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
Turbo PMAC2 Software Setup for MACRO Station 23
In this mode, the proper values of Ixx02 are:
Ixx02 Value Register Ixx02 Value Register
I102 $078422 MACRO IC 0 Node 0 Reg. 2 I1702 $07A422 MACRO IC 2 Node 0 Reg. 2
I202 $078426 MACRO IC 0 Node 1 Reg. 2 I1802 $07A426 MACRO IC 2 Node 1 Reg. 2
I302 $07842A MACRO IC 0 Node 4 Reg. 2 I1902 $07A42A MACRO IC 2 Node 4 Reg. 2
I402 $07842E MACRO IC 0 Node 5 Reg. 2 I2002 $07A42E MACRO IC 2 Node 5 Reg. 2
I502 $078432 MACRO IC 0 Node 8 Reg. 2 I2102 $07A432 MACRO IC 2 Node 8 Reg. 2
I602 $078436 MACRO IC 0 Node 9 Reg. 2 I2202 $07A436 MACRO IC 2 Node 9 Reg. 2
I702 $07843A MACRO IC 0 Node 12 Reg. 2 I2302 $07A43A MACRO IC 2 Node 12 Reg. 2
I802 $07843E MACRO IC 0 Node 13 Reg. 2 I2402 $07A43E MACRO IC 2 Node 13 Reg. 2
I902 $079422 MACRO IC 1 Node 0 Reg. 2 I2502 $07B422 MACRO IC 3 Node 0 Reg. 2
I1002 $079422 MACRO IC 1 Node 1 Reg. 2 I2602 $07B426 MACRO IC 3 Node 1 Reg. 2
I1102 $07942A MACRO IC 1 Node 4 Reg. 2 I2702 $07B42A MACRO IC 3 Node 4 Reg. 2
I1202 $07942E MACRO IC 1 Node 5 Reg. 2 I2802 $07B42E MACRO IC 3 Node 5 Reg. 2
I1302 $079432 MACRO IC 1 Node 8 Reg. 2 I2902 $07B432 MACRO IC 3 Node 8 Reg. 2
I1402 $079436 MACRO IC 1 Node 9 Reg. 2 I3002 $07B436 MACRO IC 3 Node 9 Reg. 2
I1502 $07943A MACRO IC 1 Node 12 Reg. 2 I3102 $07B43A MACRO IC 3 Node 12 Reg. 2
I1602 $07943E MACRO IC 1 Node 13 Reg. 2 I3202 $07B43E MACRO IC 3 Node 13 Reg. 2
Ixx03, Ixx04: Feedback Address
Ixx03 and Ixx04 specify the addresses of the registers that Turbo PMAC2 reads to get its position-loop
and velocity-loop feedback values, respectively. Usually, this is a result register in the encoder
conversion table. Unless the motor uses dual feedback, the values of Ixx03 and Ixx04 are the same,
which means the same sensor is used for both position-loop and velocity-loop feedback.
Note:
The automatic servo node functions of a MACRO Station do not support dual
feedback in a single node. For dual feedback, either a second servo node must be
used, or one of the feedback values (usually the velocity-loop feedback position)
must be sent back to the Turbo PMAC2 as an I/O value.
These variables should contain the address of the last line of the entry in the conversion table. With either
of the conversion tables suggested above, this would be the second line of each entry: lines 1, 3, 5, 7, etc.
of the conversion table. The default values for the Turbo PMAC2 Ultralite boards listed below contain
the addresses of these registers.
Ixx03 Value Register Ixx03 Value Register
I103 $003502 Conversion Table Line 1 I1703 $003522 Conversion Table Line 33
I203 $003504 Conversion Table Line 3 I1803 $003524 Conversion Table Line 35
I303 $003506 Conversion Table Line 5 I1903 $003526 Conversion Table Line 37
I403 $003508 Conversion Table Line 7 I2003 $003528 Conversion Table Line 39
I503 $00350A Conversion Table Line 9 I2103 $00352A Conversion Table Line 41
I603 $00350C Conversion Table Line 11 I2203 $00352C Conversion Table Line 43
I703 $00350E Conversion Table Line 13 I2303 $00352E Conversion Table Line 45
I803 $003510 Conversion Table Line 15 I2403 $003530 Conversion Table Line 47
I903 $003512 Conversion Table Line 17 I2503 $003532 Conversion Table Line 49
I1003 $003514 Conversion Table Line 19 I2603 $003534 Conversion Table Line 51
I1103 $003516 Conversion Table Line 21 I2703 $003536 Conversion Table Line 53
I1203 $003518 Conversion Table Line 23 I2803 $003538 Conversion Table Line 55
I1303 $00351A Conversion Table Line 25 I2903 $00353A Conversion Table Line 57
I1403 $00351C Conversion Table Line 27 I3003 $00353C Conversion Table Line 59
I1503 $00351E Conversion Table Line 29 I3103 $00353E Conversion Table Line 61
I1603 $003520 Conversion Table Line 31 I3203 $003540 Conversion Table Line 63