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
26 Turbo PMAC2 Software Setup for MACRO Station
The following tables show the locations of the individual flags in these registers:
Motor Command Flags: Y:$0034xn for MACRO IC (x-4) Node n
Bit # Function Notes
0 Position Capture Prepare Flag Must be set to 1 to prepare for hardware
capture over ring; to 0 when done
1-7 (Not Used)
8-10 (Reserved for Future Use)
11 Position Capture Enable Flag Must be set to 1 to prepare for hardware
capture over ring; to 0 when done
12 Node Position Reset Flag
13 (Reserved for Future Use)
14 Amplifier Enabled Command to Station
15-23 (Reserved for Future Use)
Motor Status Flags: X:$0034xn for MACRO IC (x-4) Node n
Bit # Function Notes
0-7 (Not Used)
8-10 (Reserved for Future Use)
11 Position Captured Flag Latched from selected flag
12 Power-On Reset or Node Reset Occurred
13 Ring Break Detected Elsewhere
14 Amplifier Enabled Status from Station
15 Amplifier/Node Shutdown Fault 1 is treated as shutdown if Ix25 bit 23 = 1;
0 if Ix25 bit 23 = 0
16 Home Flag (HOME) Input Value
17 Positive Limit Flag (PLIM) Value
18 Negative Limit Flag (MLIM) Value
19 User Flag (USER) Input Value
20 Flag W Input Value
21 Flag V Input Value
22 Flag U Input Value
23 Flag T Input Value
Ixx70, Ixx71: Commutation Cycle Size
If the Turbo PMAC2 is performing commutation for Motor xx, providing either two phase current
commands (sine-wave output) or three PWM phase voltage commands (direct PWM output), the size of
the commutation cycle is equal to Ixx71/Ixx70, normally expressed in encoder counts. Because the
MACRO station provides position feedback in units of 1/32 count for both servo and commutation, the
value of Ixx70 and Ixx71 must be set to provide a ratio 32 times the number of true counts in the
commutation cycle.
For example, if the commutation cycle has 1000 encoder counts, Ixx70 could be set to 1 and Ixx71 could
be set to 32,000.
Ixx75: Absolute Phase Position Offset
If Ixx81 (see below) is set to a value greater than 0, then PMAC will read an absolute sensor for power-on
phase position. In this case, it will use Ixx75 to determine the difference between the absolute sensor’s
zero position and the phase commutation cycle’s zero position (unless Hall commutation sensors are used,
in which case Ixx91 contains the initial offset information, which needs to be corrected later).
Normally, this position difference in Ixx75 is expressed in counts multiplied by Ixx70. However, when
the absolute position is read from the position feedback register, as from a Yaskawa absolute encoder
through an Acc-8D Opt 9 and the MACRO Station, then Ixx75 is expressed in units of 1/32 of a count
multiplied by Ixx70.