User's Manual

16-Axis MACRO CPU User Manual
ii Table of Contents
Ring Control Setup Variables..................................................................................................................................32
Ring Update Frequency......................................................................................................................................32
Station Servo Clock Frequency...........................................................................................................................33
Additional Node Enabling and Disabling................................................................................................................33
MACRO IC 0 ......................................................................................................................................................33
MACRO IC 1 ......................................................................................................................................................34
Auto-Detecting the MACRO and Servo ICs ...........................................................................................................34
Binding the Servo ICs to the MACRO ICs .............................................................................................................35
Mapping Machine Interface Channels to MACRO Servo Nodes............................................................................35
MACRO IC 0 ......................................................................................................................................................35
MACRO IC 1 ......................................................................................................................................................36
Multi-Channel Servo Interface Setup......................................................................................................................37
Channels 1-4 (First 4-Axis Board) .....................................................................................................................37
Channels 5-8 (Second 4-Axis Board)..................................................................................................................38
On Board Auxiliary Channels (Handwheel/Pulse and Direction)......................................................................39
Single-Channel Servo Interface Channel Setup ......................................................................................................40
Station Encoder Conversion Table Setup................................................................................................................41
Incremental Digital Encoder Feedback..............................................................................................................42
Analog Encoder Feedback..................................................................................................................................43
Resolver Feedback..............................................................................................................................................44
MLDT Feedback .................................................................................................................................................44
12-Bit A/D Converter Feedback .........................................................................................................................44
14E Parallel Feedback .......................................................................................................................................46
Amplifier Fault Enable and Polarity Control ..........................................................................................................46
MI17 Amplifier Fault Disable Control ...............................................................................................................46
MI18 Amplifier Fault Polarity Control...............................................................................................................46
Servo Address Variable Setup.................................................................................................................................47
MI10x Position Feedback Address .....................................................................................................................47
MI11x Power-On Position Feedback Address....................................................................................................47
MI16x Power-On MLDT Excitation Value .........................................................................................................47
General-Purpose I/O Setup......................................................................................................................................48
MI975 I/O Node Enable......................................................................................................................................48
MI19 I/O Transfer Period...................................................................................................................................48
Bi-Directional I/O Transfer Control...................................................................................................................48
Uni-Directional I/O Transfer Control ................................................................................................................51
HOW TO USE THE 16-AXIS MACRO CPU.........................................................................................................53
Example Setup for 16-Axis System ........................................................................................................................53
Macro Station Position Capture Setup ....................................................................................................................53
Setting the Trigger Condition .............................................................................................................................54
Using for Homing ...............................................................................................................................................54
Using in User Program ......................................................................................................................................54
MACRO Station Position Compare Output Setup ..................................................................................................54
Setting up for a Single Pulse Output...................................................................................................................55
Setting up for Multiple Pulse Outputs.................................................................................................................55
Using the JHW Port Encoder Inputs .......................................................................................................................56
Using the JHW Pulse and Direction Outputs ..........................................................................................................56
Using the JDISP Port...............................................................................................................................................57
MACRO ASCII Communication Mode..................................................................................................................58
How to Enable and Disable MACRO ASCII Communication Mode ..................................................................58
The Ring Order Method......................................................................................................................................59
Using MM-Variables to Verify MACRO Station Memory Locations ....................................................................59
Example: Read Using MM-Variables – Actual Encoder Read from Gate Array................................................59
Data Transfer Examples (MI20-MI68)....................................................................................................................59
Example: Read DAC Output from Servo IC Card .............................................................................................60
Example: Monitor Up/Down Counter from Servo IC Card................................................................................60