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
Node Transfer Addresses Chart 83
NODE TRANSFER ADDRESSES CHART
16-Axis MACRO CPU Node Addresses
IC0
Node
Node 24-bit
Transfer Addresses
Node 16-bit (upper 16 bits)
Transfer Addresses
Node Type
0 Y:$C0A0 Y:$C0A1, Y:$C0A2, Y:$C0A3 Servo
1 Y:$C0A4 Y:$C0A5, Y:$C0A6, Y:$C0A7 Servo
2 X:$C0A0 X:$C0A1, X:$C0A2, X:$C0A3 I/O
3 X:$C0A4 X:$C0A5, X:$C0A6, X:$C0A7 I/O
4 Y:$C0A8 Y:$C0A9, Y:$C0AA, Y:$C0AB Servo
5 Y:$C0AC Y:$C0AD, Y:$C0AE, Y:$C0AF Servo
6 X:$C0A8 X:$C0A9, X:$C0AA, X:$C0AB I/O
7 X:$C0AC X:$C0AD, X:$C0AE, X:$C0AF I/O
8 Y:$C0B0 Y:$C0B1, Y:$C0B2, Y:$C0B3 Servo
9 Y:$C0B4 Y:$C0B5, Y:$C0B6, Y:$C0B7 Servo
10 X:$C0B0 X:$C0B1, X:$C0B2, X:$C0B3 I/O
11 X:$C0B4 X:$C0B5, X:$C0B6, X:$C0B7 I/O
12 Y:$C0B8 Y:$C0B9, Y:$C0BA, Y:$C0BB Servo
13 Y:$C0BC Y:$C0BD, Y:$C0BE, Y:$C0BF Servo
14 X:$C0B8 X:$C0B9, X:$C0BA, X:$C0BB Master-Master Communication
15 X:$C0BC X:$C0BD, X:$C0BE, X:$C0BF Master-Slave Communication
IC1
Node
Node 24-bit
Transfer Addresses
Node 16-bit (upper 16 bits)
Transfer Addresses
Node Type
16 Y:$C0E0 Y:$C0E1, Y:$C0E2, Y:$C0E3 Servo
17 Y:$C0E4 Y:$C0E5, Y:$C0E6, Y:$C0E7 Servo
18 X:$C0E0 X:$C0E1, X:$C0E2, X:$C0E3 I/O
19 X:$C0E4 X:$C0E5, X:$C0E6, X:$C0E7 I/O
20 Y:$C0E8 Y:$C0E9, Y:$C0EA, Y:$C0EB Servo
21 Y:$C0EC Y:$C0ED, Y:$C0EE, Y:$C0EF Servo
22 X:$C0E8 X:$C0E9, X:$C0EA, X:$C0EB I/O
23 X:$C0EC X:$C0ED, X:$C0EE, X:$C0EF I/O
24 Y:$C0F0 Y:$C0F1, Y:$C0F2, Y:$C0F3 Servo
25 Y:$C0F4 Y:$C0F5, Y:$C0F6, Y:$C0F7 Servo
26 X:$C0F0 X:$C0F1, X:$C0F2, X:$C0F3 I/O
27 X:$C0F4 X:$C0F5, X:$C0F6, X:$C0F7 I/O
28 Y:$C0F8 Y:$C0F9, Y:$C0FA, Y:$C0FB Servo
29 Y:$C0FC Y:$C0FD, Y:$C0FE, Y:$C0FF Servo
30 X:$C0F8 X:$C0F9, X:$C0FA, X:$C0FB Master-Master Communication
31 X:$C0FC X:$C0FD, X:$C0FE, X:$C0FF Master-Slave Communication