^1 SOFTWARE REFERENCE ^2 umacro Single Axis Station

Transcription

1 ^1 SOFTWARE REFERENCE ^2 umacro Single Axis Station ^3 ^4 3Ax xSxx ^5 April 12, 2013 Single Source Machine Control Power // Flexibility // Ease of Use Lassen Street Chatsworth, CA // Tel. (818) Fax. (818) //

2 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 Delta Tau Data Systems, Inc. Technical Support Phone: (818) Fax: (818) Website:

3 Manual Revision History REV. DESCRIPTION DATE CHG BY APVD BY 1 CORRCTED FORMAT, RE-POSTED ON WEB 04/12/2013 RN RN

4 Table Of Contents INTRODUCTION...7 UMACRO DATA TRANSFER BIT NODES (0, 1, 4, 5, 8, 9, 12, 13) CYCLIC MOTION DATA FORMAT BIT NODES (2,3,6,7,10,11) CYCLIC GENERAL I/O DATA FORMAT BIT NON-CYCLIC I/O FORMAT SYNCHRONIZING THE RING CONTROLLER SERVO CLOCK WITH THE STATION SERVO CLOCK ASCII RING ORDER INITIAL BINDING OF THE UMACRO STATION UMACRO STATION MI-VARIABLES GLOBAL MI-VARIABLES MS{node},MI0 Station Firmware Version (Read Only) (Required) MS{node},MI1 Station Firmware Date (Read Only) (Required) MS{node},MI2 Station ID and User Configuration Word (Required - Saved) MS{node},MI3 (SW2 SW1) (Recommended) MS{node},MI4 Station Status Word (Read Only) (Required) MS{node},MI5 Ring Error Counter (Required) MS{node},MI6 (Reserved for future use) MS{node},MI7 (Reserved for future use) MS{node},MI8 MACRO Ring Check Period (Required - Saved) MS{node},MI9 MACRO Ring Error Shutdown Count (Required - Saved) MS{node},MI10 MACRO Sync Packet Shutdown Count (Required - Saved) MS{node},MI11 Station Order Number (Required - Saved) MS{node},MI12 Card Identification (Required) MS{node},MI13 MI19 (Reserved for future use) MS{node},MI20 Position Feedback Format (Required - Saved) MS{node},MI21 Servo Cyclic Command Transfer Phase Count (Required - Saved) MS{node},MI22 Servo Cyclic Response Transfer Phase Count (Required - Saved) MS{node},MI23 Cyclic Secondary Position Feedback, Flag Plus/Minus Limit, Home Bits Feedback & Home Position Capture Format (Required - Saved) MS{node},MI24 MI29 (Reserved for future use) GLOBAL OEM MI-VARIABLES MS{node},MI30 MI99 (Reserved for OEM use) MACRO GATE SERVO CHANNEL SPECIFIC MI-VARIABLES MS{node},MI910 Encoder/Timer n Decode Control (Required if used) MS{node},MI911 (Reserved for future use) MS{node},MI912 Flag Capture Control (Required if used) MS{node},MI913 Capture Flag Select Control (Required if used) MS{node},MI Reserved for future use MS{node},MI920 Absolute Power-On Position (Read Only) (Required) MS{node},MI921 Flag Capture Position (Read Only) (Required)

5 MS{node},MI Reserved for future use MS{node},MI925 Position Compare A Value (Required if used) MS{node},MI926 Position Compare B Value (Required if used) MS{node},MI927 Position Compare Auto-Increment (Required if used) MS{node},MI928 Compare-State Write Enable (Required if used) MS{node},MI929 Compare-Output Initial State (Required if used) MS{node},MI930 Reserved for future use MS{node},MI931 Phase Capture Register (Read Only) MS{node},MI932 Reserved for future use MS{node},MI938 Channel Status Register (Read Only Required if used) MS{node},MI939 Channel Control Register (Required if used) MACRO GATE GPIO PORTS MI-VARIABLES MS{node},MI933 GPIO Fault Value (Required if used) MS{node},MI934 GPIO Initial Value (Required if used) MS{node},MI935 GPIO Value (Required if used) MS{node},MI936 GPIO Direction Value (Required if used) MS{node},MI937 GPIO Polarity Value (Required if used) MS{node},MI940-MI989 (Reserved for future use) MACRO GATE RING CONTROL MI-VARIABLES MS{node},MI990 Clock Control Register (Required if used Saved) MS{node},MI991 (Reserved for future use) MS{node},MI992 MaxPhase Frequency Control (Required) MS{node},MI993 Servo Encoder Clock Divisor (Required if used) MS{node},MI994 Flag Clock Divisor (Required if used) MS{node},MI995 MACRO Ring Configuration/Status (Required) MS{node},MI996 MACRO Node Activate Control (Required - Saved) MS{node},MI997 (Reserved for future use) MS{node},MI998 Servo Clock Frequency Control (Required - Saved) MS{node},MI999 (Reserved for future use) MACRO STATION ASCII COMMANDS... 38? STATION GLOBAL STATUS (RECOMMENDED) $$$ STATION RESET TO SAVED PARAMETERS (REQUIRED) $$$*** STATION RE-INITIALIZE TO DEFAULT PARAMETERS (REQUIRED) BKUP REPORT SAVED MI VARIABLES (REQUIRED) CID REPORT CARD ID NUMBER (REQUIRED) CLRF CLEAR STATION FAULTS (REQUIRED) DATE REPORT FIRMWARE DATE (REQUIRED) SAVE: STATION MI-VARIABLES SID: REPORTS SERIAL IDENTIFICATION NUMBER TYPE: REPORT MACRO STATION TYPE VERS: REPORT FIRMWARE VERSION

6 VID: REPORT VENDOR ID NUMBER MACRO STATION TYPE 1 COMMANDS ON-LINE COMMANDS MS Command MS Variable Read MS Variable Write MS Variable Read Copy ( And PLC) MS Variable Write Copy (And PLC)

7 INTRODUCTION umacro is a variance of the original MACRO protocol. It is incorporated in the ACC-85M, and certain third party MACRO devices. 7

