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
22 Turbo PMAC2 Software Setup for MACRO Station
Turbo PMAC2 Motor I-Variables
The following section lists Motor setup variables that have particular considerations when using MACRO
Stations.
Ixx01: Commutation Enable
Ixx01 specifies whether Turbo PMAC2 performs commutation for Motor xx, and whether it uses X or Y
registers. Only Y registers are used when communicating to a MACRO Station over the ring.
If Turbo PMAC2 is not performing commutation for Motor xx, Ixx01 should be set to 0 (bit 0 = 0
specifies no commutation algorithm, bit 1 = 0 specifies the single output to the Y register whose address
is set by Ixx02).
If Turbo PMAC2 is performing commutation for Motor xx over the MACRO ring, with or without digital
current-loop closure, Ixx01 should be set to 3 (bit 0 = 1 specifies commutation, bit 1 = 1 specifies
commutation feedback from the Y register whose address is set by Ixx83).
Ixx02: Command Output Address
Ixx02 specifies the address of the (first) register where Turbo PMAC2 writes the command output values
for Motor xx. In the MACRO Type 1 protocol, this is Register 0 of a MACRO servo node, regardless of
the output mode (velocity, torque, phase current, or phase voltage).
The default values of Ixx02 for Turbo PMAC2 Ultralite boards specify these registers for each servo node
of each MACRO IC. These are listed in the following table:
Ixx02 Value Register Ixx02 Value Register
I102 $078420 MACRO IC 0 Node 0 Reg. 0 I1702 $07A420 MACRO IC 2 Node 0 Reg. 0
I202 $078424 MACRO IC 0 Node 1 Reg. 0 I1802 $07A424 MACRO IC 2 Node 1 Reg. 0
I302 $078428 MACRO IC 0 Node 4 Reg. 0 I1902 $07A428 MACRO IC 2 Node 4 Reg. 0
I402 $07842C MACRO IC 0 Node 5 Reg. 0 I2002 $07A42C MACRO IC 2 Node 5 Reg. 0
I502 $078430 MACRO IC 0 Node 8 Reg. 0 I2102 $07A430 MACRO IC 2 Node 8 Reg. 0
I602 $078434 MACRO IC 0 Node 9 Reg. 0 I2202 $07A434 MACRO IC 2 Node 9 Reg. 0
I702 $078438 MACRO IC 0 Node 12 Reg. 0 I2302 $07A438 MACRO IC 2 Node 12 Reg. 0
I802 $07843C MACRO IC 0 Node 13 Reg. 0 I2402 $07A43C MACRO IC 2 Node 13 Reg. 0
I902 $079420 MACRO IC 1 Node 0 Reg. 0 I2502 $07B420 MACRO IC 3 Node 0 Reg. 0
I1002 $079424 MACRO IC 1 Node 1 Reg. 0 I2602 $07B424 MACRO IC 3 Node 1 Reg. 0
I1102 $079428 MACRO IC 1 Node 4 Reg. 0 I2702 $07B428 MACRO IC 3 Node 4 Reg. 0
I1202 $07942C MACRO IC 1 Node 5 Reg. 0 I2802 $07B42C MACRO IC 3 Node 5 Reg. 0
I1302 $079430 MACRO IC 1 Node 8 Reg. 0 I2902 $07B430 MACRO IC 3 Node 8 Reg. 0
I1402 $079434 MACRO IC 1 Node 9 Reg. 0 I3002 $07B434 MACRO IC 3 Node 9 Reg. 0
I1502 $079438 MACRO IC 1 Node 12 Reg. 0 I3102 $07B438 MACRO IC 3 Node 12 Reg. 0
I1602 $07943C MACRO IC 1 Node 13 Reg. 0 I3202 $07B43C MACRO IC 3 Node 13 Reg. 0
If Motor xx is used to produce a pulse-and-direction output on the MACRO Station to control a
traditional stepper drive or a stepper-replacement servo drive, the command output should be written to
Register 2 of the servo node.