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As with any type of communications, both the transmitting device and the
receiving device must "speak the same language". However, MACRO has
the ability to support different protocols for different devices. For example, a
controller can communicate to several amplifiers, each of which expects a
different type of command. The only requirement is that the controller and amp
be preset to respectively deliver and accept the same type of data. (This too
can be done over the ring.) The charts below illustrate the TYPE 1 protocol for
different types of amplifier interfaces and I/O equipment interfaces.
Register 0 is a 24-bit (3-byte) register. Registers 1, 2, and 3 are 16-bit
(2-byte) registers.
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Reg
#
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0
(24-bit)
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1
(16-bit)
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2
(16-bit)
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3
(16-bit)
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Master
Command
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Real-Time Register 0
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Real-Time Register 1
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Real-Time Register 2
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Real-Time Register 3
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Slave
Feedback
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Real-Time Register 0
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Real-Time Register 1
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Real-Time Register 2
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Real-Time Register 3
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Reg
#
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0
(24-bit)
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1
(16-bit)
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2
(16-bit)
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3
(16-bit)
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Torque
Drive
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Master Command
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Torque Cmd.
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Motor Flag Command
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Slave Feedback
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Position Feedback
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Motor Flag Status
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Reg
#
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0
(24-bit)
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1
(16-bit)
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2
(16-bit)
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3
(16-bit) |
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Velocity
Drive
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Master Command
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Velocity Cmd.
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|
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Motor Flag Command
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Slave Feedback
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Position Feedback
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|
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Motor Flag Status
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Reg
#
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0
(24-bit)
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1
(16-bit)
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2
(16-bit)
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3
(16-bit)
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Direct
PWM
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Master Command
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Phase A Voltage Cmd
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Phase B Voltage Cmd
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Phase C Voltage Cmd
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Motor Flag Command
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Drive
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Slave Feedback
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Position Feedback
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Phase A Current
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Phase B Current
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Motor Flag Status
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Reg
#
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0
(24-bit)
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1
(16-bit)
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2
(16-bit)
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3
(16-bit)
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Phase
Current
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Master Command
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Phase A Current
Cmd
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Phase B Current Cmd.
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Motor Flag Command
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Drive
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Slave Feedback
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Position Feedback
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Motor Flag Status
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Reg
#
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0
(24-bit)
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1
(16-bit)
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2
(16-bit)
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3
(16-bit) |
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Position
Drive
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Master Command
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Bit Position Command
(24 LSBs)
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Bit Position Command
(16 MSBs)
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Motor Flag Command
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Slave Feedback
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Position Feedback
(24 LSBs)
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Position Feedback
(16 MSBs)
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Motor Flag Status
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Reg
#
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0
(24-bit)
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1
(16-bit)
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2
(16-bit)
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3
(16-bit)
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I/O Devices
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Master Command
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Bits 0-23
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Bits 24-39
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Bits 40-55
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Bits 56-71
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Slave Feedback
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Bits 0-23
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Bits 24-39
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Bits 40-55
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Bits 56-71
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As shown above, each packet of data for a node contains 4
registers: 0, 1, 2, and 3. Register 0 is a 24-bit register for real time data.
Registers 1, 2, and 3 are 16-bit registers for real-time data. Each node has a
command packet of 4 registers and a feedback packet of 4 registers. The command
and feedback packets slip into the same data packet for the node (upon entering
the addressed node, the data packet is a command packet, upon exiting it is a
feedback packet).
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