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
How to use the 16-Axis MACRO CPU 57
Use these outputs as either general purpose outputs that can be controlled by writing to an IO node
address or for servo-stepper control. General purpose outputs will require using an IO node to copy the
frequency output command into the actual pulse output register ($C094 and $C09C). Using a servo-
stepper style output will require modifying the servo output channel.
Example: Set the pulse and direction outputs for supplemental channels 1 and 2 as general purpose
outputs. Two 16-bit registers from IO node 2 are used for this example:
MS0,MI19=1 ; transfer every ring cycle
MS0,MI20=3 ; activate MI21 and MI22 for data transfer
MS0,MI21=$DCC0A16DC094 ; Copy node2 X:$C0A1,8,16,s into Y:$C094,8,16,s
MS0,MI21=$DCC0A26DC09C ; Copy node2 X:$C0A2,8,16,s into Y:$C09C,8,16,s
MS0,MI975=$4 ; Activate Node2 (after save and restart)
;*** Change the output mode to PFM for Supplemental Channels 1* and 2*
MS0,MI198=$97C095 ;set MI198= X:$C095,23
MS0,MI199=1 ;write 1 to bit 23 of X:$C095,23 for PFM mode
MS0,MI198=$97C09D ;set MI198= X:$C09D,23
MS0,MI199=1 ;write 1 to bit 23 of X:$C09D,23 for PFM mode
or use the optional PLC to do this at power up to automatically put into PFM mode :
Open PLC1 Clear
ms0,mi198=$97c095 ;set X:$C095,23 equal to 1 for PFM mode
I5111=100*8388608
While (I5111 > 0)endwhile
ms0,mi199=1
I5111=100*8388608
While (I5111 > 0)endwhile
ms0,mi198=$97c09D ;set X:$C09D,23 equal to 1 for PFM mode
I5111=100*8388608
While (I5111 > 0)endwhile
ms0,mi199=1
I5111=100*8388608
While (I5111 > 0)endwhile
Disable PLC1
Close
;*** Set M-variable to the two 16-bit registers used at Ultralite
M3000->X:$78421,8,16,s ;Point to 1
st
16-bit node register of Node2
M3001->X:$78422,8,16,s ;Point to 2
nd
16-bit node register of Node2
After it is downloaded to the system, write directly to the PFM output using M3000 and M3001.
Using the JDISP Port
The JDISP port on the 16-Axis MACRO CPU can be used to display messages at the station with the use
of a 40x2 character display. By default, the unit will not write to this port. To use the port, set MI13 to 1
for an LCD-style display (Acc-12A) or set MI13 to 2 for a vacuum fluorescent style display (Acc-12C).
Setting MI13 to zero (default) will disable the port.
The display buffer is located in the 16-Axis MACRO CPU memory at:
Y: $00210 - $0025F ; Display 80 Character Output buffer
The easiest way to work with this feature is to use MM-Variables to point to the locations at the MACRO
CPU. Write to these locations using MS commands, use the MACRO PLCCs or download the values
directly while in MACRO-ASCII mode. The display characters are written using standard 8-bit ASCII
codes.