User's Manual
Table Of Contents
- 16-Axis MACRO Slave Station Binding to a MACRO Master
- Mapping Servo Channels to Servo Node
- Mapping Motor Node Registers
- Mapping Motor Function Registers to Node Registers
- Mapping of General Purpose I/O
- UMAC (Pack) Configuration
- I/O Accessory Boards
- Auto Configuration and Identification of UMAC (Pack) Boards
- UMAC (Pack) Interface/Breakout Boards
- MACRO Ring Rules
- I7: Phase Cycle Extension
- I19: Clock Source I-Variable Number
- Turbo PMAC2 Ultralite: I6800 and I6801
- UMAC Turbo
- Notes on Servo Clock
- I6840: MACRO IC 0 Master Configuration
- I6890/I6940/I6990: MACRO IC 1/2/3 Master Configuration
- I6841/I6891/I6941/I6991: MACRO IC 0/1/2/3 Node Activation Control
- I70/I72/I74/I76: MACRO IC 0/1/2/3 Node Auxiliary Function Enable
- I71/I73/I75/I77: MACRO IC 0/1/2/3 Node Protocol Type Control
- I78: MACRO Master/Slave Auxiliary Communications Timeout
- I79: MACRO Master/Master Auxiliary Communications Timeout
- I80, I81, I82: MACRO Ring Check Period and Limits
- Ixx01: Commutation Enable
- Ixx02: Command Output Address
- Ixx03, Ixx04: Feedback Address
- Ixx10, Ixx95: Absolute Position Address and Format
- Ixx25, Ixx24: Flag Address and Mode
- Ixx70, Ixx71: Commutation Cycle Size
- Ixx75: Absolute Phase Position Offset
- Ixx81, Ixx91: Power-On Phase Position Address and Mode
- Ixx82: Current Loop Feedback Address
- Ixx83: Commutation Feedback Address
- Ring Update Frequency
- Station Servo Clock Frequency
- MACRO IC 0
- MACRO IC 1
- MACRO IC 0
- MACRO IC 1
- Channels 1-4 (First 4-Axis Board)
- Channels 5-8 (Second 4-Axis Board)
- On Board Auxiliary Channels (Handwheel/Pulse and Direction)
- Incremental Digital Encoder Feedback
- Analog Encoder Feedback
- Resolver Feedback
- MLDT Feedback
- 12-Bit A/D Converter Feedback
- 14E Parallel Feedback
- MI17 Amplifier Fault Disable Control
- MI18 Amplifier Fault Polarity Control
- MI10x Position Feedback Address
- MI11x Power-On Position Feedback Address
- MI16x Power-On MLDT Excitation Value
- MI975 I/O Node Enable
- MI19 I/O Transfer Period
- Bi-Directional I/O Transfer Control
- Uni-Directional I/O Transfer Control
- Setting the Trigger Condition
- Using for Homing
- Using in User Program
- Setting up for a Single Pulse Output
- Setting up for Multiple Pulse Outputs
- How to Enable and Disable MACRO ASCII Communication Mode
- The Ring Order Method
- Example: Read Using MM-Variables – Actual Encoder
- Example: Read DAC Output from Servo IC Card
- Example: Monitor Up/Down Counter from Servo IC Card
- Example: Write to DACnB on Servo IC Card
- Example: Read Using MI198 and MI199 – Direct Hal
- Example: Read Using MI198 and MI199 – Actual DAC
16-Axis MACRO CPU User Manual
Introduction 5
Mapping of General Purpose I/O
General-purpose I/O is processed through a similar set of mapping functions. Once the setup of the
mapping has been done, PMAC software can access the I/O points on the 16-Axis MACRO CPU as if
they were on the PMAC itself.
• Mapping physical devices to the 16-Axis MACRO CPU I/O circuitry
• Wiring between the I/O connectors and the devices
• Mapping the Station I/O registers to 16-Axis MACRO CPU MACRO I/O nodes
• Station MI19 setting for frequency of data copying
• Station MI69 – MI71, MI169 – MI175 settings for matching MACRO I/O nodes to accessory
boards with IOGATE ICs: Acc-9E – 12E, 14E UMAC I/O boards.
• Station MI20-MI68 settings for matching MACRO I/O nodes to other I/O circuitry, e.g. Acc-
36E/59E ADC/DAC boards
• Mapping 16-Axis MACRO CPU I/O nodes to PMAC MACRO I/O nodes
• Connection of the PMAC and MACRO Station in a common ring
• I6841, I6891, I6941, I6991 MACRO Node Activation Control of MACRO I/O Nodes
• Station SW2 setting for Master number
• Station MI975 setting for active MACRO I/O nodes (MI975 available on MACRO IC0 only)
• Mapping PMAC MACRO I/O nodes to PMAC M-variables
• M-variable definitions to images of I/O in PMAC memory
• M-variable definitions to MACRO node registers (entire register only)
• PMAC commands (usually in PLC) to copy between image registers and MACRO I/O nodes