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
42 16-Axis MACRO CPU Software Setup
The following table shows the relationship between ECT line numbers, MI-Variable numbers, and result
addresses for MACRO IC 1:
Table Line # Set-up MI-
Variable
Result
Address
Table Line # Set-up MI-
Variable
Result
Address
1 MI120 X:$0090 17 MI136 X:$00A0
2 MI121 X:$0091 18 MI137 X:$00A1
3 MI122 X:$0092 19 MI138 X:$00A2
4 MI123 X:$0093 20 MI139 X:$00A3
5 MI124 X:$0094 21 MI140 X:$00A4
6 MI125 X:$0095 22 MI141 X:$00A5
7 MI126 X:$0096 23 MI142 X:$00A6
8 MI127 X:$0097 24 MI143 X:$00A7
9 MI128 X:$0098 25 MI144 X:$00A8
10 MI129 X:$0099 26 MI145 X:$00A9
11 MI130 X:$009A 27 MI146 X:$00AA
12 MI131 X:$009B 28 MI147 X:$00AB
13 MI132 X:$009C 29 MI148 X:$00AC
14 MI133 X:$009D 30 MI149 X:$00AD
15 MI134 X:$009E 31 MI150 X:$00AE
16 MI135 X:$009F 32 MI151 X:$00AF
Incremental Digital Encoder Feedback
If an incremental digital quadrature or digital pulse-and-direction encoder is used for feedback, the $00
conversion method is used typically for the timer-based 1/T extension of incremental encoders.
The following table shows the conversion table MI-Variable values for this type of feedback with
channels in the UMAC MACRO pack configuration for MACRO IC 0:
Encoder # Which Backplane Axis
Board Used
Location
On Board
Conversion Table MI-
Variable Value
Encoder 1 Acc-24E2x
S1-1,3,4 = ON, ON, ON
First channel $008000
Encoder 2 Acc-24E2x
S1-1,3,4 = ON, ON, ON
Second channel $008008
Encoder 3 Acc-24E2x
S1-1,3,4 = ON, ON, ON
Third channel $008010
Encoder 4 Acc-24E2x
S1-1,3,4 = ON, ON, ON
Fourth channel $008018
Encoder 5 Acc-24E2x
S1-1,3,4 = OFF, ON, ON
First channel $008040
Encoder 6 Acc-24E2x
S1-1,3,4 = OFF, ON, ON
Second channel $008048
Encoder 7 Acc-24E2x
S1-1,3,4 = OFF, ON, ON
Third channel $008050
Encoder 8 Acc-24E2x
S1-1,3,4 = OFF, ON, ON
Fourth channel $008058