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 81
Servo IC 5 Registers for Channel 3 (usually for Motor #15)
MACRO Location MIVariable Turbo Location M-Var Description
X:$9051,0,24,S - - M1501
ENC15 24-bit counter position
Y:$9052,8,16,S - - M1502
OUT15A command value; DAC or PWM
X:$9053,0,24,S MS28,MI921 - M1503
ENC15 captured position
Y:$9053,8,16,S - - M1504
OUT15B command value; DAC or PWM
Y:$9055,8,16,s MS28,MI922 Y:$79439,8,16,s M1505
ADC15A input value
Y:$9056,8,16,s MS28,MI924 Y:$7943A,8,16,s M1506
ADC15B input value
Y:$9054,8,16,s - - M1507
OUT15C command value; PFM or PWM
Y:$9057,0,24,s MS28,MI925 - M1508
ENC15 compare A position
X:$9057,0,24,s MS28,MI926 - M1509
ENC15 compare B position
X:$9056,0,24,s MS28,MI923 - M1510
ENC15 compare auto-increment value
X:$9055,11 MS28,MI928 - M1511
ENC15 compare initial state write enable
X:$9055,12 MS28,MI929 - M1512
ENC15 compare initial state
X:$9055,14 - Y:$00354C,14 M1514
AENA15 output status
X:$9050,19 - Y:$00354C,19 M1515
USER15 flag input status
X:$9050,9 - Y:$00354C,9 M1516
ENC15 compare output value
X:$9050,11 - Y:$00354C,11 M1517
ENC15 capture flag
X:$9050,8 - Y:$00354C,8 M1518
ENC15 count error flag
X:$9050,14 - - M1519
CHC15 input status
X:$9050,16 - Y:$00354C,16 M1520
HMFL15 flag input status
X:$9050,17 - Y:$00354C,17 M1521
PLIM15 flag input status
X:$9050,18 - Y:$00354C,18 M1522
MLIM15 flag input status
X:$9050,15 - Y:$00354C,15 M1523
FAULT15 flag input status
X:$9050,20 - Y:$00354C,20 M1524
Channel 15 W flag input status
X:$9050,21 - Y:$00354C,21 M1525
Channel 15 V flag input status
X:$9050,22 - Y:$00354C,22 M1526
Channel 15 U flag input status
X:$9050,23 - Y:$00354C,23 M1527
Channel 15 T flag input status
X:$9050,20,4 - Y:$00354C,20,4 M1528
Channel 15 TUVW inputs as 4-bit value
Suggested MM-Variables:
MM150->X:$9051,0,24,s ; ENC15 24-bit counter position
MM151->Y:$9052,8,16,s ; OUT15A command value
MM152->Y:$9053,8,16,s ; OUT15B command value
MM153->Y:$9054,8,16,s ; OUT15C command value