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 85
(IC3) 1 Axis 26 49 Y:$07B424 Y:$07B425, Y:$07B426, Y:$07B427
(IC3 ) 2 I/O 50 X:$07B420 X:$07B421, X:$07B422, X:$07B423
(IC3) 3 I/O 51 X:$07B424 X:$07B425, X:$07B426, X:$07B427
(IC3) 4 Axis 27 52 Y:$07B428 Y:$07B429, Y:$07B42A, Y:$07B42B
(IC3) 5 Axis 28 53 Y:$07B42C Y:$07B42D, Y:$07B42E, Y:$07B42F
(IC3) 6 I/O 54 X:$07B428 X:$07B429, X:$07B42A, X:$07B42B
(IC3) 7 I/O 55 X:$07B42C X:$07B42D, X:$07B42E, X:$07B42F
(IC3) 8 Axis 29 56 Y:$07B430 Y:$07B431, Y:$07B432, Y:$07B433
(IC3) 9 Axis 30 57 Y:$07B434 Y:$07B435, Y:$07B436, Y:$07B437
(IC3) 10 I/O 58 X:$07B430 X:$07B431, X:$07B432, X:$07B433
(IC3) 11 I/O 59 X:$07B434 X:$07B435, X:$07B436, X:$07B437
(IC3) 12 Axis 31 60 Y:$07B438 Y:$07B439, Y:$07B43A, Y:$07B43B
(IC3) 13 Axis 32 61 Y:$07B43C Y:$07B43D, Y:$07B43E, Y:$07B43F
(IC3) 14 Master/Master 62 X:$07B438 X:$07B439, X:$07B43A, X:$07B43B
(IC3) 15 Master/Slave 63 X:$07B43C X:$07B43D, X:$07B43E, X:$07B43F