiometers.
An encoder input is provided. To use this function, bits 22 and 23 are stolen from the input word and
passed into a quadrature encoder counter circuit. The encoder counter circuit provides a 24-bit counter
which may be read using two 16 bit register accesses. The encoder counter may be cleared to zero by
writing any value to either encoder register.
LCD display port (JDISP). This port is designed to accept ASCII data from a write-only register. The
IOdevice uses a limited set of cursor control functions to allow easy transfer of data to the display.
The keyboard input (optional) allows the use of an AT style keyboard. A PS-2 connector is used to
interface into the IO device. Keyboard inputs are converted into ASCII data that is accessed using read-
only registers in the IO device. Function keys and extended operation keys return non-ASCII data that is
specified in a table. 8-key buffering is used.
Accessory-52
2 Introduction
How IOdevice Works
The Macro IOdevice card appears as a slave device to the MACRO network. The IOdevice card contains
two rotary switches for establishing the address of its master and slave node.
The IOdevice occupies only one slave node in a MACRO ring.
Data is transferred to and from the MACRO master by using MACRO TYPE 0 reads and writes to
register locations (i.e. MX0,I2=20 ).
A mapping table allows the user to select three sets of input devices to be returned through the MACRO
high-speed real-time registers.
Outputs are only accessed using the first MACRO real-time register.
Mapping MACRO for Your Application
When establishing a MACRO ring system there are a few things that must be done to organize the data flow.
System Binding
As with any network oriented system there is a requirement to bind the components together. This is the
process that determines how components will identify each other when communication occurs.
In the MACRO environment, there is an explicit addressing scheme which is followed by the user to
manually bind components. It should be noted here that MACRO is a protocol which requires a Master-
Slave relationship.
To aid in system binding, a MACRO Mapping Chart should be filled in with the appropriate data. This
chart is presented in the appendix.
A chart should be limited to a specific master address since several slave devices may be addressed by the
single master device. The user should fill out one chart per master address in his machine.
There may be more than one master device at a single master address in a MACRO system. Show each
master in a single chart if this is used.
It is recommended that the user photocopy the MACRO Mapping Chart keep all completed charts with
the machinery's documentation.
Sample MACRO Mapping Chart and IOdevice Addressing
Here is an example of how to fill in the data on the mapping chart.
1. Let us assume that we are using Master = 01 for our master address. We will be starting at slave node
= 00 in the chart example (as shown in the diagram).
2. Each IOdevice occupies only one slave address. We are using three IOdevice modules in the example.
3. Referring to the appendix for the MACRO Mapping Chart, fill in the chart-
MACRO Mapping Chart
Ring Name: Remote Pendants
Master No.: 01 Hardware Rack Name: Gantry System
Node
PMAC Address
Device Type
Comment
0
Y:$C0A1
IOdevice #1 - Left Side Pendant
User panel that controls hoist up, hoist
down and has gantry jog wheel.
Y:$C0A2
Y:$C0A3
1
Y:$C0A5
IOdevice #2 - Middle Pendant
Main machine control panel.
Y:$C0A6
Y:$C0A7
2
X:$C0A1
IOdevice #3 - Right Side Pendant
User panel that controls hoist up, hoist
down and has gantry jog wheel.
X:$C0A2
X:$C0A3
The rest of the entries on the read priority chart are empty since there is no hardware assigned there.
Accessory-52
Configuring the IODevice 3
CONFIGURING THE IODEVICE
Setting the Rotary Switches
The IOdevice has two rotary switches (S1, S2) that are used to assign MACRO addresses.
The user must select a master address that is also selected by the host MACRO controller. The slave
address must also be selected so that it will not overlap with other slave devices that are accessed through
the same host controller.
After filling out a mapping chart like the example above, the master address gets set per the master
address number on the chart.
There are 3 IOdevice cards in the above mapping example. In the chart above all the IOdevices would be
set for master no. = 01. In addition, since the IOdevices are at node 0, 1, 2, the slave address should be
set to 00, 01, 02.
The master and slave rotary address switches are clearly marked on the IOdevice.
Loop-Break Timers
Each slave node in a MACRO ring is capable of determining if the integrity of the loop is acceptable. If the
IOdevice is not addressed by a master device or there are many ring errors, the integrity of the MACRO
ring is considered unacceptable and a Loop-Break indication may occur.
The Loop-Break indication at the IOdevice may be configured to trigger the loop-break timers.
The timers are disabled by factory default and must be configured by the host. Once configured, the
values of the timers may be stored in the EEROM as preset values.
To configure the timers three steps must be followed:
1. Set the value of TIMER1 and TIMER2 into the mailbox registers. Refer to the Mailbox Register
appendix for the listing of registers. There are two timers which may be used independently or
together for single or dual actions to be performed at a loop-break.
