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
82 MACRO Equivalent Servo IC Memory Locations
Servo IC 5 Registers for Channel 4 (usually for Motor #16)
MACRO Location MIVariable Turbo Location M-Var Description
X:$9059,0,24,S - - M1601
ENC16 24-bit counter position
Y:$905A,8,16,S - - M1602
OUT16A command value; DAC or PWM
X:$905B,0,24,S MS29,MI921 - M1603
ENC16 captured position
Y:$905B,8,16,S - - M1604
OUT16B command value; DAC or PWM
Y:$905D,8,16,s MS29,MI922 Y:$7943D,8,16,s M1605
ADC16A input value
Y:$905E,8,16,s MS29,MI924 Y:$7943E,8,16,s M1606
ADC16B input value
Y:$905C,8,16,s - - M1607
OUT16C command value; PFM or PWM
Y:$905F,0,24,s MS29,MI925 - M1608
ENC16 compare A position
X:$905F,0,24,s MS29,MI926 - M1609
ENC16 compare B position
X:$905E,0,24,s MS29,MI923 - M1610
ENC16 compare auto-increment value
X:$905D,11 MS29,MI928 - M1611
ENC16 compare initial state write enable
X:$905D,12 MS29,MI929 - M1612
ENC16 compare initial state
X:$905D,14 - Y:$00354D,14 M1614
AENA16 output status
X:$9058,19 - Y:$00354D,19 M1615
USER16 flag input status
X:$9058,9 - Y:$00354D,9 M1616
ENC16 compare output value
X:$9058,11 - Y:$00354D,11 M1617
ENC16 capture flag
X:$9058,8 - Y:$00354D,8 M1618
ENC16 count error flag
X:$9058,14 - - M1619
CHC16 input status
X:$9058,16 - Y:$00354D,16 M1620
HMFL16 flag input status
X:$9058,17 - Y:$00354D,17 M1621
PLIM16 flag input status
X:$9058,18 - Y:$00354D,18 M1622
MLIM16 flag input status
X:$9058,15 - Y:$00354D,15 M1623
FAULT16 flag input status
X:$9058,20 - Y:$00354D,20 M1624
Channel 16 W flag input status
X:$9058,21 - Y:$00354D,21 M1625
Channel 16 V flag input status
X:$9058,22 - Y:$00354D,22 M1626
Channel 16 U flag input status
X:$9058,23 - Y:$00354D,23 M1627
Channel 16 T flag input status
X:$9058,20,4 - Y:$00354D,20,4 M1628
Channel 16 TUVW inputs as 4-bit value
Suggested MM-Variables:
MM160->X:$9059,0,24,s ; ENC16 24-bit counter position
MM161->Y:$905A,8,16,s ; OUT16A command value
MM162->Y:$905B,8,16,s ; OUT16B command value
MM163->Y:$905C,8,16,s ; OUT16C command value