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
58 How to use the 16-Axis MACRO CPU
MACRO ASCII Communication Mode
MACRO ASCII Communication Mode allows direct access to the MACRO Device. This mode of
communication allows our Master controller to setup all MACRO devices in the ring one at a time using
the Ring Order Method. One other benefit to this method of communications is that it allows direct
communication to the MACRO device without having to issue MS commands as in the traditional
PEWIN Terminal window.
Usually, the MACRO ASCII Communication Mode is the mode that is used to set up the MM-variable
definitions, set MP-variables, and down load the MACRO PLCC programs.
At a minimum, set the following I-variables to enable MACRO ASCII mode communications.
I6840=$4030 ;to enable MACRO IC0 as sync-master and node 14 for
;auxiliary communications
I6841=$0FCxxx ;to enable node 15 and 14. If activating nodes 0,1,4,5
;we would set I6841=$0FC033
I79=32 ;Timeout value for Node 14 Auxiliary communications
If using more than one MACRO IC, then set up I6890, I6891, I6940, I6941, I6990, and I6991 appropriately.
Once the communication variables are modified, they must be saved to the memory of the controller with the
save command and then reset the controller with either a $$$ command or power cycle the controller.
Note:
The PMAC Controller will be able to communicate to the MACRO Device in
MACRO ASCII communication mode after the unit has been restarted with the
changes saved to its memory.
How to Enable and Disable MACRO ASCII Communication Mode
To start the MACRO ASCII Mode, issue the MACSTAn (n stands for the assigned station number for the
device) command to the device in the ring. In many cases, there will be one device only and a number
may not be assigned to the device. In that case, use the MACSTA255 or MACSTA0 commands. The
actual number that is assigned to the device resides in MI11 of the MACRO Device and the default value
is 0. If there are multiple MACRO devices in the ring and communication is in MACRO ASCII mode,
set up the systems with the Ring Order Method and assign station numbers to each device. If the assigned
station number is not known, check MI11.
Once in MACRO ASCII Mode, communicate to the MACRO device is done directly. To change an MI-
variable or create an MM-variable definition, write directly to the Variable in the terminal window.
MI996=$0F803F ;To activate Nodes 0,1,2,3,4,5 at the MACRO Device
MM80->X:$8001,0,24,s ;Set M80 to the Counter register of channel 1
To exit or disable MACRO ASCII Communication mode, issue the <CTRL>T command.
Note:
MACSTA255 command will look for the first MACRO device that does not have
have a station number assigned to it (MI11=0). As soon as MI11 is changed to a
value greater than zero, then it will look immediately for the next device with
MI11 set to zero.