The name of the error time registers is Loop Error Timer 1 and Loop Error Timer 2.
The time that is set into these registers is approximately 0.1 sec per count. This value is approximate
only.
2. Set the operation that the loop-break timer will perform at its time-out. This must be done for each
output priority word where activity is to occur. The default is 00 (no activity).
The mailbox registers that are used have their bits set for both timers and the write trigger. The
diagram below shows how the 8-bit word is configured.
Bit #
7
6
5
4
3
2
1
0
TMRx
00 - Perform NO activity when loop timer occurs (this is power-up default)
01 - Move the data word from Timer 1 Word or Timer 2 Word mailbox register into the output card.
10 - AND the data word from Timer 1 Word or Timer 2 Word mailbox register into the output card.
11 - OR the data word from Timer 1 Word or Timer 2 Word mailbox register into the output card.
3. Set the value of the mask word into the mailbox registers for Timer 1 Word and Timer 2 Word.
Accessory-52
4 Configuring the IODevice
Accessory-52
Making PMAC2 Work with the IOdevice 5
MAKING PMAC2 WORK WITH THE IODEVICE
PMAC2 with MACRO uses a simple interface to communicate as a master to the IOdevice.
Each node register address may be read or written to. The MACRO output register is write-only, and the
MACRO input register is read-only. In general, writing and reading the same node register at any address
will result in different values. Unlike most of PMAC’s registers, the value that has been written into a
MACRO register cannot be read back.
A PLC program should be written that would modify a node’s register since the use of an M-Variable
reads a memory location, then adds its data and writes it back to the memory location (read-modify-
write).
M-variables are ideal for setting the parallel real-time output data in the MACRO environment. Since an
M-variable may be assigned to change a single bit in a memory word, individual control of valves and
indicators may be performed by setting the M-Variable to 0 or 1. Reading the status of switches and A-D
inputs etc. is done in a similar manner.
A sample PLC program for MACRO control is given below.
Enabling MACRO Operation on PMAC2
On PMAC2, overall MACRO ring configuration is done through I-Variables I995 (MACRO Ring
Master/Slave Control) and I996 (MACRO Node Activate Control).
I-Variables must be set to enable communication between PMAC2 and the MACRO IOdevice. The
following I-Variables must be configured:
I995
-
MACRO Ring Configuration/Status
I996
-
MACRO Node Activate Control
I1000
-
MACRO Node Auxiliary Register Enable
I1002
-
MACRO Node Protocol Type Control
Refer to the appropriate I-Variable descriptions in the PMAC2 Software Reference for details on the use
of these parameters.
The following tables show how the bits are assigned for the I-Variables listed above:
I995
Bit #
Description
0
Data Overrun Error
R/O (cleared when read)
1
Byte Violation Error
R/O (cleared when read)
2
Packet Parity Error
R/O (cleared when read)
3
Data Underrun Error
R/O (cleared when read)
4
Master Station Enable
R/W Make this PMAC2 a master station
5
Synch. Master Sta. Enable
R/W Make this PMAC2 the first master station
6
Sync Packet Received
R/O (cleared when read)
7
Sync Packet Phs Lock Ena
R/W Phase lock this PMAC2 to other PMAC2’s sync
8
Node 8 Mstr Addr chk dis
R/W Do not ignore this node if set (Broadcast type data)
9
Node 9 Mstr Addr chk dis
R/W Do not ignore this node if set (Broadcast type data)
10
Node 10 Mstr Addr chk dis
R/W Do not ignore this node if set (Broadcast type data)
11
Node 11 Mstr Addr chk dis
R/W Do not ignore this node if set (Broadcast type data)
12
Node 12 Mstr Addr chk dis
R/W Do not ignore this node if set (Broadcast type data)
13
Node 13 Mstr Addr chk dis
R/W Do not ignore this node if set (Broadcast type data)
14
Node 14 Mstr Addr chk dis
R/W Do not ignore this node if set (Broadcast type data)
15
Node 15 Mstr Addr chk dis
R/W Do not ignore this node if set (Broadcast type data)
Accessory-52
6 Making PMAC2 Work with the IOdevice
I996
Bit #
Description
0
Node 0 Enable Control
R/W Enable this node to read and write
1
Node 1 Enable Control
R/W Enable this node to read and write
2
Node 2 Enable Control