8 UMACRO DATA TRANSFER Typically, the MACRO station and Ultralite IC will have up to eight servo transfer nodes (0, 1, 4, 5, 8, 9, 12, and 13) and up to six I/O transfer nodes (2, 3, 6, 7, 10, and 11). This data exchange goes through a MACRO IC at both points on the MACRO Ring. There are three types of I/O transfers allowed to send the information between the MACRO Master and a MACRO Slave Station: 48-bit I/O non-cyclic data transfer, 72-bit cyclic rate I/O node transfer, and 48-bit ASCII transfer. The 48-bit I/O transfer occurs on node 15 and the 48-bit ASCII transfer occurs on node 14 using the broadcast feature of MACRO. The umacro station uses the three data type transfers. The 72 bit node cyclic transfer is used to exchange all servo data and some I/O and the 48-bit I/O transfer for MI variables and the 48-bit ASCII for Ring Order setup of the Station. The MACRO Master and a MACRO Slave Station enable transfer of 72 bits per I/O node with the I6841 and MI996 type variables. The umacro Station motor servo data transfer must be done on a MACRO Y-address node. 8

9 72-Bit Nodes (0, 1, 4, 5, 8, 9, 12, 13) Cyclic Motion Data Format Register # 0 ( 24 bit ) 1 ( 16 - bit ) 2 ( 16 - bit ) 3 ( 16 - bit ) Command to PWM-A PWM-B PWM-C Flag Command Station Feedback from Station Position Feedback PWM (Current A) PWM (Current B) Flag Status Register # 0 ( 24 bit ) 1 ( 16 - bit ) 2 ( 16 - bit ) 3 ( 16 - bit ) Command to TORQUE or Available Available Flag Command Station VELOCITY Feedback from Station Position Feedback Flag Status 2 nd Position Feedback (LS 16 bits) (MI23.0=1) 2 nd Position Feedback (MS 16 bits) (MI23.0=1) Flag Command: (Sent by Master Located in TURBO at: Y:$ Y:$347F, Bits 0-23) B00-07 = Not used or available. B08 - Reserved for future ring protocol control B09 - Reserved for future ring protocol control B10 == 0 Indicates that this is a Command Message & not a Status Message B11 - * Position Capture (Triggered Event) Enable Flag B12 Node Reset command (Clear faults and incremental encoders. Sent at POR, $$$, $$$*** at the MACRO Master) B13 - This Slave detected a MACRO Ring Break (MRB) & became a Synchronizing Master B14 - Amp. Enable B15 When B13 = 1 then B15 = 1 & is a Station Fault. B16 - Reserved for future ring protocol control B17 - Reserved for future ring protocol control B18 - Reserved for future ring protocol control B19 UserCmdFlg1 B20 UserCmdFlg2 B21 UserCmdFlg3 B22 UserCmdFlg4 B23 UserCmdFlg5 Flag Status: (Sent by Slave - Located in TURBO at: X:$ X:$347F, Bits 0-23) B00-07 = Not used or available. B08 - Reserved for future ring protocol control B09 - Reserved for future ring protocol control B10 == 1 Indicates that this is a Status Message & not a Command Message B11 - Position Captured (Triggered Event Occurred) Flag. B12 - A Reset has occurred (POR, $$$, $$$***). This bit is cleared on the next Amplifier Enable B13 - This Node detected a MACRO Ring Break. B14 - Amplifier Enabled. B15 - Amplifier or Station Node shutdown Fault. B16 - Home Flag(HMFLn) Input Value 9

10 B17 - Positive End Limit Flag (PILMn) Input Value. B18 - Negative End Limit Flag (NILMn) Input Value. B19 UserStatusFlg1 B20 UserStatusFlg2 B21 UserStatusFlg3 B22 UserStatusFlg4 B23 UserStatusFlg5 Note: The BOLD are firmware reserved or defined bit locations. 72-Bit Nodes (2,3,6,7,10,11) Cyclic General I/O Data FORMAT Register # 0 ( 24 bit ) 1 ( 16 - bit ) 2 ( 16 - bit ) 3 ( 16 - bit ) Command to OUT1 OUT2 OUT3 OUT4 Station Feedback from Station INP1 or 2 nd Position Feedback (LS 24 bits) (MI23.1=1) INP2 INP3 INP4 The INP/OUT data format and use is determined by the Station. 10

11 48-Bit Non-cyclic I/O FORMAT RING CONTROLLER to STATION COMMAND ( NODE Bit Reg. ) Master # (0) Read- Write Cmd. Message = 1 0 Cmd. Handshake Station Address (0-255) Msg. Number (0-31) Msg. Type (6) STATION STATUS to RING CONTROLLER ( NODE 14 ) Master # (0) Error Read- Write Status Message = 0 Status Hand- Shake Station Address (0-255) Msg. Number (0-31) ( NODE 14 1 st 16 Bit Reg. ) COMMAND/STATUS DATA ASCII(2) ASCII(1) ( NODE 14 2 nd 16 Bit Reg. ) COMMAND/STATUS DATA ASCII(4) ASCII(3) ( NODE 14 3 rd 16 Bit Reg. ) COMMAND/STATUS DATA ASCII(6) ASCII(5) The Current Reserved Command (04) Lists perform the following functions: Type number Description of Command 0 NOP - Broadcast Station Address Release with Master Address = 0 & Station Address = 0. Msg. Type (6) Data format is ASCII. Master # 0 & Msg Type = 6 uses the Station Addressing & not Master # for addressing a station. Msg Type < 6 uses the Master Addressing for Synch Master to Master Com. Station Address( ) where 0 is a Broadcast Command to all Stations & 255 addresses the 1 st station in the Ring without an assigned station address #. Maximum Masters = 16, Maximum Slaves = 16 x 14 = 224 Maximum Total Stations = 16 Masters Slave = 240 stations Command Data: The data is ASCII with NULL terminator (If no data is being sent, the 48 bit data = 0). Data is of form: data <CR> (ASCII 1 == d, ASCII 2 == a ASCII 5 = <CR>, and ASCII 6 = NULL). Status Data: The data is ASCII with NULL terminator (If no data is being sent, the 48 bit data = 0). Data is of form: data <CR>, data <CR> then <ACK> for end of data. Read - Write Bit: Is always 1 a write. Command Handshake Bit: Is changed to be the compliment of the previous Ring Handshake bit for each command change or data exchange sent by the Ring Controller. Msg. Type: ASCII Data Type (0 7) = 6 Msg. Number range is 0 to

