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
MACRO Station Type 1 Protocols 65
MACRO STATION TYPE 1 PROTOCOLS
The 16-Axis MACRO CPU, as a multi-node station, implements the Type 1 MACRO protocol. In this
protocol, all four registers in each node are used for real-time communications; Node 15 is used for
auxiliary communications for the entire station through the MS auxiliary communications commands.
The Type 1 protocol uses the MACRO node registers for each mode of operation as explained below:
Velocity/Torque Mode
Node Register # 0 (24 bits) 1 (16 bits) 2 (16 bits) 3 (16 bits)
Command Velocity/Torque Command (Reserved) (Reserved) Motor Command Flags
Feedback Position Feedback (Reserved) (Reserved) Motor Status Flags
Phase Current (Sinewave) Mode
Node Register # 0 (24 bits) 1 (16 bits) 2 (16 bits) 3 (16 bits)
Command Phase A Current Command Phase B Current Command (Reserved) Motor Command Flags
Feedback Position Feedback (Reserved) (Reserved) Motor Status Flags
Phase Voltage (Direct PWM) Mode
Node Register # 0 (24 bits) 1 (16 bits) 2 (16 bits) 3 (16 bits)
Command Phase A Voltage Command Phase B Voltage Command Phase C Voltage
Command
Motor Command Flags
Feedback Position Feedback Phase A Current Feedback Phase B Current
Feedback
Motor Status Flags
All of the 16-bit registers appear in the top 16 bits of the 24-bit word on both PMAC/PMAC2 and the 16-
Axis MACRO CPU.