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 71
Servo IC 1 Registers for Channel 1 (usually for Motor #5)
MACRO Location MIVariable Turbo Location M-Var Description
X:$8041,0,24,S - - M501
ENC5 24-bit counter position
Y:$8042,8,16,S - - M502
OUT5A command value; DAC or PWM
X:$8043,0,24,S MS8,MI921 - M503
ENC5 captured position
Y:$8043,8,16,S - - M504
OUT5B command value; DAC or PWM
Y:$8045,8,16,s MS8,MI922 Y:$78431,8,16,s M505
ADC5A input value
Y:$8046,8,16,s MS8,MI924 Y:$78432,8,16,s M506
ADC5B input value
Y:$8044,8,16,s - - M507
OUT5C command value; PFM or PWM
Y:$8047,0,24,s MS8,MI925 - M508
ENC5 compare A position
X:$8047,0,24,s MS8,MI926 - M509
ENC5 compare B position
X:$8046,0,24,s MS8,MI923 - M510
ENC5 compare auto-increment value
X:$8045,11 MS8,MI928 - M511
ENC5 compare initial state write enable
X:$8045,12 MS8,MI929 - M512
ENC5 compare initial state
X:$8045,14 - Y:$003448,14 M514
AENA5 output status
X:$8040,19 - Y:$003448,19 M515
USER5 flag input status
X:$8040,9 - Y:$003448,9 M516
ENC5 compare output value
X:$8040,11 - Y:$003448,11 M517
ENC5 capture flag
X:$8040,8 - Y:$003448,8 M518
ENC5 count error flag
X:$8040,14 - - M519
CHC5 input status
X:$8040,16 - Y:$003448,16 M520
HMFL5 flag input status
X:$8040,17 - Y:$003448,17 M521
PLIM5 flag input status
X:$8040,18 - Y:$003448,18 M522
MLIM5 flag input status
X:$8040,15 - Y:$003448,15 M523
FAULT5 flag input status
X:$8040,20 - Y:$003448,20 M524
Channel 5 W flag input status
X:$8040,21 - Y:$003448,21 M525
Channel 5 V flag input status
X:$8040,22 - Y:$003448,22 M526
Channel 5 U flag input status
X:$8040,23 - Y:$003448,23 M527
Channel 5 T flag input status
X:$8040,20,4 - Y:$003448,20,4 M528
Channel 5 TUVW inputs as 4-bit value
Suggested MM-Variables:
MM50->X:$8041,0,24,s ; ENC5 24-bit counter position
MM51->Y:$8042,8,16,s ; OUT5A command value
MM52->Y:$8043,8,16,s ; OUT5B command value
MM53->Y:$8044,8,16,s ; OUT5C command value