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 73
Servo IC 1 Registers for Channel 3 (usually for Motor #7)
MACRO Location MIVariable Turbo Location M-Var Description
X:$8051,0,24,S - - M701
ENC7 24-bit counter position
Y:$8052,8,16,S - - M702
OUT7A command value; DAC or PWM
X:$8053,0,24,S MS12,MI921 - M703
ENC7 captured position
Y:$8053,8,16,S - - M704
OUT7B command value; DAC or PWM
Y:$8055,8,16,s MS12,MI922 Y:$78329,8,16,s M705
ADC7A input value
Y:$8056,8,16,s MS12,MI924 Y:$7832A,8,16,s M706
ADC7B input value
Y:$8054,8,16,s - - M707
OUT7C command value; PFM or PWM
Y:$8057,0,24,s MS12,MI925 - M708
ENC7 compare A position
X:$8057,0,24,s MS12,MI926 - M709
ENC7 compare B position
X:$8056,0,24,s MS12,MI923 - M710
ENC7 compare auto-increment value
X:$8055,11 MS12,MI928 - M711
ENC7 compare initial state write enable
X:$8055,12 MS12,MI929 - M712
ENC7 compare initial state
X:$8055,14 - Y:$00344C,14 M714
AENA7 output status
X:$8050,19 - Y:$00344C,19 M715
USER7 flag input status
X:$8050,9 - Y:$00344C,9 M716
ENC7 compare output value
X:$8050,11 - Y:$00344C,11 M717
ENC7 capture flag
X:$8050,8 - Y:$00344C,8 M718
ENC7 count error flag
X:$8050,14 - - M719
CHC7 input status
X:$8050,16 - Y:$00344C,16 M720
HMFL7 flag input status
X:$8050,17 - Y:$00344C,17 M721
PLIM7 flag input status
X:$8050,18 - Y:$00344C,18 M722
MLIM7 flag input status
X:$8050,15 - Y:$00344C,15 M723
FAULT7 flag input status
X:$8050,20 - Y:$00344C,20 M724
Channel 7 W flag input status
X:$8050,21 - Y:$00344C,21 M725
Channel 7 V flag input status
X:$8050,22 - Y:$00344C,22 M726
Channel 7 U flag input status
X:$8050,23 - Y:$00344C,23 M727
Channel 7 T flag input status
X:$8050,20,4 - Y:$00344C,20,4 M728
Channel 7 TUVW inputs as 4-bit value
Suggested MM-Variables
MM70->X:$8051,0,24,s ; ENC7 24-bit counter position
MM71->Y:$8052,8,16,s ; OUT7A command value
MM72->Y:$8053,8,16,s ; OUT7B command value
MM73->Y:$8054,8,16,s ; OUT7C command value