12 Currently Assigned Msg. Numbers: 0 ASCII INIT for ASCII DATA Exchange (ASCII command & status 48 bit data = 0) 1 ASCII DATA Exchange (ASCII command & status 48 bit data = 0 or ASCII data) 2 ASCII TERMINATE for ASCII DATA Exchange (ASCII command & status 48 bit data = 0 and MST. Number = 0). Station Address = 0 is a broadcast command that causes all Station to terminate ASCII communication and to stop responding to the Ring Controller. All ASCII TERMINATE ($ or = $0B0016) commands must be sent as a broadcast (Station Address = 0) command. 28 ASCII broadcast Servo Synch Message (MSYNC) ($0900E6 or $0B00E6) is used to synchronize the Slave Station s servo clock the Ring Master s servo clock. 29 ASCII broadcast Station Frequency Message ($0900EE or $0B00EE) includes the integer data for setting the Station Ring frequency. The stations receiving this message will set their Station Ring frequency (MI992, I6800, I6850, I6900, I6950) to the requested frequency. The 1 st 16 bit register will hold the requested frequency value. Its range is and is of the format of Turbo s I6800 (DSPGate2). 30 ASCII broadcast CLRF Ring Message (CLRFMSG = $0800F6, is a Broadcast with Cmd. bit set). The stations receiving this message will perform the CLRF command, restoring the MACRO Ring to its previous non error state. 31 ASCII broadcast Ring Break Message (RBRKMSG = $0C00FE, is a Broadcast with Cmd. & Error bit set). The station sending this message will also send its station number (STN) in the next 16 bit register. 1. What to do on a Ring Break a. Become the Ring Controller = $4030 b. Enable Node 14 (MI996.14=1) & disable Node 15 (MI996.15=0) c. Send Ring Break Message on Node NODE 14 1 st 16 Bit Reg. = STN (MI11) 2. NODE Bit Reg. = $0C00FE 2. Clear Faults Function a. Activated by 1. MSCLRF<node> 2. ASCII CLRF 3. Node 14 CLRF Broadcast Message 12

13 It clears the Station faults and restores the MACRO Station to its previous configuration. So the last state of MI995 and MI996 must be restored. MI995 is always = $4080 so it does not need to be saved. MI996saved = MI996 when the MACRO Station is not in a Station Fault condition. 3. Ring Station Fault Conditions All Station Faults will send an AMP Fault on the active Motor Node and perform a Station Shutdown, some of the process being zeroing the DAC outputs and setting outputs to default. a. Detected a Ring Fault Error (Sets Ring Fault and Station Fault) b. Detected a Ring Fault Break (Sets Ring Fault, Ring Break and Station Fault. Becomes the Ring Controller) c. Received a Node 14 Broadcast Ring Break Message (Sets Ring Fault, Ring Break Received and Station Fault) 4. When Saving MI variables always SAVE MI = 0 with Node 14 not enabled. MASTER to SLAVE COMMAND( NODE 15 ) NODE # Read Msg. Type ( 0 15 ) Write (0-15) Command Message = 1 0 Command Hand shake Msg. Number (0-4095) MASTER to SLAVE STATUS( NODE 15 ) NODE # Error Read Msg. Type ( 0 15 ) Write (0-15) Status Message = 0 Status Hand shake Msg. Number (0-4095) ( NODE 15 1 st 16 Bit Reg. ) COMMAND/STATUS DATA Data (LS) ( NODE 15 2 nd 16 Bit Reg. ) COMMAND/STATUS DATA Data (MID) ( NODE 15 3 rd 16 Bit Reg. ) COMMAND/STATUS DATA Data (MS) Data is 48 bit signed integer. (Data order is little Indian) Command/Status Data: The data is 48 bit signed integer. 13

14 Read Write Bit: determines the direction of the data exchange. A 1 designates a write. Command Handshake Bit: Is changed to be the compliment of the previous Command Handshake for each command change or data exchange sent by the Master. Data Type: There are 16 possible data types. Currently supported are PMAC Inn and Command List (Types = 0,1 & 4) Type Number range is 0 to The Current Dedicated Command Lists perform the following functions: Type number Description of Command 0 NOP - Broadcast Station Address Release when Node Address = Clear all station faults 2 Reset Station & restore saved Inn s ($$$). 3 Reset Station & use default Inn s ($$$***). 4 Save the Inn variables. Command Message Bit: This value of 1 designates the message is a command. Spare Bit: For future use. Node Number: Has 4 bits for the node number. The station that has the node enabled will respond by enabling its node 15 for output on MACRO to its Master. The broadcast message ( node number = 15 ) would need to be left on the ring by the Master until the sent messaged is returned. Error Bit: If the Error is set, the error code will be in the first 16 bit data register. Dedicated Error Codes 1 = Illegal data type (Sent an M, P or Q request to a station, only I and C data types allowed ) 2 = Illegal data range (nn) ( 0 to 1023 nn is a valid number ) 4 = Communication Time-out 5 = Another Slave Station on this Node 14

15 Synchronizing the Ring Controller Servo Clock with the Station Servo Clock An msync command is initiated at the Ring Controller to send a MSYNC broadcast message to all Stations on the ring. The Ring Controller then puts an msync message on the broadcast node 14 when its phase and servo interrupt signals transition from high to low. This signal arrives at the Macro Slave Station one phase clock interrupt latter. It is then used for synchronizing the station s servo clock period by adjusting its MI998 until they are synched. So a synchronization of the two on a oscilloscope would show the Slave Station s servo clock delayed by one phase clock from the Master s servo clock which is when the Master s servo loop torque values arrives at the Slave station. For optimum servo loop control the torque values is passed from the macro ring to the AMP at this time (PhaseServoCnt == 0) because it has just been updated by the PMAC Master and the updated AMP position feedback would be returned to the macro ring by (PhaseServoCnt == MI998-1). It would then get to the PMAC Master s servo loop on the next servo interrupt. If this can t be done then both the commanded torque and position feedback, should be done at the same time like (PhaseServoCnt == 0) or whatever timing is require by the AMP but not after (PhaseServoCnt == MI998-1). Two MI variables are available for you to adjust this. MI21 is the PhaseServoCnt for the cyclic command transfer and MI22 is the PhaseServoCnt for the cyclic response transfer. For this clock synchronization to work MI998 must be greater than zero. Some amplifiers require that the DPR transfer be done not at the servo interrupt but sometime later. In that case MI21 and MI22 would have to be set greater than zero so MI998 should be set greater than one. Tests are done to determine if these parameters are set correctly and they are the following: if((mi21 > MI998Saved) (MI22 > MI998Saved) (MI21 > MI22)) then the Station Configuration Fault is set (See MI4). Note: You will need Turbo F/W version for the msync to work. 15

