User's Manual

16-Axis MACRO CPU User Manual
32 16-Axis MACRO CPU Software Setup
Station Variable Copy Commands
It is also possible to copy values between 16-Axis MACRO CPU MI-Variables and PMAC variables.
This is done with MACRO Variable Copy commands, which can be used either as on-line commands or
as buffered program commands in background PLC programs PLC1-31 and PLCC1-31 (but not in PLC0,
PLCC0, or motion programs, which execute in foreground).
The command that copies from a Station MI-Variable to a PMAC variable (reading from the Station) is
the MSR command. The syntax for the command is:
MSR{node #},MI{variable #},{PMAC Variable}
where {node #} can be the number of any active node on the Station (usually that of the lowest active
node) for most of the MI- Variables, or the number of the individual node for one of the node-specific
MI- Variables (MI910 - MI939). {variable #} is the number of the Station MI-variable (0 - 1023)
from which the value is copied. {PMAC Variable} is the name of the Variable on PMAC (e.g. P10)
to which the value is copied.
Example:
MSR0,MI984,P50 ; Copy from Station with active node 0 MI984 to PMAC P50
MSR1,MI922,P99 ; Copy from Station Node 1 MI922 to PMAC P99
The command that copies from a PMAC variable to a Station MI- Variable (writing to the Station) is the
MSW command. The syntax for the command is:
MSW{node #},MI{variable #},{PMAC Variable}
where {node #} can be the number of any active node on the Station (usually that of the lowest active
node) for most of the MI- Variables, or the number of the individual node for one of the node-specific
MI- Variables (MI910 - MI939). {variable #} is the number of the Station MI- Variable (0 - 1023)
to which the value is copied. {PMAC Variable} is the name of the variable on PMAC (e.g. P10) from
which the value is copied.
Example:
MSW0,MI992,I992 ; Copy from PMAC I992 to Station with active node 0 MI992
MSW1,MI925,P103 ; Copy from PMAC P103 to Station Node 1 MI925
Ring Control Setup Variables
Ring Update Frequency
MI992 and MI997 for the 16-Axis MACRO CPU control the phase frequency on the Station, which is the
frequency at which the Station expects the ring to be updated. The actual ring update frequency is
determined by the ring controller master. For best operation, the 16-Axis MACRO CPU should be set to
the same frequency. The values for MI992 and MI997 should be set the same for MACRO IC 0 and 1.
MI992 determines the MaxPhase clock frequency from which the phase clock frequency is derived. The
equation is:
MaxPhase Frequency (kHz) = 117,964.8 / [2*MI992 + 3]
MI997 determines how the phase clock frequency is divided down from MaxPhase. The equation is:
Phase Frequency (kHz) = MaxPhase Frequency (kHz) / (MI997 + 1)
Generally, both the MaxPhase and Phase frequencies will be the same on the MACRO Station as they are
on the PMAC2 controlling it. However, only the Phase frequency must be the same.
If the ring controller is a Turbo PMAC2 Ultralite or a UMAC Turbo with Acc-5E, the following
relationship should hold:
{MACRO Station) MI992 * (MI997 + 1) = I6800 * (I6801 + 1) {Turbo PMAC2 Ultralite}