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 77
Servo IC 4 Registers for Channel 3 (usually for Motor #11)
MACRO Location MIVariable Turbo Location M-Var Description
X:$9011,0,24,S - - M1101
ENC11 24-bit counter position
Y:$9012,8,16,S - - M1102
OUT11A command value; DAC or
PWM
X:$9013,0,24,S MS20,MI921 - M1103
ENC11 captured position
Y:$9013,8,16,S - - M1104
OUT11B command value; DAC or PWM
Y:$9015,8,16,s MS20,MI922 Y:$79429,8,16,s M1105
ADC11A input value
Y:$9016,8,16,s MS20,MI924 Y:$7942A,8,16,s M1106
ADC11B input value
Y:$9014,8,16,s - - M1107
OUT11C command value; PFM or PWM
Y:$9017,0,24,s MS20,MI925 - M1108
ENC11 compare A position
X:$9017,0,24,s MS20,MI926 - M1109
ENC11 compare B position
X:$9016,0,24,s MS20,MI923 - M1110
ENC11 compare auto-increment value
X:$9015,11 MS20,MI928 - M1111
ENC11 compare initial state write enable
X:$9015,12 MS20,MI929 - M1112
ENC11 compare initial state
X:$9015,14 - Y:$003544,14 M1114
AENA11 output status
X:$9010,19 - Y:$003544,19 M1115
USER11 flag input status
X:$9010,9 - Y:$003544,9 M1116
ENC11 compare output value
X:$9010,11 - Y:$003544,11 M1117
ENC11 capture flag
X:$9010,8 - Y:$003544,8 M1118
ENC11 count error flag
X:$9010,14 - - M1119
CHC11 input status
X:$9010,16 - Y:$003544,16 M1120
HMFL11 flag input status
X:$9010,17 - Y:$003544,17 M1121
PLIM11 flag input status
X:$9010,18 - Y:$003544,18 M1122
MLIM11 flag input status
X:$9010,15 - Y:$003544,15 M1123
FAULT11 flag input status
X:$9010,20 - Y:$003544,20 M1124
Channel 11 W flag input status
X:$9010,21 - Y:$003544,21 M1125
Channel 11 V flag input status
X:$9010,22 - Y:$003544,22 M1126
Channel 11 U flag input status
X:$9010,23 - Y:$003544,23 M1127
Channel 11 T flag input status
X:$9010,20,4 - Y:$003544,20,4 M1128
Channel 11 TUVW inputs as 4-bit value
Suggested MM-Variables
MM110->X:$9011,0,24,s ; ENC11 24-bit counter position
MM111->Y:$9012,8,16,s ; OUT11A command value
MM112->Y:$9013,8,16,s ; OUT11B command value
MM113->Y:$9014,8,16,s ; OUT11C command value