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
74 MACRO Equivalent Servo IC Memory Locations
Servo IC 1 Registers for Channel 4 (usually for Motor #8)
MACRO Location MIVariable Turbo Location M-Var Description
X:$8059,0,24,S - - M801
ENC8 24-bit counter position
Y:$805A,8,16,S - - M802
OUT8A command value; DAC or
PWM
X:$805B,0,24,S MS13,MI921 - M803
ENC8 captured position
Y:$805B,8,16,S - - M804
OUT8B command value; DAC or
PWM
Y:$805D,8,16,s MS13,MI922 Y:$7843D,8,16,s M805
ADC8A input value
Y:$805E,8,16,s MS13,MI924 Y:$7843E,8,16,s M806
ADC8B input value
Y:$805C,8,16,s - - M807
OUT8C command value; PFM or
PWM
Y:$805F,0,24,s MS13,MI925 - M808
ENC8 compare A position
X:$805F,0,24,s MS13,MI926 - M809
ENC8 compare B position
X:$805E,0,24,s MS13,MI923 - M810
ENC8 compare auto-increment value
X:$805D,11 MS13,MI928 - M811
ENC8 compare initial state write
enable
X:$805D,12 MS13,MI929 - M812
ENC8 compare initial state
X:$805D,14 - Y:$00344D,14 M814
AENA8 output status
X:$8058,19 - Y:$00344D,19 M815
USER8 flag input status
X:$8058,9 - Y:$00344D,9 M816
ENC8 compare output value
X:$8058,11 - Y:$00344D,11 M817
ENC8 capture flag
X:$8058,8 - Y:$00344D,8 M818
ENC8 count error flag
X:$8058,14 - - M819
CHC8 input status
X:$8058,16 - Y:$00344D,16 M820
HMFL8 flag input status
X:$8058,17 - Y:$00344D,17 M821
PLIM8 flag input status
X:$8058,18 - Y:$00344D,18 M822
MLIM8 flag input status
X:$8058,15 - Y:$00344D,15 M823
FAULT8 flag input status
X:$8058,20 - Y:$00344D,20 M824
Channel 8 W flag input status
X:$8058,21 - Y:$00344D,21 M825
Channel 8 V flag input status
X:$8058,22 - Y:$00344D,22 M826
Channel 8 U flag input status
X:$8058,23 - Y:$00344D,23 M827
Channel 8 T flag input status
X:$8058,20,4 - Y:$00344D,20,4 M828
Channel 8 TUVW inputs as 4-bit value
Suggested MM-Variables:
MM80->X:$8059,0,24,s ; ENC8 24-bit counter position
MM81->Y:$805A,8,16,s ; OUT8A command value
MM82->Y:$805B,8,16,s ; OUT8B command value
MM83->Y:$805C,8,16,s ; OUT8C command value