R/W Enable this node to read and write
3
Node 3 Enable Control
R/W Enable this node to read and write
4
Node 4 Enable Control
R/W Enable this node to read and write
5
Node 5 Enable Control
R/W Enable this node to read and write
6
Node 6 Enable Control
R/W Enable this node to read and write
7
Node 7 Enable Control
R/W Enable this node to read and write
8
Node 8 Enable Control
R/W Enable this node to read and write
9
Node 9 Enable Control
R/W Enable this node to read and write
10
Node 10 Enable Control
R/W Enable this node to read and write
11
Node 11 Enable Control
R/W Enable this node to read and write
12
Node 12 Enable Control
R/W Enable this node to read and write
13
Node 13 Enable Control
R/W Enable this node to read and write
14
Node 14 Enable Control
R/W Enable this node to read and write
15
Node 15 Enable Control
R/W Enable this node to read and write
16-19
Slave Mode Address
R/W Address of this PMAC2 when used as a slave
20-23
Master Address
R/W Address of this PMAC2 when master or slave
I1000
Bit #
Description
0
Node 0 Aux Communication Enable
Enable Master/Slave Auxiliary Communication
1
Node 1 Aux Communication Enable
Enable Master/Slave Auxiliary Communication
2
Node 2 Aux Communication Enable
Enable Master/Slave Auxiliary Communication
3
Node 3 Aux Communication Enable
Enable Master/Slave Auxiliary Communication
4
Node 4 Aux Communication Enable
Enable Master/Slave Auxiliary Communication
5
Node 5 Aux Communication Enable
Enable Master/Slave Auxiliary Communication
6
Node 6 Aux Communication Enable
Enable Master/Slave Auxiliary Communication
7
Node 7 Aux Communication Enable
Enable Master/Slave Auxiliary Communication
8
Node 8 Aux Communication Enable
Enable Master/Slave Auxiliary Communication
9
Node 9 Aux Communication Enable
Enable Master/Slave Auxiliary Communication
10
Node 10 Aux Communication Enable
Enable Master/Slave Auxiliary Communication
11
Node 11 Aux Communication Enable
Enable Master/Slave Auxiliary Communication
12
Node 12 Aux Communication Enable
Enable Master/Slave Auxiliary Communication
13
Node 13 Aux Communication Enable
Enable Master/Slave Auxiliary Communication
14
Node 14 Aux Communication Enable
Enable Master/Slave Auxiliary Communication
15
Node 15 Aux Communication Enable
Enable Master/Slave Auxiliary Communication
Accessory-52
Making PMAC2 Work with the IOdevice 7
I1002
Bit #
Description
0
Node 0 MACRO Type
0 = Type 0 MACRO 1 = Type 1 MACRO
1
Node 1 MACRO Type
0 = Type 0 MACRO 1 = Type 1 MACRO
2
Node 2 MACRO Type
0 = Type 0 MACRO 1 = Type 1 MACRO
3
Node 3 MACRO Type
0 = Type 0 MACRO 1 = Type 1 MACRO
4
Node 4 MACRO Type
0 = Type 0 MACRO 1 = Type 1 MACRO
5
Node 5 MACRO Type
0 = Type 0 MACRO 1 = Type 1 MACRO
6
Node 6 MACRO Type
0 = Type 0 MACRO 1 = Type 1 MACRO
7
Node 7 MACRO Type
0 = Type 0 MACRO 1 = Type 1 MACRO
8
Node 8 MACRO Type
0 = Type 0 MACRO 1 = Type 1 MACRO
9
Node 9 MACRO Type
0 = Type 0 MACRO 1 = Type 1 MACRO
10
Node 10 MACRO Type
0 = Type 0 MACRO 1 = Type 1 MACRO
11
Node 11 MACRO Type
0 = Type 0 MACRO 1 = Type 1 MACRO
12
Node 12 MACRO Type
0 = Type 0 MACRO 1 = Type 1 MACRO
13
Node 13 MACRO Type
0 = Type 0 MACRO 1 = Type 1 MACRO
14
Node 14 MACRO Type
0 = Type 0 MACRO 1 = Type 1 MACRO
15
Node 15 MACRO Type
0 = Type 0 MACRO 1 = Type 1 MACRO
Example PMAC2 Configuration
To configure the PMAC2 as master #1 that addresses slave nodes 0 - 3:
I995 = $030 (Bits 4,5 are set) This establishes PMAC2 as the first master in a ring. This also sets
PMAC2 as a synchronizing master.
I996 = $100F (Bits 0 - 3 are set) This enables nodes 0 - 3
(Bit 20 is set) This establishes PMAC2 as master at address #1
Note:
Bit 5 (Synchronization Master Station Enable) in I995 must be set on one and only
one MACRO master station. Otherwise unpredictable results may occur on the
MACRO system.
I1000 = $0F This establishes auxiliary communication for all four enabled nodes.
I1002 = $00 This establishes type 0 MACRO communication on all enabled nodes. It should be noted
that the MACRO IOdevice communicates as a type 0 MACRO component. Other
devices may require this bit to be set to 1 if they are a type 1 MACRO component.
The switches on the MACRO IOdevice should be set to MASTER=1 and SLAVE=0 - 3. This will
activate communication between the PMAC2 and the MACRO IOdevice.
