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
16 Turbo PMAC2 Software Setup for MACRO Station
I71/I73/I75/I77: MACRO IC 0/1/2/3 Node Protocol Type Control
I71, I73, I75, and I77 are 16-bit I-Variables (bits 0 - 15) in which each bit controls whether PMAC uses
MACRO Type 0 protocol or the MACRO Type 1 protocol for the node whose number matches the bit
number for the purposes of the auxiliary servo flag transfer for MACRO ICs 0, 1, 2, and 3, respectively.
A bit value of 0 sets a Type 0 protocol; a bit value of 1 sets a Type 1 protocol.
All 16-Axis MACRO CPU nodes use the Type 1 protocol, so each MACRO node n used for servo
purposes with a MACRO Station must have bit n set to 1. Generally, I71 = I70, I73 = I72, I75 = I74, and
I77 = I76 on a Turbo PMAC2 communicating with a MACRO Station.
Remember that if servo nodes for more than one MACRO Station are commanded from a single MACRO
IC, the protocol must be selected for all of the active servo nodes on each station.
I78: MACRO Master/Slave Auxiliary Communications Timeout
If I78 is set greater than 0, the MACRO Type 1 Master/Slave Auxiliary Communications protocol using
Node 15 is enabled. Turbo PMAC implements this communications protocol using the MACROSLAVE
(MS), MACROSLVREAD (MSR), and MACROSLVWRITE (MSW) commands.
If this function is enabled, I78 sets the timeout value in PMAC servo cycles. In this case, if PMAC does
not get a response to a Node 15 auxiliary communications command within I78 servo cycles, it will stop
waiting and register a MACRO auxiliary communications error, setting Bit 5 of global status register
X:$000006.
I78 must be set greater than 0 if any auxiliary communications is desired with a MACRO Station. This
reserves Node 15 for the Type 1 Auxiliary Communications. A value of 32 is suggested. If I78 is set
greater than 0, bit 15 of I70, I72, I74, and I76 must be set to 0, so Node 15 is not also used for flag
transfers.
I79: MACRO Master/Master Auxiliary Communications Timeout
If I79 is set greater than 0, the MACRO Type 1 Master/Master Auxiliary Communications and MACRO
ASCII Communication protocol using Node 14 is enabled. Turbo PMAC implements this
communications protocol using the MACROMASTER (MM), MACROMSTREAD (MMR), MACROMSTWRITE
(MMW), and MACSTAn commands. Only the Turbo PMAC that is the ring controller can execute these
commands; other Turbo PMACs that are masters on the ring can respond to these commands from the
ring controller.
If this function is enabled, I79 sets the timeout value in PMAC servo cycles. In this case, if the Turbo
PMAC does not get a response to a Node 14 master/master auxiliary communications command within
I79 servo cycles, it will stop waiting and register a MACRO auxiliary communications error, setting Bit 5
of global status register X:$000006.
I79 must be set greater than 0 if any auxiliary communications is desired with a MACRO Station. A
value of 32 is suggested. If a value of I79 greater than 0 has been saved into PMAC’s non-volatile
memory, then at subsequent power-up/resets, bit 14 of I70 is set to 0, the node-14 broadcast bit (bit 14 of
I6840) is set to 1, and activation bit for node 14 (bit 14 of I6841) is set to 1, regardless of the value saved
for these variables. This reserves Node 14 of MACRO IC 0 for the Type 1 Master/Master Auxiliary
Communications and MACRO ASCII Communication.
I80, I81, I82: MACRO Ring Check Period and Limits
If I80 is set to a value greater than zero, Turbo PMAC will monitor for MACRO ring breaks or repeated
MACRO communications errors automatically. A non-zero value sets the error detection cycle time in
Turbo PMAC servo cycles. Turbo PMAC checks to see that sync node packets (see I6840 and I6841) are
received regularly and that there has not been regular communications errors.