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
40 16-Axis MACRO CPU Software Setup
Single-Channel Servo Interface Channel Setup
The hardware of the machine interface channels on the 16-Axis MACRO CPU can be configured in
software to interface to many different types of devices. To perform this configuration, set Station MI-
Variables that are specific to the MACRO node that is mapped to the machine interface channel by the
setting of the SW1 rotary switch on the Station. Each of these nodes has its own set of MI-variables in
the MI910-MI930 range for this hardware setup of the machine interface channel mapped to the node.
These MI-Variables are set by the MS{node},MIxxx (xxx=910 to 939) command from PMAC, where
{node} must represent the number of the specific MACRO node, not the number of the any active node
on the station as for all of the other Station MI-variables.
The following table shows the physical location of each machine interface channel that could be on a 16-
Axis MACRO CPU:
Machine Interface Channel # Backplane Axis Board Used* Location On Board
1 Acc-24E2x w/ S1-1, 2 ON First channel
2 Acc-24E2x w/ S1-1, 2 ON Second channel
3 Acc-24E2x w/ S1-1, 2 ON Third channel
4 Acc-24E2x w/ S1-1, 2 ON Fourth channel
5 Acc-24E2x w/ S1-1, 2 OFF First channel
6 Acc-24E2x w/ S1-1, 2 OFF Second channel
7 Acc-24E2x w/ S1-1, 2 OFF Third channel
8 Acc-24E2x w/ S1-1, 2 OFF Fourth channel
9 -- First channel
10 -- Second channel
* Acc-51E encoder interpolator boards can be used here as well as Acc-24E2x boards.
Encoder Decode: MI910 for the node determines how the encoder signal input is decoded. This is
commonly set to 3 or 7 for x4 quadrature decode, 8 for internal pulse-and-direction decode in the case of
stepper outputs, or 12 for MLDT decode.
Command Output Format: MI916 for the node determines the format of the output signals from the
channel. This is set to 0 for PWM format on A, B, and C outputs, or to 3 for DAC format on A and B
outputs (for velocity-mode, torque-mode, or sine-wave drives), and pulse-and-direction on the C output
(for stepper drives or for MLDT excitation).
Position Capture Control: MI912 and MI913 for the node determine which edges of which signals
cause a hardware capture of the encoder position for the channel. This capture function is used for very
accurate homing, registration, and probing.
MI912 is commonly set to 1 for capture on a high index-channel input, 2 for a high flag input, or 3 for
both a high index and high flag. Usually, MI913 is set to 0 to select the home signal as the flag capture
input.
Other Variables: Refer to the 16-Axis MACRO CPU Software Reference manual for details on the
other variables, as well as for more details on the variables explained above.