Accessory-52
8 Making PMAC2 Work with the IOdevice
PMAC2 Memory Address Map
Node 0 24-bit register: Y:$C0A0
Node 0 1st 16-bit register: Y:$C0A1
Node 0 2nd 16-bit register Y:$C0A2
Node 0 3rd 16-bit register Y:$C0A3
Node 8 24-bit register: Y:$C0B0
Node 8 1st 16-bit register: Y:$C0B1
Node 8 2nd 16-bit register Y:$C0B2
Node 8 3rd 16-bit register Y:$C0B3
Node 1 24-bit register: Y:$C0A4
Node 1 1st 16-bit register: Y:$C0A5
Node 1 2nd 16-bit register Y:$C0A6
Node 1 3rd 16-bit register Y:$C0A7
Node 9 24-bit register: Y:$C0B4
Node 9 1st 16-bit register: Y:$C0B5
Node 9 2nd 16-bit register Y:$C0B6
Node 9 3rd 16-bit register Y:$C0B7
Node 2 24-bit register: X:$C0A0
Node 2 1st 16-bit register: X:$C0A1
Node 2 2nd 16-bit register X:$C0A2
Node 2 3rd 16-bit register X:$C0A3
Node 10 24-bit register: X:$C0B0
Node 10 1st 16-bit register: X:$C0B1
Node 10 2nd 16-bit register X:$C0B2
Node 10 3rd 16-bit register X:$C0B3
Node 3 24-bit register: X:$C0A4
Node 3 1st 16-bit register: X:$C0A5
Node 3 2nd 16-bit register X:$C0A6
Node 3 3rd 16-bit register X:$C0A7
Node 11 24-bit register: X:$C0B4
Node 11 1st 16-bit register: X:$C0B5
Node 11 2nd 16-bit register X:$C0B6
Node 11 3rd 16-bit register X:$C0B7
Node 4 24-bit register: Y:$C0A8
Node 4 1st 16-bit register: Y:$C0A9
Node 4 2nd 16-bit register Y:$C0AA
Node 4 3rd 16-bit register Y:$C0AB
Node 12 24-bit register: Y:$C0B8
Node 12 1st 16-bit register: Y:$C0B9
Node 12 2nd 16-bit register Y:$C0BA
Node 12 3rd 16-bit register Y:$C0BB
Node 5 24-bit register: Y:$C0AC
Node 5 1st 16-bit register: Y:$C0AD
Node 5 2nd 16-bit register Y:$C0AE
Node 5 3rd 16-bit register Y:$C0AF
Node 13 24-bit register: Y:$C0BC
Node 13 1st 16-bit register: Y:$C0BD
Node 13 2nd 16-bit register Y:$C0BE
Node 13 3rd 16-bit register Y:$C0BF
Node 6 24-bit register: X:$C0A8
Node 6 1st 16-bit register: X:$C0A9
Node 6 2nd 16-bit register X:$C0AA
Node 6 3rd 16-bit register X:$C0AB
Node 14 24-bit register: X:$C0B8
Node 14 1st 16-bit register: X:$C0B9
Node 14 2nd 16-bit register X:$C0BA
Node 14 3rd 16-bit register X:$C0BB
Node 7 24-bit register: X:$C0AC
Node 7 1st 16-bit register: X:$C0AD
Node 7 2nd 16-bit register X:$C0AE
Node 7 3rd 16-bit register X:$C0AF
Node 15 24-bit register: X:$C0BC
Node 15 1st 16-bit register: X:$C0BD
Node 15 2nd 16-bit register X:$C0BE
Node 15 3rd 16-bit register X:$C0BF
PLC for MACRO Control
Define the following M-Variables and run the following PLC in the PMAC2 for proper MACRO operation.
By changing data that is in variables M1 - M6 the PLC will deposit the data into variables M11 - M16. This
PLC is needed because the MACRO registers that transmit data into the MACRO ring are Write Only
registers.
M-variable M7 addresses only 1 bit of data at address $770. This demonstrates the ability of setting a
single bit on an output. Set M7=0 or M7=1 to toggle the LSB of the data word at MACRO node 00.
M1 -> Y:$770,8,16 M11 -> Y:$C0A1,8,16
M2 -> Y:$771,8,16 M12 -> Y:$C0A2,8,16
M3 -> Y:$772,8,16 M13 -> Y:$C0A3,8,16
M7 -> Y:$770,8,1
OPEN PLC 10
CLEAR
M11=M1
M12=M2
M13=M3
CLOSE
Accessory-52
Making Turbo PMAC2 Ultralite Work with the IOdevice 9
MAKING TURBO PMAC2 ULTRALITE WORK WITH THE
IODEVICE
Turbo PMAC2 Ultralite with MACRO also uses a simple interface to communicate as a master to the
IOdevice.