16 ASCII Ring Order Initial Binding of the umacro Station To initially bind the MACRO station to a MACRO Master, the Ring Order method is used if SW1 == 14 otherwise SW1 and SW2 setup the Servo Node and Master according to the following table. For Ring Order a command is sent out on the Ring by the Ring Controller in the ASCII communication protocol asking to talk to the first MACRO Station that does not have a Station Number (its MI11=0 or STN=0). When this communication state is entered the operator is now exchanging ASCII data with a Station on the MACRO ring instead of the Ring Controller card. That MACRO Station can be either another master like a TURBO PMAC2 or Slave Station like the umacro. Once communication is established the developer at the Ring Controller can define the MACRO binding of Slave Stations to a Master and their binding Node (It sets the Slave Station s MI996 and the Masters I6841 s). It is now setup for the normal 72-bit and 48-bit I/O exchange between the Master and Slave Station. If it is desired to be able to come back and communicate with this Station in the ASCII data exchange, its station number (STN) is set normally to its order on the Ring. Once this is done the Ring Order attempts to find the next station on the Ring that has not been setup for Ring Order (STN=0). When the user types in a Control T (TURBO only), it terminates the ASCII communication transfer between the Ring Controller and the Station and returns to normal communication with the Ring Controller. SW1 0 13, 15 sets up and enables the Motor/IO nodes in MI996. SW2 0 13, 15 sets up the MACRO Master number in MI996. SW1 MI996 Value Nodes Enabled 0 0x0F1FE x0F1FE x0F3FE20 0,2 3 0x0F3FE31 1,3 4 0x0F1FE x0F1FE x0F3FE64 4,6 7 0x0F3FE75 5,7 8 0x0F1FEA x0F1FEB x0F3FEA8 8, x0F3FEB9 9, x0F1FE2C x0F1FE3D 13 16

17 14 0x0F0FE10 None (S/W Macro Ring Order Setup) 15 0x0F1FE1B 11 (Set MI variables to factory default) When SW1==14, the Setup Software running at the Macro Synchronizing Master will setup MI996 and at power on the SAVEd MI996 will be used as the Master to Slave binding. This allows the Setup Software to configure the Macro binding without having to SW1 & SW2 to be changed at the Slave Station. 17

18 UMACRO STATION MI-VARIABLES The umacro CPU is set up through its own set of initialization I-variables, which are distinct from the I-variables on a TURBO PMAC2. They are usually referenced as MI -variables (e.g. MI900) to distinguish them from the PMAC s own I-variables, although they can be referenced just as I -variables. These MI-variables can be accessed from the through the on-line MS{node#},MI{variable#} read and MS{node#},MI{variable#}={constant} write commands, or the MSR{node#},MI{variable#},{PMAC variable} read-copy and MSW{node#},MI{variable#},{PMAC variable} write-copy commands (either on-line or background PLC), where {node#} specifies the MACRO node number (0 to 13), {variable#} specifies the number of the Station MI-variable (0-999), {constant} represents the numerical value to be written to the Station MI-variable, or {PMAC variable} specifies the value to be copied to or from the Station MI-variable. For most Station MI-variables, the {node#} specifier can take the number of any active node on the station (usually the lowest-numbered active node). These variables have MS{node} in the header of their descriptions below. 18

19 Global MI-Variables MS{node},MI0 Station Firmware Version (Read Only) (Required) Range: Units: Revision numbers This variable, when queried, reports the version of the firmware on the MACRO Station. The returned value is a BCD value without the decimal point. So returns 0x1234 and then Turbo Pmac formats it as Each BCD character has the following meaning: MajorRelease d.xxx change causes MI-vars to go to default MajorChange x.dxx MinorChange x.xdx BuildNumber x.xxd Example: MS0,MI0 or MSVERS MS{node},MI1 Station Firmware Date (Read Only) (Required) Range: 01/01/00 12/31/99 Units: MM/DD/YY This variable, when queried, reports the date of implementation of the firmware on the MACRO Station. The date is reported in the North American style of month/day/year with two BCD digits for each. So for example the date 12/31/2009 would return $ The PMAC command MSDATE, which polls this value, turns the year into a 4-digit value before reporting the value to the host computer. Example: MS0,MI1 or MSDATE0 04/25/11 MS{node},MI2 Station ID and User Configuration Word (Required - Saved) Range: $ $FFFFFF This variable permits the user to write a station identification number to the umacro Station. Typically, when the software setup of a Station is complete, a unique value is written to this MI-variable in the station, and saved with the other MI-variables. On power-up/reset, the controller can query MI2 as a quick test to see if the Station has been set up properly for the application. If it does not report back the expected value, the controller can download and save the setup values. 19

20 MS{node},MI3 (SW2 SW1) (Recommended) Range: $00 - $FF Default: The least significant hex digit is the SW1 setting and the next most significant hex digit is the SW2 setting. SW2 determines the Master address of the Station and SW1 determines the MACRO Nodes enabled in MI996. See below. SW1 MI996 Value Nodes Enabled 0 0x0F1FE x0F1FE x0F3FE20 0,2 3 0x0F3FE31 1,3 4 0x0F1FE x0F1FE x0F3FE64 4,6 7 0x0F3FE75 5,7 8 0x0F1FEA x0F1FEB x0F3FEA8 8, x0F3FEB9 9, x0F1FE2C x0F1FE3D x0F0FE10 None (S/W Macro Ring Order Setup) 15 0x0F1FE1B 11 (Set MI variables to factory default) 20

