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
18 Turbo PMAC2 Software Setup for MACRO Station
Register Addresses for MACRO IC 1 with I21=$079400 (default)
Turbo PMAC2 Addresses MACRO IC 1
Node # Reg. 0 Reg. 1 Reg. 2 Reg. 3
0 Y:$079420 Y:$079421 Y:$079422 Y:$079423
1 Y:$079424 Y:$079425 Y:$079426 Y:$079427
2 X:$079420 X:$079421 X:$079422 X:$079423
3 X:$079424 X:$079425 X:$079426 X:$079427
4 Y:$079428 Y:$079429 Y:$07942A Y:$07942B
5 Y:$07942C Y:$07942D Y:$07942E Y:$07942F
6 X:$079428 X:$079429 X:$07942A X:$07942B
7 X:$07942C X:$07942D X:$07942E X:$07942F
8 Y:$079430 Y:$079431 Y:$079432 Y:$079433
9 Y:$079434 Y:$079435 Y:$079436 Y:$079437
10 X:$079430 X:$079431 X:$079432 X:$079433
11 X:$079434 X:$079435 X:$079436 X:$079437
12 Y:$079438 Y:$079439 Y:$07943A Y:$07943B
13 Y:$07943C Y:$07943D Y:$07943E Y:$07943F
14 X:$079438 X:$079439 X:$07943A X:$07943B
15 X:$07943C X:$07943D X:$07943E X:$07943F
Register Addresses for MACRO IC 2 with I22=$07A400 (default)
Turbo PMAC2 Addresses MACRO IC 2
Node # Reg. 0 Reg. 1 Reg. 2 Reg. 3
0 Y:$07A420 Y:$07A421 Y:$07A422 Y:$07A423
1 Y:$07A424 Y:$07A425 Y:$07A426 Y:$07A427
2 X:$07A420 X:$07A421 X:$07A422 X:$07A423
3 X:$07A424 X:$07A425 X:$07A426 X:$07A427
4 Y:$07A428 Y:$07A429 Y:$07A42A Y:$07A42B
5 Y:$07A42C Y:$07A42D Y:$07A42E Y:$07A42F
6 X:$07A428 X:$07A429 X:$07A42A X:$07A42B
7 X:$07A42C X:$07A42D X:$07A42E X:$07A42F
8 Y:$07A430 Y:$07A431 Y:$07A432 Y:$07A433
9 Y:$07A434 Y:$07A435 Y:$07A436 Y:$07A437
10 X:$07A430 X:$07A431 X:$07A432 X:$07A433
11 X:$07A434 X:$07A435 X:$07A436 X:$07A437
12 Y:$07A438 Y:$07A439 Y:$07A43A Y:$07A43B
13 Y:$07A43C Y:$07A43D Y:$07A43E Y:$07A43F
14 X:$07A438 X:$07A439 X:$07A43A X:$07A43B
15 X:$07A43C X:$07A43D X:$07A43E X:$07A43F