Each node register address may be read or written to. The MACRO output register is write-only, and the
MACRO input register is read-only. In general, writing and reading the same node register at any address
will result in different values. Unlike most of PMAC’s registers, you cannot read back the value that has
been written into a MACRO register.
A PLC program should be written that would modify a node’s register since the use of an M-Variable
reads a memory location, then adds its data and writes it back to the memory location (read-modify-
write).
M-Variables are ideal for setting the parallel real-time output data in the MACRO environment. Since an
M-Variable may be assigned to change a single bit in a memory word, individual control of valves and
indicators may be performed by setting the M-Variable to 0 or 1. Reading the status of switches and A-D
inputs etc. is done in a similar manner.
A sample PLC program for MACRO control is given below.
Enabling MACRO Operation on Turbo PMAC2 Ultralite
On Turbo PMAC2 Ultralite, overall MACRO ring configuration is done through I-variables (MACRO
Ring Master/Slave Control) and (MACRO Node Activate Control).
I-VARs must be set to enable communication between Turbo PMAC2 Ultralite and the MACRO IO
device. The following Turbo I-variables must be configured:
I6840,I6890,I6940,I6990
-
MACRO Ring Configuration/Status
I6841,I6891,I6941,I6991
-
MACRO Node Activate Control
I70,I72,I74,I76
-
MACRO Node Auxiliary Register Enable
I71,I73,I75,I77
-
MACRO Node Protocol Type Control
Refer to the appropriate I-VAR descriptions in the Turbo PMAC2 Ultralite Software Reference for details
on the use of these parameters. The following tables show how the bits are assigned for the I-VARs listed
above:
I6840, I6890, I6940, I6990 (MACRO IC 0, 1, 2, 3 respectively)
Bit #
Description
0
Data Overrun Error
R/O (cleared when read)
1
Byte Violation Error
R/O (cleared when read)
2
Packet Parity Error
R/O (cleared when read)
3
Data Underrun Error
R/O (cleared when read)
4
Master Station Enable
R/W Make this PMAC2 a master station
5
Synch. Master Sta. Enable
R/W Make this PMAC2 the first master station
6
Sync Packet Received
R/O (cleared when read)
7
Sync Packet Phs Lock Ena
R/W Phase lock this PMAC2 to other PMAC2’s sync
8
Node 8 Mstr Addr chk dis
R/W Do not ignore this node if set (Broadcast type data)
9
Node 9 Mstr Addr chk dis
R/W Do not ignore this node if set (Broadcast type data)
10
Node 10 Mstr Addr chk dis
R/W Do not ignore this node if set (Broadcast type data)
11
Node 11 Mstr Addr chk dis
R/W Do not ignore this node if set (Broadcast type data)
12
Node 12 Mstr Addr chk dis
R/W Do not ignore this node if set (Broadcast type data)
13
Node 13 Mstr Addr chk dis
R/W Do not ignore this node if set (Broadcast type data)
14
Node 14 Mstr Addr chk dis
R/W Do not ignore this node if set (Broadcast type data)
15
Node 15 Mstr Addr chk dis
R/W Do not ignore this node if set (Broadcast type data)
Accessory-52
10 Making Turbo PMAC2 Ultralite Work with the IOdevice
I6841, I6891, I6941, I6991 (MACRO IC 0, 1, 2, 3 respectively)
Bit #
Description
0
Node 0 Enable Control
R/W Enable this node to read and write
1
Node 1 Enable Control
R/W Enable this node to read and write
2
Node 2 Enable Control
R/W Enable this node to read and write
3
Node 3 Enable Control
R/W Enable this node to read and write
4
Node 4 Enable Control
R/W Enable this node to read and write
5
Node 5 Enable Control
R/W Enable this node to read and write
6
Node 6 Enable Control
R/W Enable this node to read and write
7
Node 7 Enable Control
R/W Enable this node to read and write
8
Node 8 Enable Control
R/W Enable this node to read and write
9
Node 9 Enable Control
R/W Enable this node to read and write
10
Node 10 Enable Control
R/W Enable this node to read and write
11
Node 11 Enable Control