21 MS{node},MI4 Station Status Word (Read Only) (Required) Range: $ $FFFFFFFF Units: Bits This variable, when queried, reports the value of the current status word bits for the MACRO Station. The value reported should be broken into bits. Each bit reports the presence or absence of a particular fault or status on the Station. If the bit is 0, the fault or status has not occurred since Station faults were last cleared. If the bit is 1, the fault has occurred since Station faults were last cleared. The status bits will not be cleared on a CLRF message. BITn Fault Description 0 Configuration Fault (Another MACRO Station is on this Stations selected Node or MI21 or MI22 are set incorrectly) 1 AMP Failed Watch Dog Counter Test 2 Ring Break Fault A Ring break Fault was detected 3 Station Fault - Station Shutdown due to Fault 4 Ring Fault - Any permanent Ring fault 5 DPR Fault Dual Port Ram fault 6 AMP Fault 7 Ring Break Received 8 EPROM Saved Variables Fault 9 AMP Init Fault 10 AMP Failed to ENABLE in required servo cycles 11 Station Servo clock synched with Master Servo clock 12 Ring Active 13 Ring Synch Packet Fault 14 Reserved 15 AMP Init OK 16 Reserved 17 Reserved 18 Reserved 19 Reserved 20 Reserved 21 Reserved 22 Reserved 23 Reserved 24 Station Shut down request 25 Station CLRF request 26 Ring Test enabled 27 Station in ASCII XMT to Synch Master 28 Station in ASCII com with Synch Master 29 Station ASCII Input Ready 30 Station Ring Test done at phase rate (Used to compute MI8, 9 & 10 by Macro Setup) 31 Station has become a Ring Controller because of Ring Break Any of the fault bits that are set can be cleared with the MSCLRF{node} (clear fault) command, or the MS$$${node} (Station reset) command. 21

22 MS{node},MI5 Ring Error Counter (Required) Range: $ $FFFFFF Units: Error Count This variable, when queried, reports the number of ring communications errors detected by the MACRO Station since the most recent power-up or reset. Note: It is possible to write a value to this variable. The ring error counter value can also be cleared to zero using the MS$$${node} commands. MS{node},MI6 Range: Units: Default: (Reserved for future use) $ $FFFFFFF none MS{node},MI7 Range: 0 MS{node},MI8 (Reserved for future use) MACRO Ring Check Period (Required - Saved) Range: 0 65,535 Units: Station phase or servo cycles Default: default_count == 20 milli-seconds in phase or servo cycles MI8 determines the period, in phase or servo cycles, for the MACRO Station to evaluate whether there has been a MACRO ring failure or not. Every phase of servo cycle, the Station checks the ring communications status. In MI8 phase or servo cycles (or MACRO ring cycles), the Station must receive at least MI10 sync packets and detect fewer than MI9 ring communications errors, to conclude that the ring is operating correctly. Otherwise, it will conclude that the ring is not operating properly, set its servo command output values to zero, set its amplifier enable outputs to the disable state, and force all of its digital outputs to their shutdown state. MS{node},MI9 MACRO Ring Error Shutdown Count (Required - Saved) Range: 0 65,535 Default: default_count * 0.1 MI9 determines the number of MACRO communications errors detected that will cause a shutdown fault of the MACRO Station. If the Station detects MI9 or greater MACRO communications errors in MI8 phase or servo cycles, it will shut down on a MACRO communications fault, turning off all outputs. The Station can detect one ring communications error per phase or servo cycle (even if more than one error has occurred). Setting MI9 greater than MI8 means that the Station will never shut down for ring communications error. The Station can detect four types of communications errors: byte violation errors, packet checksum errors, packet overrun errors, and packet underrun errors. If MI9 errors have occurred in the MI8 check period, and at least half of these errors are byte violation errors, the Station will conclude that there is a ring break immediately upstream of it (if there are no ring input communications to the Station, there will be continual byte violation errors). In this case, not only will it set its servo command output values to zero, set its amplifier enable outputs to the disable state, and force all of its digital outputs to their 22

23 shutdown state and it will also turn itself into a master so it can report to other devices downstream on the ring. MS{node},MI10 MACRO Sync Packet Shutdown Count (Required - Saved) Range: 0 65,535 Default: default_count * 0.9 MI10 determines the number of MACRO ring sync packets that must be received during a check period for the Station to consider the ring to be working properly. If the Station detects fewer than MI10 sync packets in MI8 phase or servo cycles, it will shut down on a MACRO communications fault, setting its servo command output values to zero, setting its amplifier enable outputs to the disable state, and forcing all of its digital outputs to their shutdown state. The umacro Station node 15 ($F) is the sync packet node since it is always active. The Station checks each phase cycle to see if a sync packet has been received or not. Setting MI10 to 0 means the Station will never shut down for lack of sync packets. Setting MI10 greater than MI8 means that the Station will always shut down for lack of sync packets. MS{node},MI11 Station Order Number (Required - Saved) Range: MI11 contains the station-order number of the MACRO Station on the ring. This permits it to respond to auxiliary MACROSTASCIIn commands from a Turbo PMAC ring controller from a power-on default state. The station ordering scheme permits the ring controller to isolate each master or slave station on the ring in sequence and communicate with it, without knowing in advance how the ring is configured or whether there are any conflicts in the regular addressing scheme. This is very useful for the initial setup and debugging of the ring configuration. Normally, station order numbers of devices on the ring are assigned in numerical order, with the station downstream of the ring controller getting station-order number 1. This does not have to be the case, however. Unordered stations have the station-order number 0. When the ring controller executes a MACROSTASCII255 command, the first unordered station in the ring will respond. MI11 can also be set with the ASCII command STN={constant}. The value of MI11 can also be queried with the ASCII command STN. 23

24 MS{node},MI12 Range: Units: Default: Card Identification (Required) 0 $FFFFFFFF none The card Part Number This returns the card part number. The same as the CID ASCII command. The CID is a combination of the VID number and the CID provided in macrovid.h file. Example: CID The first number 3 is the VID number and the remaining is the supplied CID. MS{node},MI13 MI19 Range: 0 (Reserved for future use) MS{node},MI20 Position Feedback Format (Required - Saved) Range: 0 7 Value Description B0 = 0 Cyclic Servo Position Data left shifted by 5 bits B0 = 1 Cyclic Servo Position Data returned with as received B1 = 0 Non Cyclic Position Capture Data returned with as received B1 = 1 Non Cyclic Position Capture Data right shifted by 5 bits B2 = 0 Non Cyclic Absolute Position Data returned with as received B2 = 1 Non Cyclic Absolute Position Data right shifted by 5 bits The default setting conforms to Turbo PMAC default configurations for these positions. MS{node},MI21 Servo Cyclic Command Transfer Phase Count (Required - Saved) Range: Units: Default: 0 (A function of the AMP default init.) none 0 (A function of the AMP default init.) See the Synchronizing the Ring Controller Servo Clock with the Station Servo Clock section. if((mi21 > MI998Saved) (MI22 > MI998Saved) (MI21 > MI22)) then the Station Configuration Fault is set (See MI4). MS{node},MI22 Servo Cyclic Response Transfer Phase Count (Required - Saved) Range: Units: Default: 0 (A function of the AMP default init.) none 0 (A function of the AMP default init.) See the Synchronizing the Ring Controller Servo Clock with the Station Servo Clock section. if((mi21 > MI998Saved) (MI22 > MI998Saved) (MI21 > MI22)) then the Station Configuration Fault is set (See MI4). 24

