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
72 MACRO Equivalent Servo IC Memory Locations
Servo IC 1 Registers for Channel 2 (usually for Motor #6)
MACRO Location MIVariable Turbo Location M-Var Description
X:$8049,0,24,S - - M601
ENC6 24-bit counter position
Y:$804A,8,16,S - - M602
OUT6A command value; DAC or PWM
X:$804B,0,24,S MS9,MI921 - M603
ENC6 captured position
Y:$804B,8,16,S - - M604
OUT6B command value; DAC or PWM
Y:$804D,8,16,s MS9,MI922 Y:$78435,8,16,s M605
ADC6A input value
Y:$804E,8,16,s MS9,MI924 Y:$78436,8,16,s M606
ADC6B input value
Y:$804C,8,16,s - - M607
OUT6C command value; PFM or PWM
Y:$804F,0,24,s MS9,MI925 - M608
ENC6 compare A position
X:$804F,0,24,s MS9,MI926 - M609
ENC6 compare B position
X:$804E,0,24,s MS9,MI923 - M610
ENC6 compare auto-increment value
X:$804D,11 MS9,MI928 - M611
ENC6 compare initial state write enable
X:$804D,12 MS9,MI929 - M612
ENC6 compare initial state
X:$804D,14 - Y:$3449,14 M614
AENA6 output status
X:$8048,19 - Y:$3449,19 M615
USER6 flag input status
X:$8048,9 - Y:$3449,9 M616
ENC6 compare output value
X:$8048,11 - Y:$3449,11 M617
ENC6 capture flag
X:$8048,8 - Y:$3449,8 M618
ENC6 count error flag
X:$8048,14 - - M619
CHC6 input status
X:$8048,16 - Y:$003449,16 M620
HMFL6 flag input status
X:$8048,17 - Y:$003449,17 M621
PLIM6 flag input status
X:$8048,18 - Y:$003449,18 M622
MLIM6 flag input status
X:$8048,15 - Y:$003449,15 M623
FAULT6 flag input status
X:$8048,20 - Y:$003449,20 M624
Channel 6 W flag input status
X:$8048,21 - Y:$003449,21 M625
Channel 6 V flag input status
X:$8048,22 - Y:$003449,22 M626
Channel 6 U flag input status
X:$8048,23 - Y:$003449,23 M627
Channel 6 T flag input status
X:$8048,20,4 - Y:$003449,20,4 M628
Channel 6 TUVW inputs as 4-bit value
Suggested MM-Variables:
MM60->X:$8049,0,24,s ; ENC6 24-bit counter position
MM61->Y:$804A,8,16,s ; OUT6A command value
MM62->Y:$804B,8,16,s ; OUT6B command value
MM63->Y:$804C,8,16,s ; OUT6C command value