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 61
Ultralite Setup
Ultralite (8 Axis) Turbo Ultralite (8 Axis) Description
I996=$0FB3FF I6841=$0FB3FF
Enable nodes 0,1,2,3,4,5,6,7,8,9,12, & 13 at Ultralite
M980->X:$C0A0,0,24,s M980->X:$78420,0,24,s
Up/Down Counter 1
M981->X:$C0A4,0,24,s M981->X:$78424,0,24,s
Up/Down Counter 2
M982->X:$C0A8,0,24,s M982->X:$78428,0,24,s
Up/Down Counter 3
M983->X:$C0AC,0,24,s M983->X:$7842C,0,24,s
Up/Down Counter 4
Now the M-Variables in the PLC or motion programs can be used for data acquisition purposes.
Example: Write to DACnB on Servo IC Card
Transfer DAC1B, DAC2B, DAC3B, and DAC4B to the Ultralite using the MACRO Data Transfer
(Assume MACRO Station 0). Assume 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=$F
Transfer MI21, MI22,MI23, and MI24
MS0,MI21=$DDC0A16D8003
Signed upper 16-bits data from Station address X:$C0A1 (node 2) to Y:$8003
MS0,MI22=$DDC0A26D800B
Signed upper 16-bits data from Station address X:$C0A2 (node 2) to Y:$800B
MS0,MI23=$DDC0A36D8013
Signed upper 16-bits data from Station address X:$C0A3 (node 2) to Y:$8013
MS0,MI24=$DDC0A56D801B
Signed upper 16-bits data from Station address X:$C0A5 (node 3) to Y:$801B
MSSAVE0
Save these changes to the MACRO Station
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:$78421,8,16,s
DAC1B, 1st 16 bit word node 2
M981->X:$C0A2,8,16,s M981->X:$78422,8,16,s
DAC2B, 2nd 16 bit word node 2
M982->X:$C0A3,8,16,s M982->X:$78423,8,16,s
DAC3B, 3rd 16 bit word node 2
M983->X:$C0A5,8,16,s M983->X:$78425,8,16,s
DAC4B, 1st 16 bit word node 3
Now the M-Variables in the PLC or motion programs can be used to write to the DACnB registers.
Using MI198 and MI199 to Verify MACRO Station Memory Locations
The MACRO I-Variables MI198 and MI199 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 Station. MI198
contains the register to be read, and the information in MI198 can be read by querying MI199. Users of
the older MACRO8 (602804) CPU might be familiar with this method of simple non-synchronous data
transfer. Since the 16-Axis MACRO CPU supports MM-Variable reads and writes, using the MM-
variables might be easier and more flexible than using of MI198 and MI199.
MSn,MI198 is a 24-bit register where the lower 16 bits have the address and the upper eight bits contain
the number of bits and tell us whether it is an X or Y memory address.
MSn,MI199 will respond back with the value in MS0,MI198.