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
16-Axis MACRO CPU Software Setup 33
Note:
Even if I7 is set greater than 0 on a Turbo PMAC2 so that the phasing tasks on the
Turbo PMAC2 are not done every phase clock cycle, it is important that the actual
phase clock frequencies themselves be the same on the Turbo PMAC2 and the
MACRO Station.
Station Servo Clock Frequency
MI998 on a MACRO Station controls how the servo clock on the Station is derived from the Station’s
phase clock. The phase clock frequency is divided by (MI998 + 1) to obtain the servo clock. No
software tasks on the station are performed on the servo clock (all are done on the phase clock), but key
feedback registers, such as encoder position and timers, are latched by the servo clock. MI998 should
always be set to 0 on a MACRO Station to make the servo clock frequency equal to the phase clock
frequency, so that the software algorithms always have updated position information to use.
Additional Node Enabling and Disabling
MACRO IC 0
If MACRO Station setup variables MI975 and MI976 are both set to 0 (the default values) at power-
up/reset, only those MACRO servo nodes selected by rotary switch SW1 on the Station are enabled for
ring communications. The following table lists which nodes are enabled for each SW1 setting:
Setting Enabled Nodes Setting Enabled Nodes
0 0, 1, 4, 5 8 2, 3 (I/O only)
1 8, 9, 12, 13 9 6, 7 (I/O only)
2 0, 1 A (10) 10, 11 (I/O only)
3 4, 5 B (11) 2,3,6,7 (I/O only)
4 8, 9 C (12) 2,3,6,7,10,11 (I/O only)
5 12, 13 D (13) 11 (I/O only)
6 0, 1, 4, 5, 8, 9 E (14) None (S/W Ring Order)
7 0, 1, 4, 5, 8, 9, 12, 13 F (15) 11 (I/O only)
Note:
If all motor nodes with MI976 are disabled and I/O nodes with MI975 are not
enabled, after saving these values to flash memory and resetting the Station,
communication with the Station will be only through Node 15. If there are any
other Stations on the ring using the same Master number, this board cannot be
talked to individually. The only command that can be sent is a broadcast message
such as MS$$$***15 which will reset the card to default, allowing
communication to it using one of the nodes enabled by SW1.
Motor Node Disable: MI976 permits the disabling of motor (servo) nodes that would otherwise be
enabled by the SW1 setting. This permits their use on other devices on the ring. Setting Bit n of MI976
to 1 forces the disabling of Node n, even if the SW1 setting would normally enable it. Used only on
MACRO IC 0.
I/O Node Enable: MI975 permits the enabling of I/O nodes in addition to the motor nodes that are
enabled automatically by the SW1 setting. This permits the automatic real-time transmission of I/O data
between the PMAC and the MACRO Station through dedicated I/O nodes. Used only on MACRO IC 0.
S/W Ring Order: MI996 must be written by the Ring Order software setup, saved (MSSAVE) and the
reset (MS$$$) to enable the desired motor and I/O nodes.