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 79
Servo IC 5 Registers for Channel 1 (usually for Motor #13)
MACRO Location MIVariable Turbo Location M-Var Description
X:$9041,0,24,S - - M1301
ENC13 24-bit counter position
Y:$9042,8,16,S - - M1302
OUT13A command value; DAC or
PWM
X:$9043,0,24,S MS24,MI921 - M1303
ENC13 captured position
Y:$9043,8,16,S - - M1304
OUT13B command value; DAC or PWM
Y:$9045,8,16,s MS24,MI922 Y:$79431,8,16,s M1305
ADC13A input value
Y:$9046,8,16,s MS24,MI924 Y:$79432,8,16,s M1306
ADC13B input value
Y:$9044,8,16,s - - M1307
OUT13C command value; PFM or PWM
Y:$9047,0,24,s MS24,MI925 - M1308
ENC13 compare A position
X:$9047,0,24,s MS24,MI926 - M1309
ENC13 compare B position
X:$9046,0,24,s MS24,MI923 - M1310
ENC13 compare auto-increment value
X:$9045,11 MS24,MI928 - M1311
ENC13 compare initial state write enable
X:$9045,12 MS24,MI929 - M1312
ENC13 compare initial state
X:$9045,14 - Y:$003458,14 M1314
AENA13 output status
X:$9040,19 - Y:$003458,19 M1315
USER13 flag input status
X:$9040,9 - Y:$003458,9 M1316
ENC13 compare output value
X:$9040,11 - Y:$003458,11 M1317
ENC13 capture flag
X:$9040,8 - Y:$003458,8 M1318
ENC13 count error flag
X:$9040,14 - - M1319
CHC13 input status
X:$9040,16 - Y:$003458,16 M1320
HMFL13 flag input status
X:$9040,17 - Y:$003458,17 M1321
PLIM13 flag input status
X:$9040,18 - Y:$003458,18 M1322
MLIM13 flag input status
X:$9040,15 - Y:$003458,15 M1323
FAULT13 flag input status
X:$9040,20 - Y:$003458,20 M1324
Channel 13 W flag input status
X:$9040,21 - Y:$003458,21 M1325
Channel 13 V flag input status
X:$9040,22 - Y:$003458,22 M1326
Channel 13 U flag input status
X:$9040,23 - Y:$003458,23 M1327
Channel 13 T flag input status
X:$9040,20,4 - Y:$003458,20,4 M1328
Channel 13 TUVW inputs as 4-bit value
Suggested MM-Variables:
MM130->X:$9041,0,24,s ; ENC13 24-bit counter position
MM131->Y:$9042,8,16,s ; OUT13A command value
MM132->Y:$9043,8,16,s ; OUT13B command value
MM133->Y:$9044,8,16,s ; OUT13C command value