R/W Enable this node to read and write
12
Node 12 Enable Control
R/W Enable this node to read and write
13
Node 13 Enable Control
R/W Enable this node to read and write
14
Node 14 Enable Control
R/W Enable this node to read and write
15
Node 15 Enable Control
R/W Enable this node to read and write
16-19
Slave Mode Address
R/W Address of this PMAC2 when used as a slave
20-23
Master Address
R/W Address of this PMAC2 when master or slave
I70, I72, I74, I76 (MACRO IC 0, 1, 2, 3 respectively)
Bit #
Description
0
Node 0 Aux Communication Enable
Enable Master/Slave Auxiliary Communication
1
Node 1 Aux Communication Enable
Enable Master/Slave Auxiliary Communication
2
Node 2 Aux Communication Enable
Enable Master/Slave Auxiliary Communication
3
Node 3 Aux Communication Enable
Enable Master/Slave Auxiliary Communication
4
Node 4 Aux Communication Enable
Enable Master/Slave Auxiliary Communication
5
Node 5 Aux Communication Enable
Enable Master/Slave Auxiliary Communication
6
Node 6 Aux Communication Enable
Enable Master/Slave Auxiliary Communication
7
Node 7 Aux Communication Enable
Enable Master/Slave Auxiliary Communication
8
Node 8 Aux Communication Enable
Enable Master/Slave Auxiliary Communication
9
Node 9 Aux Communication Enable
Enable Master/Slave Auxiliary Communication
10
Node 10 Aux Communication Enable
Enable Master/Slave Auxiliary Communication
11
Node 11 Aux Communication Enable
Enable Master/Slave Auxiliary Communication
12
Node 12 Aux Communication Enable
Enable Master/Slave Auxiliary Communication
13
Node 13 Aux Communication Enable
Enable Master/Slave Auxiliary Communication
14
Node 14 Aux Communication Enable
Enable Master/Slave Auxiliary Communication
15
Node 15 Aux Communication Enable
Enable Master/Slave Auxiliary Communication
Accessory-52
Making Turbo PMAC2 Ultralite Work with the IOdevice 11
I71, I73, I75, I77 (MACRO IC 0, 1, 2, 3 respectively)
Bit #
Description
0
Node 0 MACRO Type
0 = Type 0 MACRO 1 = Type 1 MACRO
1
Node 1 MACRO Type
0 = Type 0 MACRO 1 = Type 1 MACRO
2
Node 2 MACRO Type
0 = Type 0 MACRO 1 = Type 1 MACRO
3
Node 3 MACRO Type
0 = Type 0 MACRO 1 = Type 1 MACRO
4
Node 4 MACRO Type
0 = Type 0 MACRO 1 = Type 1 MACRO
5
Node 5 MACRO Type
0 = Type 0 MACRO 1 = Type 1 MACRO
6
Node 6 MACRO Type
0 = Type 0 MACRO 1 = Type 1 MACRO
7
Node 7 MACRO Type
0 = Type 0 MACRO 1 = Type 1 MACRO
8
Node 8 MACRO Type
0 = Type 0 MACRO 1 = Type 1 MACRO
9
Node 9 MACRO Type
0 = Type 0 MACRO 1 = Type 1 MACRO
10
Node 10 MACRO Type
0 = Type 0 MACRO 1 = Type 1 MACRO
11
Node 11 MACRO Type
0 = Type 0 MACRO 1 = Type 1 MACRO
12
Node 12 MACRO Type
0 = Type 0 MACRO 1 = Type 1 MACRO
13
Node 13 MACRO Type
0 = Type 0 MACRO 1 = Type 1 MACRO
14
Node 14 MACRO Type
0 = Type 0 MACRO 1 = Type 1 MACRO
15
Node 15 MACRO Type
0 = Type 0 MACRO 1 = Type 1 MACRO
Example Turbo PMAC2 Ultralite Configuration
To configure the Turbo PMAC2 Ultralite as master #1 that addresses slave nodes 0 - 3:
I6840 = $030 (Bits 4,5 are set). This establishes PMAC2 as the first master in a ring. This also sets
PMAC2 as a synchronizing master.
I6841 = $100F (Bits 0 - 3 are set). This enables nodes 0 - 3
(Bit 20 is set) This establishes MACRO IC #0 as master at address #1
Note:
Bit 5 (Synchronization Master Station Enable) in I6840 must be set on only one
MACRO master station IC. Otherwise unpredictable results may occur on the
MACRO system.
I70 = $0F This establishes auxiliary communication for all four enabled nodes.
I71 = $00 This establishes type 0 MACRO communication on all enabled nodes. It should be noted
that the MACRO IOdevice communicates as a type 0 MACRO component. Other
devices may require this bit to be set to 1 if they are a type 1 MACRO component.
The switches on the MACRO IOdevice should be set to MASTER=1 and SLAVE=0 - 3. This will
activate communication between the PMAC2 and the MACRO IOdevice.