25 MS{node},MI23 Cyclic Secondary Position Feedback, Flag Plus/Minus Limit, Home Bits Feedback & Home Position Capture Format (Required - Saved) Range: 0 15 Value Description B0 = 1 Cyclic Secondary Position Data is returned in Servo Node 16 bit registers 1 & 2 B1 = 1 Cyclic Secondary Position Data is returned in IO Node 24 bit registers 0 B2 = 0 Cyclic Secondary Position Data left with 5 bits of fractional counts (only on IO Node 24 bit registers 0) B2 = 1 Cyclic Secondary Position Data with 8 bits of fractional counts (only on IO Node 24 bit registers 0) The following are available in version and greater: B3 = 1 Get Cyclic Flag Plus and Minus Limit Bits from Secondary Source (usually umacro Gate Channel Status) B4 = 1 Get Cyclic Flag Home Bit from Secondary Source (usually umacro Gate Channel Status) B5 = 1 Get Home Capture Position from Secondary Source (usually umacro Gate Channel Flag Capture Position). Read by MI921. B6 = 0 Non Cyclic Secondary Home Capture Position Data as whole quadrature counts B6 = 1 Non Cyclic Secondary Home Capture Position Data with 8 bits of fractional counts The default setting conforms to Turbo PMAC default configurations for these positions. MS{node},MI24 MI29 Range: 0 (Reserved for future use) 25

26 Global OEM MI-Variables MS{node},MI30 MI99 Range: 0 (Reserved for OEM use) MACRO Gate Servo Channel Specific MI-variables These variables are accessed using the MS station auxiliary read and write commands. The number immediately after the MS specifies the node number. MS{node},MI910 Encoder/Timer n Decode Control (Required if used) Range: 0-15 Units: None Default: 7 MI910 controls how the input signal for the encoder mapped to the specified node is decoded into counts. As such, this defines the sign and magnitude of a count. The following settings may be used to decode an input signal. 0: External Pulse and direction CW 1: x1 quadrature decode CW 2: x2 quadrature decode CW 3: x4 quadrature decode CW 4: External Pulse and direction CCW 5: x1 quadrature decode CCW 6: x2 quadrature decode CCW 7: x4 quadrature decode CCW 8: Reserved 9: Pulse Up/Pulse Down CW 10: Reserved 11: x6 hall format decode CW 12: Reserved 13: Pulse Up/Pulse Down CCW 14: Not used 15: x6 hall format decode CCW In any of the quadrature decode modes, PMAC is expecting two input waveforms on CHAn and CHBn, each with approximately 50% duty cycle, and approximately one-quarter of a cycle out of phase with each other. Times-one (x1) decode provides one count per cycle; x2 provides two counts per cycle; and x4 provides four counts per cycle. The vast majority of users select x4 decode to get maximum resolution. The clockwise (CW) and counterclockwise (CCW) options simply control which direction counts up. If you get the wrong direction sense, simply change to the other option (e.g. from 7 to 3 or vice versa). Note: If you change the direction sense of an encoder with a properly working servo without also changing the direction sense of the output, you can get destabilizing positive feedback to your servo and a dangerous runaway condition. 26

27 In the pulse-and-direction decode modes, PMAC is expecting the pulse train on CHAn, and the direction (sign) signal on CHBn. If the signal is unidirectional, the CHBn line can be allowed to pull up to a high state, or it can be hardwired to a high or low state. If MI910 is set to 11 or 15, the channel is set up to accept 3-phase hall-effect style inputs on the A, B, and C inputs, decoding 6 states per cycle. MS{node},MI911 Range: 0 Units: None (Reserved for future use) MS{node},MI912 Flag Capture Control (Required if used) Range: 0-15 Default: 1 This parameter determines which signal or combination of signals, and which polarity, triggers a position capture of the counter for the encoder mapped to the specified node. If a flag input (home, limit, or user) is used, MI913 for the node determines which flag. Proper setup of this variable is essential for a successful home search, which depends on the position-capture function. The following settings may be used: 0: Immediate capture 1: Capture on Index (CHCn) high 2: Capture on Flag high 3: Capture on (Index high AND Flag high) 4: Immediate capture 5: Capture on Index (CHCn) low 6: Capture on Flag high 7: Capture on (Index low AND Flag high) 8: Immediate capture 9: Capture on Index (CHCn) high 10: Capture on Flag low 11: Capture on (Index high AND Flag low) 12: Immediate capture 13: Capture on Index (CHCn) low 14: Capture on Flag low 15: Capture on (Index low AND Flag low) The trigger is armed when the position capture register is read. After this, as soon as the MACRO Station sees that the specified input lines are in the specified states, the trigger will occur -- it is level-trigger, not edge-triggered. MS{node},MI913 Capture Flag Select Control (Required if used) Range: 0-3 This parameter determines which of the Flag inputs will be used for flag position capture (if one is used -- see MI912): 0: FLAG A Home Flag 1: FLAG B Positive Limit Flag 27

