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
34 16-Axis MACRO CPU Software Setup
MACRO IC 1
There is no SW1 or active MI975 and MI976 for MACRO IC 1.
S/W Ring Order: MI996 must be written by the Ring Order software setup, saved (MSSAVE) and the
reset (MS$$$) to enable the desired motor and I/O nodes. MI variables for MACRO IC 1 can be accessed
by adding 1000 to the variable. For example, MI1996 = accesses MACRO IC 1’s MI996.
Node Ring Order: MACRO IC 1’s MI996 can also be accessed for setup through MACRO IC 0. To
address its setup MI-Variables, add 1000 to the variable. For example, MS0,MI1996 = accesses MACRO
IC 1’s MI996.
Auto-Detecting the MACRO and Servo ICs
At power-on, $$$ and $$$*** the MACRO and Servo ICs are detected automatically similar to the Turbo
PMAC’s I4900. The MACRO and Servo IC’s detection is stored in X:MI200 and the previously saved
value is in Y:MI200. MI210 to MI225 are the IDENT Inn variables that further refine the card type,
options and revision number for the Servo ICs similar to Turbo’s I4910 – I48225.
MACRO/Servo ICs
Gate Addr MInns X:MI200 Bit Chip Select IDENT MInn’s
$C080-$C0BF I990-999 $1 MACRO CS4 NA
$C0C0-$C0FF I990-999 $2 MACRO CS5 NA
NA NA $400 NA NA
NA NA $800 NA NA
$8000-$801F I900-1939 $4 CS2 I210 ($88C8)
$8040-$805F I900-1939 $8 CS3 I211 ($88CC)
$8020-$803F I900-1939 $1000 CS2 Aux I212 ($88E8)
$8060-$807F I900-1939 $2000 CS3 Aux I213 ($88EC)
$9000-$901F I900-1939 $10 CS2 I214 ($98C8)
$9040-$905F I900-1939 $20 CS3 I215 ($98CC)
$9020-$903F I900-1939 $4000 CS2 Aux I216 ($98E8)
$9060-$907F I900-1939 $8000 CS3 Aux I217 ($98EC)
$A000-$A01F I900-1939 $40 CS2 I218 ($A8C8)
$A040-$A05F I900-1939 $80 CS3 I219 ($A8CC)
$A020-$A03F I900-1939 $10000 CS2 Aux I220 ($A8E8)
$A060-$A07F I900-1939 $20000 CS3 Aux I221 ($A8EC)
$B000-$B01F I900-1939 $100 CS2 I222 ($B8C8)
$B040-$B05F I900-1939 $200 CS3 I223 ($B8CC)
$B020-$B03F I900-1939 $40000 CS2 Aux I224 ($B8E8)
$B060-$B07F I900-1939 $80000 CS3 Aux I225 ($B8EC)
If the firmware auto-detection finds that the configuration has changed from the saved, bit 14
(Configuration Error) is set in the System Status word (MI4).
If new Servo ICs are detected in (X:MI200) that were not saved previously in (Y:MI200), they will be
loaded with default values.