Turbo PMAC2 Ultralite Memory Address Map
This table represents MACRO IC #0 only. Refer to the memory map of the software reference for the
other three MACRO IC maps:
Node 0 24-bit register: Y:$78400
Node 0 1st 16-bit register: Y:$78401
Node 0 2nd 16-bit register Y:$78402
Node 0 3rd 16-bit register Y:$78403
Node 8 24-bit register: Y:$78410
Node 8 1st 16-bit register: Y:$78411
Node 8 2nd 16-bit register Y:$78412
Node 8 3rd 16-bit register Y:$78413
Node 1 24-bit register: Y:$78404
Node 1 1st 16-bit register: Y:$78405
Node 1 2nd 16-bit register Y:$78406
Node 1 3rd 16-bit register Y:$78407
Node 9 24-bit register: Y:$78414
Node 9 1st 16-bit register: Y:$78415
Node 9 2nd 16-bit register Y:$78416
Node 9 3rd 16-bit register Y:$78417
Accessory-52
12 Making Turbo PMAC2 Ultralite Work with the IOdevice
Node 2 24-bit register: X:$78400
Node 2 1st 16-bit register: X:$78401
Node 2 2nd 16-bit register X:$78402
Node 2 3rd 16-bit register X:$78403
Node 10 24-bit register: X:$78410
Node 10 1st 16-bit register: X:$78411
Node 10 2nd 16-bit register X:$78412
Node 10 3rd 16-bit register X:$78413
Node 3 24-bit register: X:$78404
Node 3 1st 16-bit register: X:$78405
Node 3 2nd 16-bit register X:$78406
Node 3 3rd 16-bit register X:$78407
Node 11 24-bit register: X:$78414
Node 11 1st 16-bit register: X:$78415
Node 11 2nd 16-bit register X:$78416
Node 11 3rd 16-bit register X:$78417
Node 4 24-bit register: Y:$78408
Node 4 1st 16-bit register: Y:$78409
Node 4 2nd 16-bit register Y:$7840A
Node 4 3rd 16-bit register Y:$7840B
Node 12 24-bit register: Y:$78418
Node 12 1st 16-bit register: Y:$78419
Node 12 2nd 16-bit register Y:$7841A
Node 12 3rd 16-bit register Y:$7841B
Node 5 24-bit register: Y:$7840C
Node 5 1st 16-bit register: Y:$7840D
Node 5 2nd 16-bit register Y:$7840E
Node 5 3rd 16-bit register Y:$7840F
Node 13 24-bit register: Y:$7841C
Node 13 1st 16-bit register: Y:$7841D
Node 13 2nd 16-bit register Y:$7841E
Node 13 3rd 16-bit register Y:$7841F
Node 6 24-bit register: X:$78408
Node 6 1st 16-bit register: X:$78409
Node 6 2nd 16-bit register X:$7840A
Node 6 3rd 16-bit register X:$7840B
Node 14 24-bit register: X:$78418
Node 14 1st 16-bit register: X:$78419
Node 14 2nd 16-bit register X:$7841A
Node 14 3rd 16-bit register X:$7841B
Node 7 24-bit register: X:$7840C
Node 7 1st 16-bit register: X:$7840D
Node 7 2nd 16-bit register X:$7840E
Node 7 3rd 16-bit register X:$7840F
Node 15 24-bit register: X:$7841C
Node 15 1st 16-bit register: X:$7841D
Node 15 2nd 16-bit register X:$7841E
Node 15 3rd 16-bit register X:$7841F
PLC for MACRO Control in Turbo PMAC2 Ultralite
Define the following M-variables and run the following PLC in the PMAC2 for proper MACRO operation.
By changing data that is in variables M1 - M3 the PLC will deposit the data into variables M11 - M13. This
PLC is needed because the MACRO registers that transmit data into the MACRO ring are Write-Only
registers.
M-variable M7 addresses only 1 bit of data at address $10F0. This demonstrates the ability of setting a
single bit on an output. Set M7=0 or M7=1 to toggle the LSB of the data word at MACRO node 00.
M1 -> Y:$10F0,8,16 M11 -> Y:$78401,8,16
M2 -> Y:$10F1,8,16 M12 -> Y:$78402,8,16
M3 -> Y:$10F2,8,16 M13 -> Y:$78403,8,16
M7 -> Y:$10F0,8,1
OPEN PLC 10
CLEAR
M11=M1
M12=M2
M13=M3
CLOSE
Accessory-52
LCD Display Operation (JDISP) 13
LCD DISPLAY OPERATION (JDISP)
When a mailbox write to register #35 occurs, the data is sent to the LCD display through the JDISP
connector.
There are two types of display supported using the JDISP header connector. Mailbox register #11 holds
configuration data for which display is used.
When used with a fluorescent display (Delta Tau Acc-12C), the data is passed through to the JDISP
connector as unprocessed ASCII. It is intended that the master controller send the appropriate control
characters for standard ASCII carriage returns, line feeds, etc. The JDISP connector when used in this
mode has a 14h written to it upon power-up. Otherwise, this port may be used for any parallel type data
interface that uses eight bits plus a strobe.
When used with a Sanyo display (Delta Tau Acc-12A), the data is checked for the standard control ASCII
characters. This format is compatible with any of the LCM-500 series LCD displays. These displays
incorporate a Sanyo control LSI model HD44780 dot matrix controller.