28 2: FLAG C Negative Limit Flag 3: FLAG D If the flag is also a LIMit (POS/NEG) flag and you wish to capture on it, you probably will want to disable their normal functions with Ix25, or use a channel n where none of the flags is used for the normal axis functions. MS{node},MI Range: 0 Reserved for future use MS{node},MI920 Absolute Power-On Position (Read Only) (Required) Range: $0 - $FFFFFFFFFFFF (2 status bits and 46 data bits) Units: Encoder counts Default: The reading of this variable initiates the reading of the absolute position. Bit #47 == 1, indicates that the station is in the process of reading and bit #47 == 0, indicates the process is complete. Bit #46 == 1, indicates a failure and bit #46 == 0, indicates a success. The remaining 46 bits are the signed absolute position. This register is automatically read when the command $* is issued on the PMAC. Note the scaling of this register is determined by MI20 and the Amp that it s received from. MS{node},MI921 Flag Capture Position (Read Only) (Required) Range: -2^31 to +2^31-1 Units: Encoder counts with the units determined by MI20 and MI23 Default: This is the MI variable read in a position captured sequence (like HOMING) for the selected servo channel. It works in conjunction with the command and status flags for the channel. Bit #11 is set in the command flag to enable/request a position capture and the Macro Station sets bit #11 of the status flag when a capture has taken place. When that happens, this MI variable is read. The reading of it should clear bit #11 of the returned status flag. Because the Turbo PMAC only uses 24 bits of the returned value, your position capture should be within a 22 bit range. It is also recommended that your incremental encoder value be reset to zero at power on. Note that this register returns a 48 bit signed number even though only 24 bits of it are used. Also the source (if secondary encoder is used) and scaling of this value is determined by MI20 and MI23. MS{node},MI Reserved for future use Range: $ Units: MS{node},MI925 Position Compare A Value (Required if used) Range: to Units: 1/4096 of encoder counts MI925 specifies the value of the A compare register of the position compare function. The units are encoder counts, referenced to the position at the latest power-on or reset. Note that this register returns a 48 bit signed number. 28

29 MS{node},MI926 Position Compare B Value (Required if used) Range: to Units: 1/4096 of encoder counts MI926 specifies the value of the B compare register of the position compare function. The units are encoder counts, referenced to the position at the latest power-on or reset. Note that this register returns a 48 bit signed number. MS{node},MI927 Position Compare Auto-Increment (Required if used) Range: to Units: 1/4096 of encoder counts Note that this register returns a 48 bit signed number. This is the auto-increment magnitude for the Compare A/B registers. MS{node},MI928 Compare-State Write Enable (Required if used) Range: 0 1 When MI928 is set to 1, the value of MI929 is forced onto the position-compare output for the channel associated with the specified node. MI928 is automatically reset to 0 immediately after this occurs. MS{node},MI929 Compare-Output Initial State (Required if used) Range: 0 1 The value of MI929 is forced onto the position-compare output for the channel associated with the specified node when MI928 is set to 1. After this, each time the channel s encoder-counter position matches the value of MI925 or MI926, the output state is toggled. MS{node},MI930 Range: 0 MS{node},MI931 Reserved for future use Phase Capture Register (Read Only) Range: to Units: 1/256 of encoder counts Note that this register returns a 48 bit signed number. MS{node},MI932 Range: 0 Reserved for future use 29

30 MS{node},MI938 Channel Status Register (Read Only Required if used) Range: 0 $FFFFFF Units: Default: This variable allows you to read the entire 24 bits of the Servo IC channel status register. Bit Type Default Name Description [31] R 0 Reserved This bit is reserved and always reads zero. [30] R/W0 0 EncCountError This bit is set on a quadrature decode error. This bit is cleared by writing 0 to this bit. [29:26] R 0 Reserved This bit field is reserved and always reads zero. [25] R 0 CompOutState This bit provides the current state of the position compare output pin (EQU). [24:23] R 0 Reserved This bit field is reserved and always reads zero. [22] R 0 TriggerState [21] R 0 GatedCapture [20] R 0 PosCaptured [19] R 0 DemuxInvalid This bit provides the current state of the position capture trigger. This bit is set when a position capture is triggered by a gatedindex pulse. This bit is cleared by reading this register. This bit is set when a position capture is triggered. This bit is cleared by reading this register. This bit is set when an invalid state sequence is detected by the Yaskawa incremental encoder decode logic. This bit is cleared by reading this register. [18:16] R 0 HallState This bit field provides the current Hall state. [15] R 0 FlagT [14] R 0 FlagU [13] R 0 FlagV [12] R 0 FlagW [11] R 0 FlagD [10] R 0 FlagC [09] R 0 FlagB [08] R 0 FlagA This bit provides the last captured state of the FLAG_T pin. Capture occurs on every falling edge of PhaseClock. This bit provides the last captured state of the FLAG_U pin. Capture occurs on every falling edge of PhaseClock. This bit provides the last captured state of the FLAG_V pin. Capture occurs on every falling edge of PhaseClock. This bit provides the last captured state of the FLAG_W pin. Capture occurs on every falling edge of PhaseClock. This bit provides the last captured state of the FLAG_D pin. Capture occurs on every falling edge of PhaseClock. This bit provides the last captured state of the FLAG_C pin. Capture occurs on every falling edge of PhaseClock. This bit provides the last captured state of the FLAG_B pin. Capture occurs on every falling edge of PhaseClock. This bit provides the last captured state of the FLAG_A pin. Capture occurs on every falling edge of PhaseClock. [07] R 0 Reserved This bit is reserved and always reads zero. [06] R 0 EncoderC [05] R 0 EncoderB [04] R 0 EncoderA This bit provides the last captured state of the ENC_C pin. Capture occurs on every falling edge of PhaseClock. This bit provides the last captured state of the ENC_B pin. Capture occurs on every falling edge of PhaseClock. This bit provides the last captured state of the ENC_A pin. Capture occurs on every falling edge of PhaseClock. [03:00] R 0 Reserved This bit field is reserved and always reads zero. MS{node},MI939 Range: Channel Control Register (Required if used) 0 $FFFFFF 30

31 Units: Default: This variable allows you to read the entire 24 bits of the Servo IC channel control register. Bit Type Default Name Description [31:20] R $0 Reserved This bit field is reserved and always readszero. [19] R/W1 $0 CounterReset This bit is used to reset the encoder counter. Writing a 1 to this bit resets the encoder counter and hardware 1/T timer. [18] R $0 Reserved This bit is reserved and always reads zero. [17] R/W $0 FlagFilt2Enable This bit is used to enable the 2nd stage filters for the flag inputs: 1=dual-stage filters, 0=single-stage filter. [16] R/W $0 IndexDmEnable This bit is used [15] R $0 GatedIdxState This bit provides [14] R/W $0 GatedIdxEnable This bit is used [13] R/W $0 CompWrState This bit is used to write the initial state of the position compare output. Used in conjunction with the CompWrEnable bit. [12] R/W $0 CompWrEnable This bit is used to write the initial state of the position compare output. Writing a 1 to this bit transfers the value of CompWrState to the compare output. [11:10] R/W $0 FlagSelect This bit field is used to select the input flag used for the flag capture of position. 00=FLAG_A 01=FLAG_B 10=FLAG_C 11=FLAG_D [09:06] R/W $0 CaptureControl This bit field is used to configure the position capture. [05:04] R/W $0 TimerMode This bit field is used to configure the timer mode: 00=Mode 1 (1/T) 01=Mode 2 (Reserved) 10=Mode 3 (Reserved) 11=Mode 4 (Reserved) [03:00] R/W $7 DecodeMode This bit field is used to configure the encoder decode mode: 0000=Ext. Pulse/Direction 0001=x1 0010=x2 0011=x4 0100=Ext. Pulse/Direction (Inverted) 0101=x1 (Inverted) 0110=x2 (Inverted) 0111=x4 (Inverted) 1000=Reserved 1001=Pulse Up/Pulse Dn 1010=Reserved 1011=x6 1100= Reserved 1101=Pulse Up/Pulse Dn (Inverted) 1110=Reserved 1111=x6 (Inverted) MACRO Gate GPIO Ports MI-variables These variables are accessed using the MS station auxiliary read and write commands. The number immediately after the MS specifies the node number. 31

