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
10 Hardware Setup
SW1 Setting
SW1 establishes how many servo nodes and which servo nodes, will be used on the 16-Axis MACRO
CPU station for MACRO IC 0. It also establishes the mapping of MACRO node numbers to MACRO
Station channel numbers – the second mapping step explained in the overview. This mapping
information will be important in establishing the software setup. The following table shows the possible
configurations and the SW1 settings to achieve them.
MACRO IC 0 ($$$ or $$$***)
# I/O
Nodes
# of Servo Channels
and Nodes Used
Node Servo IC
Base Address
Nodes
Enabled
SW1 Setting Y:MI18
MI188
0 4 $8000,$8008,
$8010,$8018
0,1,
4,5
0 I181, I182,
I183, I184
0 4 $8000,$8008,
$8010,$8018
8,9,
12,13
1 I185, I186,
I187, I188
0 2 $8000,$8008 0,1 2 I181, I182
0 2 $8000,$8008 4,5 3 I183, I184
0 2 $8000,$8008 8,9 4 I185, I186
0 2 $8000,$8008 12,13 5 I187, I188
0 6 $8000,$8008,
$8010,$8018,
$8040,$8048
0,1,
4,5,
8,9
6 I181, I182,
I183, I184,
I185, I186
0 8 $8000,$8008,
$8010,$8018,
$8040,$8058,
$8050,$8058
0,1,
4,5,
8,9,
12,13
7 I181, I182,
I183, I184,
I185, I186,
I187, I188
2 0 2,3 8
2 0 6,7 9
2 0 10,11 10
4 0 2,3,6,7 11
6 0 2,3,6,7,10,11 12
1 0 11 13
0 0 None 14 Ring Order
1 0 11 15 Performs a $$$***
SW2 Setting
The setting of rotary switch SW2 on the 16-Axis MACRO CPU board determines the number (0 to 15) of
the master for MACRO IC 0. The master number for MACRO IC 1 it is SW1+1. That same master
number on a Turbo PMAC2 will be the one exchanging data with one on the 16-Axis MACRO CPU.
This establishes the third mapping step explained in the overview.
The Turbo PMAC2 can support up to four active MACRO ICs. The master numbers for these ICs are set
by I6841, I6891, I6941, and I6991. This setup is covered in the next section.
Note:
The master number of a MACRO IC on a Turbo PMAC2 is not necessarily the
same as the MACRO IC number (0, 1, 2, or 3) itself. However, if there is only a
single Turbo PMAC2 on the ring, it is probable that each MACRO IC on the
Turbo PMAC2 will be assigned a master number equal to the IC number.