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 59
The Ring Order Method
The Ring Order Method has been developed to allow MACRO Devices to be set up with software. Since
the MACRO CPU has hardware switches (SW1 and SW2) to activate nodes and assign it to a master, the
ring order method is not necessary. However, if the MACRO CPU is used with other MACRO devices
like the Geo MACRO Drives or MACRO Peripheral Devices (Acc-65M, Acc-24E2M, etc.), then it is
necessary to know how the Ring Order Method is works.
To initiate the Ring Order Method, start with the new hardware and then enable the MACRO ASCII
Communication Mode by typing MACSTA255 in the terminal window. At this point, the Software
Interface will seek the first device that has not been setup (i.e. MI11=0). Once communicating with the
device, activate the nodes with MI996 and set up any critical MI-variables that need to be set for the
application. Upon completion of these MI-variable settings, assign a Station Number to the device with
the STN=n command where n can be set from 1 to 254. As soon a station number is assigned to the
device, the system will look for the next device that has not been set up (MI11=0). If assigning a
MACRO device as Station Number 20, type STA=20 in the terminal window and MI11 will be set to 20.
Using MM-Variables to Verify MACRO Station Memory Locations
The MACRO M-Variables MM0 through MM511 can be used to look at any MACRO Station memory
location. This can be useful especially when trying to test the hardware at the MACRO CPU that does
not have MI-Variables associated with it. The MM-variables can be used in a similar fashion to the
traditional PMAC M-variables. The major difference between the MACRO M-Variables and the PMAC
M-variables is that the MM-Variable definitions are downloaded while in the MACRO ASCII
communications mode.
The best method of setting up MM-variables is to open a text file and create the definitions. Next, save
the file for future use or modifications. To download the definitions to the MACRO CPU, set
Communications mode to MACRO ASCII and then download the file.
Example: Read Using MM-Variables – Actual Encoder Read from Gate Array
Read the actual encoder up/down counters from the gate array on the Acc-24E2A for channel 1, 2, 3, and
4. This data is found on bits 0-23 of X register of the following locations.
Chan # 1 2 3 4 5 6 7 8
Hex
[$8001] [$8009] [$8011] [$8019] [$8041] [$8049] [$8051] [$8059]
File Definitions:
MM81->X:$8001,0,24,s ;Counter Register for Channel 1
MM82->X:$8009,0,24,s ;Counter Register for Channel 2
MM83->X:$8011,0,24,s ;Counter Register for Channel 3
MM84->X:$8019,0,24,s ;Counter Register for Channel 4
After downloading the definitions to the MACRO CPU, access the data using standard MS commands.
For example:
MS0,MM81 ;will return the value to the Terminal window
MSR0,MM81,P81 ;will copy the value into P81 (this can be used also
;in Programs in the Utralite)
Data Transfer Examples (MI20-MI68)
The general purpose data transfer (MI20 through MI68) variables for MACRO allow the transfer of data
to or from any location at the MACRO Station from or to the MACRO IO node registers. Details of the
setup can be found in the 16-Axis MACRO CPU Software Reference Manual.
This section shows examples of how to set up the transfers for the following:
• Read Actual DAC output from Servo IC register
• Read Servo IC Up/Down Counter Position
• Write to the DACnB output on Acc-24E2A