Write a 00 to mailbox register #11 to enable the fluorescent display (pass-thru data from master). Write a
01 to mailbox register #11 to enable the Sanyo LCD display.
Factory default is register #11 = 01, Sanyo LCD display.
Accessory-52
14 LCD Display Operation (JDISP)
Accessory-52
Keyboard Operation 15
KEYBOARD OPERATION
Connect an Enhanced AT/XT style keyboard to the PS/2 style connector (J14).
By polling mailbox register #36, data can be obtained from the keyboard port. A zero will be returned if
data is not present.
Specific codes have been assigned to the data that is returned from the keyboard. Refer to the table below
for the keycodes. ASCII values have been used wherever possible in the keycode table. Extended
keycodes (i.e. function keys) have been assigned single numeric return values.
Keycodes
Key
ASCII
Shifted
CTRL
Hex
Char
Hex
Char
Hex
Char
ESC
1B
1B
1B
ESC
1 !
31
1
21
!
2 @
32
2
40
@
03
ETX
3 #
33
3
23
#
4 $
34
4
24
$
5 %
35
5
25
%
6 ^
36
6
5E
^
1E
RS
7 &
37
7
26
8 *
38
8
2A
*
9 (
39
9
28
(
0 )
30
0
29
)
- _
2D
-
5F
_
1F
US
= +
3D
=
2B
+
BKSP
08
08
7F
DEL
TAB
09
0F
NUL
Q
71
q
51
Q
11
W
77
w
57
W
17
E
65
e
45
E
05
R
72
r
52
R
12
T
74
t
54
T
14
Y
79
y
59
Y
19
U
75
u
55
U
15
I
69
i
49
I
09
O
6F
o
4F
O
0F
P
70
p
50
P
10
[ {
5B
[
7B
{
1B
] }
5D
]
7D
}
1D
ENTER
0D
CR
0D
CR
0A
LF
A
61
a
41
A
01
S
73
s
53
S
13
D
64
d
44
D
04
F
66
f
46
F
06
G
67
g
47
G
07
H
68
h
48
H
08
J
6A
j
4A
J
0A
K
6B
k
4B
K
0B
L
6C
l
4C
L
0C
; :
3B
;
3A
:
' "
27
'
22
"
Accessory-52
16 Keyboard Operation
Keycodes (Cont.)
\ |
5C
\
7C
|
1C
Z
7A
z
5A
Z
1A
X
78
x
58
X
18
C
63
c
43
C
03
V
76
v
56
V
16
B
62
b
42
B
02
N
6E
n
4E
N
0E
M
6D
m
4D
M
0D
, <
2C
,
3C
<
. >
2E
.
3E
>
/ ?
2F
/
3F
?
PRTSC
AA
AA
AA
SPACE
20
SPC
20
SPC
20
SPC
F1
81
F1
8B
F11
F2
82
F2
8C
F12
F3
83
F3
8D
F13
F4
84
F4
8E
F14
F5
85
F5
8F
F15
F6
86
F6
90
F16
F7
87
F7
91
F17
F8
88
F8
92
F18
F9
89
F9
93
F19
F10
8A
F10
94
F20
F11
8B
F11
95
F21
F12
8C
F12
96
F22
HOME
A6
HOME
A6
HOME
UP
A3
UP
A3
UP
PGUP
A4
PGUP
A4
PGUP
GREY-
2D
GREY-
2D
GREY-
LEFT
A0
LEFT
A0
LEFT
RIGHT
A2
RIGHT
A2
RIGHT
GREY+
2B
+
2B
+
END
A9
END
A9
END
DOWN
A1
DOWN
A1
DOWN
PGDN
A5
PGDN
A5
PGDN
INS
A7
INS
A7
INS
DEL
A8
DEL
A8
DEL
Keyboard Input Programming Example
CLOSE
OPEN PLC 10 CLEAR
MXR0,36,P1
IF(P1!=0)
IF(P1=170)
SEND"System Request"
ELSE
MXW0,35,P1
ENDI
ENDI
CLOSE
; Insure that buffers are closed
; Open a PLC buffer
; Read the keyboard input register
; If there is a non-zero value-
; Check for "system Request Keycode"
; Send statement to exec. Output
; else
; Put the data out to LCD port
; Close PLC buffer
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2
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3
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4
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5
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6
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7
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8
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9
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10
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11
-
12
-
13
-
14
-
15
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16
-
17
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18
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19
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20
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21
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22
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23
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24
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25
-
26
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27
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28
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29
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30
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31
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32
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33
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34
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35
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36
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37
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38
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39
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40
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41
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42
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43
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44
Ask a question and I''ll find the answer in the document
Finding information in a document is now easier with AI
Related papers
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Delta Tau MACRO Station Owner's manual
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