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
28 Turbo PMAC2 Software Setup for MACRO Station
The station then references its own MI11x value to determine the type, format, and address of the data to
be read. The data is returned to Turbo PMAC2 with up to 42 bits of data, sign extended to 46 bits. Bit 48
is a Ready/Busy handshake bit and Bit 47 is a pass/fail status bit. If Bit 47 is set, the upper 24 bits of the
48 bits returned form a word and are stored in X:$00320E of the Turbo PMAC2.
Note:
With the Yaskawa absolute encoder format and with the Hall commutation sensor
format, the Turbo PMAC2 is not going directly to the MACRO Station for absolute
phase position information. This information has been copied already into a Turbo
PMAC2 register with another software function.
Ixx82: Current Loop Feedback Address
If the Turbo PMAC2 is being operated in direct PWM mode, Ixx82 must specify the address of the Phase
B current feedback register. (If it is not being operated in direct PWM mode, Ixx82 must be set to 0.)
When in direct PWM mode over MACRO, the Phase B current feedback value appears in the MACRO
servo node’s Register 2, so Ixx82 must contain the address of this register. The following table shows the
typical values of Ixx82 in this mode, listing the address of Register 2 for each servo MACRO node.
Ixx82 Value Register Ixx82 Value Register
I182 $078422 MACRO IC 0 Node 0 Reg. 2 I1782 $07A422 MACRO IC 2 Node 0 Reg. 2
I282 $078426 MACRO IC 0 Node 1 Reg. 2 I1882 $07A426 MACRO IC 2 Node 1 Reg. 2
I382 $07842A MACRO IC 0 Node 4 Reg. 2 I1982 $07A42A MACRO IC 2 Node 4 Reg. 2
I482 $07842E MACRO IC 0 Node 5 Reg. 2 I2082 $07A42E MACRO IC 2 Node 5 Reg. 2
I582 $078432 MACRO IC 0 Node 8 Reg. 2 I2182 $07A432 MACRO IC 2 Node 8 Reg. 2
I682 $078436 MACRO IC 0 Node 9 Reg. 2 I2282 $07A436 MACRO IC 2 Node 9 Reg. 2
I782 $07843A MACRO IC 0 Node 12 Reg. 2 I2382 $07A43A MACRO IC 2 Node 12 Reg. 2
I882 $07843E MACRO IC 0 Node 13 Reg. 2 I2482 $07A43E MACRO IC 2 Node 13 Reg. 2
I982 $079422 MACRO IC 1 Node 0 Reg. 2 I2582 $07B422 MACRO IC 3 Node 0 Reg. 2
I1082 $079426 MACRO IC 1 Node 1 Reg. 2 I2682 $07B426 MACRO IC 3 Node 1 Reg. 2
I1182 $07942A MACRO IC 1 Node 4 Reg. 2 I2782 $07B42A MACRO IC 3 Node 4 Reg. 2
I1282 $07942E MACRO IC 1 Node 5 Reg. 2 I2882 $07B42E MACRO IC 3 Node 5 Reg. 2
I1382 $079432 MACRO IC 1 Node 8 Reg. 2 I2982 $07B432 MACRO IC 3 Node 8 Reg. 2
I1482 $079436 MACRO IC 1 Node 9 Reg. 2 I3082 $07B436 MACRO IC 3 Node 9 Reg. 2
I1582 $07943A MACRO IC 1 Node 12 Reg. 2 I3182 $07B43A MACRO IC 3 Node 12 Reg. 2
I1682 $07943E MACRO IC 1 Node 13 Reg. 2 I3282 $07B43E MACRO IC 3 Node 13 Reg. 2
Ixx83: Commutation Feedback Address
If the Turbo PMAC2 is performing commutation for Motor xx (Ixx01 bit 0 = 1), providing either two
phase current commands (sine-wave output) or three PWM phase voltage commands (direct PWM),
Ixx83 must specify the address of the ongoing commutation position feedback.
When commutating over MACRO, the position feedback comes from Register 0 of the MACRO node. In
this case, Ixx83 must contain the address of this MACRO node register.