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 69
Servo IC 0 Registers for MACRO Channel 3 (usually for Motor #3)
MACRO Location MIVariable Turbo Location M-Var Description
X:$8011,0,24,S - - M301
ENC3 24-bit counter position
Y:$8012,8,16,S - - M302
OUT3A command value; DAC or PWM
X:$8013,0,24,S MS4,MI921 - M303
ENC3 captured position
Y:$8013,8,16,S - - M304
OUT3B command value; DAC or PWM
Y:$8015,8,16,s MS4,MI922 Y:$78429,8,16,s M305
ADC3A input value
Y:$8016,8,16,s MS4,MI924 Y:$7842A,8,16,s M306
ADC3B input value
Y:$8014,8,16,s - - M307
OUT3C command value; PFM or PWM
Y:$8017,0,24,s MS4,MI925 - M308
ENC3 compare A position
X:$8017,0,24,s MS4,MI926 - M309
ENC3 compare B position
X:$8016,0,24,s MS4,MI923 - M310
ENC3 compare auto-increment value
X:$8015,11 MS4,MI928 - M311
ENC3 compare initial state write enable
X:$8015,12 MS4,MI929 - M312
ENC3 compare initial state
X:$8015,14 - Y:$003444,14 M314
AENA3 output status
X:$8010,19 - Y:$003444,19 M315
USER3 flag input status
X:$8010,9 - Y:$3444,9 M316
ENC3 compare output value
X:$8010,11 - Y:$3444,11 M317
ENC3 capture flag
X:$8010,8 - Y:$3444,8 M318
ENC3 count error flag
X:$8010,14 - - M319
CHC3 input status
X:$8010,16 - Y:$003444,16 M320
HMFL3 flag input status
X:$8010,17 - Y:$003444,17 M321
PLIM3 flag input status
X:$8010,18 - Y:$003444,18 M322
MLIM3 flag input status
X:$8010,15 - Y:$003444,15 M323
FAULT3 flag input status
X:$8010,20 - Y:$003444,20 M324
Channel 3 W flag input status
X:$8010,21 - Y:$003444,21 M325
Channel 3 V flag input status
X:$8010,22 - Y:$003444,22 M326
Channel 3 U flag input status
X:$8010,23 - Y:$003444,23 M327
Channel 3 T flag input status
X:$8010,20,4 - Y:$003444,20,4 M328
Channel 3 TUVW inputs as 4-bit value
Suggested MM-Variables:
MM30->X:$8011,0,24,s ; ENC3 24-bit counter position
MM31->Y:$8012,8,16,s ; OUT3A command value
MM32->Y:$8013,8,16,s ; OUT3B command value
MM33->Y:$8014,8,16,s ; OUT3C command value