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
24 Turbo PMAC2 Software Setup for MACRO Station
Ixx10, Ixx95: Absolute Position Address and Format
Ixx10 and Ixx95 permit an automatic read of an absolute position sensor at power-on/reset and/or on a
subsequent $* or $$* command. If Ixx10 is set to 0, the power-on/reset position for the motor will be
considered to be 0, regardless of the type of sensor used. If Ixx10 is set to a value greater than zero, an
absolute position can be read, with Ixx10 specifying an address for reading this value.
When reading absolute position over the MACRO ring, the address contained in Ixx10 is specified in the
format $0000mn, where m is the MACRO IC number (0, 1, 2, or 3) and n is the node number (0, 1, 4, 5,
8, 9, 12, or 13). If both m and n are 0, the fourth hex digit of Ixx10 should be set to 1 (Ixx10 = $000100)
to keep the total value of Ixx10 greater than zero and activate the absolute position read.
The following table shows the required values of Ixx10 for all of the MACRO nodes that can be used.
Note:
MACRO IC 0 Node 0 uses an Ixx10 value of $000100 because Ixx10=0 disables
the absolute position read function.
Ixx10 for MACRO Absolute Position Reads
(Ixx95=$720000 - $740000, $F20000 - $F40000)
MACRO
Node
Number
Ixx10 for
MACRO
IC 0
Ixx10 for
MACRO
IC 1
Ixx10 for
MACRO
IC 2
Ixx10 for
MACRO
IC 3
0 $000100 $000010 $000020 $000030
1 $000001 $000011 $000021 $000031
4 $000004 $000014 $000024 $000034
5 $000005 $000015 $000025 $000035
8 $000008 $000018 $000028 $000038
9 $000009 $000019 $000029 $000039
12 $00000C $00001C $00002C $00003C
13 $00000D $00001D $00002D $00003D
There are specific settings of Turbo PMAC2’s Ixx95 for each type of MACRO sensor interface. The 16-
Axis MACRO CPU has a corresponding variable MI11x for each node that must be set.
16-Axis MACRO CPU Feedback Type
Turbo
Ixx95
(Unsigned)
Station
MI11x
(Unsigned)
Turbo
Ixx95
(Signed)
Station
MI11x
(Signed)
Acc-8D Opt 7 Resolver/Digital Converter $730000 $00xxxx -
$07xxxx
$F30000 $80xxxx -
$87xxxx
Acc-8D Opt 9 Yaskawa Absolute Encoder Converter $720000 $71xxxx -
$72xxxx
$F20000 $F1xxxx -
$F2xxxx
Acc-49 Sanyo 26-bit Absolute Encoder Converter $740000 $32xxxx $F40000 $B2xxxx
Acc-28B/E Analog/Digital Converter $740000 $31xxxx -- --
Acc-1E/6E/36E/59E A/D Converter (low 12 bits) $740000 $0Cxxxx $F40000 $8Cxxxx
Acc-1E/6E/36E/59E A/D Converter (high 12 bits) $740000 $33xxxx $F40000 $B3xxxx
MACRO Station MLDT Input $740000 $l7xxxx -- --
MACRO Station Parallel Input (from 24-bit word $740000 $08xxxx -
$2Axxxx
$F40000 $88xxxx -
$AAxxxx
Acc-3E/14E Parallel Input from two consecutive lower bytes $740000 $2Bxxxx $F40000 $ABxxxx
Acc-3E /14E Parallel Input from two consecutive middle bytes $740000 $2Cxxxx $F40000 $ACxxxx
Acc-3E /14E Parallel Input from two consecutive upper bytes $740000 $2Dxxxx $F40000 $ADxxxx
Acc-3E/14E Parallel Input from two consecutive lower bytes $740000 $2Exxxx $F40000 $AExxxx
Acc-3E /14E Parallel Input from two consecutive middle bytes $740000 $2Fxxxx $F40000 $AFxxxx
Acc-3E/14E Parallel Input from two consecutive upper bytes $740000 $30xxxx $F40000 $B0xxxx