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 Equivalent Servo IC Memory Locations 67
MACRO EQUIVALENT SERVO IC MEMORY LOCATIONS
Most of the locations have direct real-time access or are accessed through MI-variables. All of the Status
Registers (Mxx30-Mxx49), the Calculation Registers (Mxx60-Mxx89), and the Axis Definitions (M191-
M194) are identical for all Turbo PMACs. The only difference for a MACRO system is the Servo IC
Variables (Mxx00-Mxx28) and the table below will show the equivalent location for these suggested M-
variables. For access to the locations that do not have direct reads, create MM-variable definitions for
them.
Servo IC 0 Registers for Channel 1 (usually for Motor #1)
MACRO Location MIVariable Turbo Location M-Var Description
X:$8001,0,24,S - - M101
ENC1 24-bit counter position
Y:$8002,8,16,S - - M102
OUT1A command value; DAC or PWM
X:$8003,0,24,S MS0,MI921 - M103
ENC1 captured position
Y:$8003,8,16,S - - M104
OUT1B command value; DAC or PWM
Y:$8005,8,16,s MS0,MI922 Y:$78421,8,16,s M105
ADC1A input value
Y:$8006,8,16,s MS0,MI924 Y:$78422,8,16,s M106
ADC1B input value
Y:$8004,8,16,s - - M107
OUT1C command value; PFM or PWM
Y:$8007,0,24,s MS0,MI925 - M108
ENC1 compare A position
X:$8007,0,24,s MS0,MI926 - M109
ENC1 compare B position
X:$8006,0,24,s MS0,MI923 - M110
ENC1 compare auto-increment value
X:$8005,11 MS0,MI928 - M111
ENC1 compare initial state write enable
X:$8005,12 MS0,MI929 - M112
ENC1 compare initial state
X:$8005,14 - Y:$003440,14 M114
AENA1 output status
X:$8000,19 - Y:$003440,19 M115
USER1 flag input status
X:$8000,9 - Y:$003440,9 M116
ENC1 compare output value
X:$8000,11 - Y:$003440,11 M117
ENC1 capture flag
X:$8000,8 - Y:$003440,8 M118
ENC1 count error flag
X:$8000,14 - - M119
CHC1 input status
X:$8000,16 - Y:$003440,16 M120
HMFL1 flag input status
X:$8000,17 - Y:$003440,17 M121
PLIM1 flag input status
X:$8000,18 - Y:$003440,18 M122
MLIM1 flag input status
X:$8000,15 - Y:$003440,15 M123
FAULT1 flag input status
X:$8000,20 - Y:$003440,20 M124
Channel 1 W flag input status
X:$8000,21 - Y:$003440,21 M125
Channel 1 V flag input status
X:$8000,22 - Y:$003440,22 M126
Channel 1 U flag input status
X:$8000,23 - Y:$003440,23 M127
Channel 1 T flag input status
X:$8000,20,4 - Y:$003440,20,4 M128
Channel 1 TUVW inputs as 4-bit value
Suggested MM-Variables:
MM10->X:$8001,0,24,s ; ENC1 24-bit counter position
MM11->Y:$8002,8,16,s ; OUT1A command value
MM12->Y:$8003,8,16,s ; OUT1B command value
MM13->Y:$8004,8,16,s ; OUT1C command value