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
62 How to use the 16-Axis MACRO CPU
Example: Read Using MI198 and MI199 – Direct Hall Effect Read
Read the T, U, V, W inputs directly at the gate array on the Acc-24E2 for channel 1. This data is found
on bits 20-23 of X:$8000 at the MACRO Station.
MS0,MI198=$E88000 ;read X:$8000,0,24
MS0,MI199 ;Request Data
$000000AFDB87 ;TUVW = $A (1010 binary) from bits 20-23
To write this data to a PMAC variable (P,M,or Q), use an MSRn,MI199,{pmac variable} on-line or buffer
command.
MSR0,MI199,P1000 ;writes the value of X:$C000,0,24 to P1000
Then use P1000 to query the TUVW signals from the MACRO Station.
Example: Read Using MI198 and MI199 – Actual DAC Read
Read the actual DAC Outputs from the gate array on the Acc-24E2A for channel 1. This data is found on
bits 8-23 of Y:$8002 at the MACRO Station.
Chan # 1 2 3 4 5 6 7 8
Hex
[$8002] [$800A] [$8012] [$801A] [$8042] [$804A] [$8052] [$805A]
MS0,MI198=$6D8002 ;read Y:$8002,8,16,s
MS0,MI199 ;Request Data
$0000000C35 ;DAC out equals 3125 DAC bits (1V)
Hardware Re-initialization of MACRO CPU
MACRO hardware re-initialization to factory defaults is enabled when the SW1 setting is set to 15 or F
(hexadecimal) and the power is cycled at the MACRO Station. The only time this should be used with
the MACRO Station would be if the MACRO Station always powers up with a watchdog (typically if the
ring clock at the Ultralite is different than the ring clock at the MACRO Station). Node 11 will be the
only MACRO Station node enabled. Therefore, enable node 11 of the MACRO IC at the Ultralite to
communicate to the MACRO Station.
Turbo Ultralite Example: Servo nodes 0,1,4,5 enabled at Ultralite (I6841=$0F8033)
1. Enable node 11, I996=$0F8833.
2. Re-establish communications with MS11,(MIvar) commands.
3. Issue MS$$$***11 to ensure re-initialization.
4. Issue MSSAVE11 command to save the factory defaults to the station.
Firmware Updates
Downloading new firmware to the MACRO Station is a simple process once the MACRO board is set up
properly. To download new firmware to the MACRO station, obtain the following items:
• Two jumpers
• DB9 Male Serial Port
• MACRO Firmware Download Software (MacroFWDown.exe)
• New firmware file (MiniMac2.bin)
To download the software to the MACRO station:
1. Copy the firmware into a directory (C:\Macro\Firmware).
2. Pull the MACRO CPU out of the 3U rack and then jumper the E2 (1-2) and E1 (1-2).
3. Plug MACRO CPU into a 3U rack.
4. Place the serial cable to the J4 serial connection on the MACRO-station and place the other end to the
COM port on the PC.
5. Power up the 3U rack and then launch MacroFWDown.exe. Choose the com port and select 16-Axis
Macro and then press the Download FW button.