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
70 MACRO Equivalent Servo IC Memory Locations
Servo IC 0 Registers for MACRO Channel 4 (usually for Motor #4)
MACRO Location MIVariable Turbo Location M-
Var
Description
X:$8019,0,24,S - - M401
ENC4 24-bit counter position
Y:$801A,8,16,S - - M402
OUT4A command value; DAC or PWM
X:$801B,0,24,S MS5,MI921 - M403
ENC4 captured position
Y:$801B,8,16,S - - M404
OUT4B command value; DAC or PWM
Y:$801D,8,16,s MS5,MI922 Y:$7842D,8,16,s M405
ADC4A input value
Y:$801E,8,16,s MS5,MI924 Y:$7842E,8,16,s M406
ADC4B input value
Y:$801C,8,16,s - - M407
OUT4C command value; PFM or PWM
Y:$801F,0,24,s MS5,MI925 - M408
ENC4 compare A position
X:$801F,0,24,s MS5,MI926 - M409
ENC4 compare B position
X:$801E,0,24,s MS5,MI923 - M410
ENC4 compare auto-increment value
X:$801D,11 MS5,MI928 - M411
ENC4 compare initial state write enable
X:$801D,12 MS5,MI929 - M412
ENC4 compare initial state
X:$801D,14 - Y:$3445,14 M414
AENA4 output status
X:$8018,19 - Y:$3445,19 M415
USER4 flag input status
X:$8018,9 - Y:$3445,9 M416
ENC4 compare output value
X:$8018,11 - Y:$3445,11 M417
ENC4 capture flag
X:$8018,8 - Y:$3445,8 M418
ENC4 count error flag
X:$8018,14 - - M419
CHC4 input status
X:$8018,16 - Y:$003445,16 M420
HMFL4 flag input status
X:$8018,17 - Y:$003445,17 M421
PLIM4 flag input status
X:$8018,18 - Y:$003445,18 M422
MLIM4 flag input status
X:$8018,15 - Y:$003445,15 M423
FAULT4 flag input status
X:$8018,20 - Y:$003445,20 M424
Channel 4 W flag input status
X:$8018,21 - Y:$003445,21 M425
Channel 4 V flag input status
X:$8018,22 - Y:$003445,22 M426
Channel 4 U flag input status
X:$8018,23 - Y:$003445,23 M427
Channel 4 T flag input status
X:$8018,20,4 - Y:$003445,20,4 M428
Channel 4 TUVW inputs as 4-bit value
Suggested MM-Variables:
MM40->X:$8019,0,24,s ; ENC4 24-bit counter position
MM41->Y:$801A,8,16,s ; OUT4A command value
MM42->Y:$801B,8,16,s ; OUT4B command value
MM43->Y:$801C,8,16,s ; OUT4C command value