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
68 MACRO Equivalent Servo IC Memory Locations
Servo IC 0 Registers for MACRO Channel 2 (usually for Motor #2)
MACRO Location MIVariable Turbo Location M-Var Description
X:$8009,0,24,S - - M201
ENC2 24-bit counter position
Y:$800A,8,16,S - - M202
OUT2A command value; DAC or PWM
X:$800B,0,24,S MS1,MI921 - M203
ENC2 captured position
Y:$800B,8,16,S - - M204
OUT2B command value; DAC or PWM
Y:$800D,8,16,s MS1,MI922 Y:$78425,8,16,s M205
ADC2A input value
Y:$800E,8,16,s MS1,MI924 Y:$78426,8,16,s M206
ADC2B input value
Y:$800C,8,16,s - - M207
OUT2C command value; PFM or PWM
Y:$800F,0,24,s MS1,MI925 - M208
ENC2 compare A position
X:$800F,0,24,s MS1,MI926 - M209
ENC2 compare B position
X:$800E,0,24,s MS1,MI923 - M210
ENC2 compare auto-increment value
X:$800D,11 MS1,MI928 - M211
ENC2 compare initial state write enable
X:$800D,12 MS1,MI929 - M212
ENC2 compare initial state
X:$800D,14 - Y:$3441,14 M214
AENA2 output status
X:$8008,19 - Y:$3441,19 M215
USER2 flag input status
X:$8008,9 - Y:$3441,9 M216
ENC2 compare output value
X:$8008,11 - Y:$3441,11 M217
ENC2 capture flag
X:$8008,8 - Y:$3441,8 M218
ENC2 count error flag
X:$8008,14 - - M219
CHC2 input status
X:$8008,16 - Y:$003441,16 M220
HMFL2 flag input status
X:$8008,17 - Y:$003441,17 M221
PLIM2 flag input status
X:$8008,18 - Y:$003441,18 M222
MLIM2 flag input status
X:$8008,15 - Y:$003441,15 M223
FAULT2 flag input status
X:$8008,20 - Y:$003441,20 M224
Channel 2 W flag input status
X:$8008,21 - Y:$003441,21 M225
Channel 2 V flag input status
X:$8008,22 - Y:$003441,22 M226
Channel 2 U flag input status
X:$8008,23 - Y:$003441,23 M227
Channel 2 T flag input status
X:$8008,20,4 - Y:$003441,20,4 M228
Channel 2 TUVW inputs as 4-bit value
Suggested MM-Variables:
MM20->X:$8009,0,24,s ; ENC2 24-bit counter position
MM21->Y:$800A,8,16,s ; OUT2A command value
MM22->Y:$800B,8,16,s ; OUT2B command value
MM23->Y:$800C,8,16,s ; OUT2C command value