32 MS{node},MI933 Range: 0 - $FFFFFF GPIO Fault Value (Required if used) Value written to the GPIO pins on a Station Fault if supported by Station. MS{node},MI934 Range: 0 - $FFFFFF GPIO Initial Value (Required if used) Value written to the GPIO pins on a POR or a $$$ if supported by Station. MS{node},MI935 Range: 0 - $FFFFFF Value of the GPIO pins MS{node},MI936 Range: 0 - $FFFFFF GPIO Value (Required if used) GPIO Direction Value (Required if used) Value written to the GPIO direction register on a POR or a $$$ if supported by Station. A 1=output and a 0=input. MS{node},MI937 Range: 0 - $FFFFFF GPIO Polarity Value (Required if used) Value written to the GPIO polarity register on a POR or a $$$ if supported by Station. A 1=invert and a 0=normal. If polarity inversion is used, the output pin state is the inverse of the register write data and the read data is the inverse of the pin state. MS{node},MI940-MI989 Range: 0 (Reserved for future use) MACRO Gate Ring Control MI-Variables MI-Variables numbered in the MI990s control hardware aspects of the MACRO IC 32

33 MS{node},MI990 Range: 0 Units: None x Clock Control Register (Required if used Saved) This MI variable combines MI992, MI993 and MI994 so would be required if it is used in the ASCII bkup command. MS{node},MI991 Range: 0 Units: None MS{node},MI992 Range: Units: counts Default: 5000 (Reserved for future use) MaxPhase Frequency Control (Required) 10 KHZ PhaseClock PhaseClock = 100 MHZ/( 2 * MI992) MI992 = 50,000/DesiredPhaseClock (in KHZ) MS{node},MI993 Range: 0-15 Units: counts Default: 4 Servo Encoder Clock Divisor (Required if used) S_Clock = 100 MHZ/(2 **MI993) Frequency Divide by Divider N in 1/2 N 100 MHz MHz MHz MHz MHz MHz MHz khz Very few MACRO Station users will be required to change the setting of MI993 from the default value. The encoder sample clock signal SCLK controls how often board s digital hardware looks at the encoder inputs. PMAC2 can take at most one count per SCLK cycle, so the SCLK frequency is the absolute maximum encoder count frequency. SCLK also controls the signal propagation through the digital delay filters for the encoders and flags; the lower the SCLK frequency, the greater the noise pulse that can be filtered out. The SCLK frequency should optimally be set to the lowest value that can accept encoder counts at the maximum possible rate. 33

34 MS{node},MI994 Range: 0-15 Units: counts Default: 4 Flag Clock Divisor (Required if used) F_Clock = S_Clock/(2 **MI994) 34

35 MS{node},MI995 MACRO Ring Configuration/Status (Required) Range: $ $FFFF (0-65,535) Default: $4080 MI995 contains configuration and status bits for MACRO ring operation of the MACRO Station. There are 11 configuration bits and 5 status bits, as follows: Bit # Value Type Function 0 1($1) Status Data Overrun Error (cleared when read) 1 2($2) Status Byte Violation Error (cleared when read) 2 4($4) Status Packet Parity Error (cleared when read) 3 8($8) Status Packet Underrun Error (cleared when read) 4 16($10) Config Master Station Enable 5 32($20) Config Synchronizing Master Station Enable 6 64($40) Status Sync Node Packet Received (cleared when read) 7 128($80) Config Sync Node Phase Lock Enable 8 256($100) Config Node 8 Master Address Check Disable 9 512($200) Config Node 9 Master Address Check Disable ($400) Config Node 10 Master Address Check Disable ($800) Config Node 11 Master Address Check Disable ($1000) Config Node 12 Master Address Check Disable ($2000) Config Node 13 Master Address Check Disable ($4000) Config Node 14 Master Address Check Disable ($8000) Config Node 15 Master Address Check Disable A MACRO Station is a slave on the ring in all normal operation, so configuration bits 4 and 5 are set to 0. It should synchronize itself to the sync node, so configuration bit 7 should be set to 1. Bit 14 is set to 1 for Ring Order ASCII communication. MS{node},MI996 MACRO Node Activate Control (Required - Saved) Range: $ to $FFFFFF (0 to 8,388,607) Default: $0F0000 (all nodes de-activated, Synch packet = 15, Master = 0) MI996 controls which of the 16 MACRO nodes on the MACRO Station are activated. It also controls the master station number, and the node number of the packet that creates a synchronization signal. On a power-up or reset of the MACRO Station, MI996 is set to the SAVEd value if SW1 == 14 or by values determined by SW1 and SW2. Structure of MI996 { unsigned NodeAddress0:4; // bit 0-3 (Sets Node Address 0 Node number) unsigned NodeAddress1:4; // bit 4-7 (Sets Node Address 1 Node number) unsigned NodeAddress2:4; // bit 8 11 (Set == 14 to Node 14) unsigned NodeAddress3:4; // bit (Set == 15 to Node 15) unsigned NodeEnable0:1; // bit 16 Enable for Node0 Address unsigned NodeEnable1:1; // bit 17 Enable for Node1 Address unsigned NodeEnable2:1; // bit 18 - Enable for Node 14 unsigned NodeEnable3:1; // bit 19 - Enable for Node 15 unsigned SynchPacketNode:4; // bit (Always set = 15 ($F) 35