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
60 How to use the 16-Axis MACRO CPU
Example: Read DAC Output from Servo IC Card
Transfer DAC1A, DAC2A, DAC3A, and DAC4A to Ultralite using the MACRO Data Transfer. Assume
that the MACRO Station 0 is enabled and that the data is from Acc-24E2A from channels 1,2,3,4. Since
the ADC data is 16-bit data, the most efficient method of transfer is through the MACRO 16-bit data
registers from nodes 2 and 3.
MACRO Station Setup
MACRO Commands Notes
MS0,MI19=$4
Transfer data once every 4 phase clocks (servo default)
MS0,MI975=$C
Activate first I/O nodes 2 and 3 at Station
MS0,MI20=$F
Transfer MI21, MI22,MI23, and MI24
MS0,MI21=$6D8002DDC0A1
Signed upper 16-bits data from Station address Y:$8002 to X:$C0A1 (node2)
MS0,MI22=$6D800ADCC0A2
Signed upper 16-bits data from Station address Y:$800A to X:$C0A2 (node2)
MS0,MI23=$6D8012DCC0A3
Signed upper 16-bits data from Station address Y:$8012 to X:$C0A3 (node2)
MS0,MI24=$6D801ADCC0A5
Signed upper 16-bits data from Station address Y:$801A to X:$C0A5 (node3)
MSSAVE0
Save these changes to the MACRO Sation
MS$$$0
Reset the MACRO Station for changes to take affect
Ultralite Setup
Ultralite (8 Axis) Turbo Ultralite (8 Axis) Description
I996=$0FB33F I6841=$0FB33F
Enable nodes 0,1,2,3,4,5,8,9,12, & 13 at Ultralite
M980->X:$C0A1,8,16,s M980->X:$78421,8,16,s
DAC1A, 1st 16 bit word node2
M981->X:$C0A2,8,16,s M981->X:$78422,8,16,s
DAC2A, 2nd 16 bit word node 2
M982->X:$C0A3,8,16,s M982->X:$78423,8,16,s
DAC3A, 3rd 16 bit word node 2
M983->X:$C0A5,8,16,s M983->X:$78425,8,16,s
DAC4A, 1st 16 bit word node 3
Now the M-Variables in the PLC or motion programs can be used for data acquisition purposes.
Example: Monitor Up/Down Counter from Servo IC Card
This example shows how to monitor the up/down counter of the Servo IC on the Acc-24E2x family of
cards. Monitoring this data is a method also used to verify the operation of the encoder because it does
not rely on the PMAC to process the encoder data and display in the Position Window of the Pewin Pro
Program.
Transfer Counter1, Counter2, Counter3, and Counter4 to the Ultralite using the MACRO Data Transfer
(Assume MACRO Station 0). Assume Acc-24E2A from channels 1, 2, 3, and 4.
Since the counter data is 24-bit data, the most efficient method of transfer is through the MACRO 24-bit
data registers from nodes 2, 3, 6, 7.
MACRO Station Setup
MACRO Commands Notes
MS0,MI19=$4
Transfer data once every four phase clocks (servo default)
MS0,MI975=$C
Activate first I/O nodes 2 and 3 at Station
MS0,MI20=$F
Transfer MI21, MI22,MI23, and MI24
MS0,MI21=$E98001E9C0A0
Signed upper 24-bits data from Station address X:$8001 to X:$C0A0 (node2)
MS0,MI21=$E98009E9C0A4
Signed upper 24-bits data from Station address X:$8009 to X:$C0A4 (node3)
MS0,MI22=$E98011E9C0A8
Signed upper 24-bits data from Station address X:$8011 to X:$C0A8 (node6)
MS0,MI23=$E98019E9C0AC
Signed upper 24-bits data from Station address X:$8019 to X:$C0AC (node7)
MSSAVE0
Save these changes to the MACRO Sation
MS$$$0
Reset the MACRO Station for changes to take affect