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 37
MACRO IC 1 ($$$***)
Number of
Servo ICs (IC #)
Node Servo IC
Base Address
Associated Node Y:I181…188 Encoder Conversion
Table (ECT)
1 (#3) $9000,$9008,
$9010,$9018,
$9000,$9008,
$9010,$9018,
0,1,
4,5,
8,9,
12,13
I181, I182,
I183, I184,
I185, I186,
I187, I188
(ECT limited to four entries,
(MI124=0))
2 (#3 and #4) $9000,$9008,
$9010,$9018,
$9040,$9048,
$9050,$9058,
0,1,
4,5,
8,9,
12,13
I181, I182,
I183, I184,
I185, I186,
I187, I188
(ECT set to eight entries,
(MI128=0) )
MACRO IC 1 ($$$)
Number of
Servo ICs (IC #)
Node Servo IC
Base Address
Associated Node I181…188 MI996 (# Servo Y: nodes
enabled)
1 (#3) $9000,$9008,
$9000,$9008,
$9000,$9008,
$9000,$9008,
0,1,
4,5,
8,9,
12,13
I181, I182,
I183, I184,
I185, I186,
I187, I188
1 or 2
1 (#3) $9000,$9008,
$9010,$9018,
$9000,$9008,
$9010,$9018,
0,1,
4,5,
8,9,
12,13
I181, I182,
I183, I184,
I185, I186,
I187, I188
> 2
2 (#3 and #4) $9000,$9008,
$9010,$9018,
$9040,$9048,
$9050,$9058,
0,1,
4,5,
8,9,
12,13
I181, I182,
I183, I184,
I185, I186,
I187, I188
> 2
Multi-Channel Servo Interface Setup
Several MI-Variables on the 16-Axis MACRO CPU affect the hardware setup of multiple machine
interface channels on the Station. Because these variables are not specific to one channel or node, they
can be accessed with an MS{anynode} command, where {anynode} is the number of any active node
on the Station that is not active on another Station as well.
Channels 1-4 (First 4-Axis Board)
There are several variables that affect all of the machine interface channels 1 to 4. These MI-Variables
reference MI179 for the Servo IC’s base address.
PWM Frequency: MI900 controls the PWM frequency of Channels 1-4. Its setting is important only if
the PWM outputs are used through the PMAC2-style connectors. The equation for the frequency is:
PWM Frequency (kHz) = 117,964.8 / [4*MI900 + 6]
Generally, MI900 is set to the same value as MI992 which controls the PWM frequency for Channels 9
and 10 and the MaxPhase clock frequency. The PWM frequency set by MI900 must be equal to N/2
times the Phase clock frequency set by MI992 and MI997, where N is a positive integer.
Hardware Clock Frequencies: MI903 controls the frequencies of the four hardware clock signals for
Channels 1-4: the encoder sample SCLK, the pulse-and-direction PFMCLK, the analog output DAccLK,
and the analog input ADCCLK. MI903 is a 12-bit value consisting of four independent 3-bit parts, each
controlling one of the clock frequencies. The equation is:
MI903 = SCLK Divider + 8*PFMCLK Divider + 64*DAccLK Divider
+ 512*ADCCLK Divider
The value of each clock divider can take a value of 0 to 7 and the frequency of each clock signal is:
Clock Frequency = 39.3216 MHz / [2^Clock Divider]