Reference Manual

16-Axis MACRO CPU Hardware Reference Manual
Hardware Setup 5
HARDWARE SETUP
The hardware setup of the 3U 16-Axis MACRO CPU Board consists of the setting of two rotary switches,
the setting of several E-point jumpers on each board, followed by power supply and signal connections.
Note:
E-Point Jumper numbers are shown in white ink on the legend of each board. Pin
numbers for each jumper can be determined either from the legend on the
component side on the board or by looking at the solder side of the board, where
pin 1 has a square solder pad.
Board Jumper and Switch Summary
The MACRO Station has two 16-way rotary switches on the 16-Axis MACRO CPU board that establish
the station’s basic configuration on the MACRO ring.
SW1 Rotary Switch Setting: SW1 establishes how many servo nodes and which servo nodes, will be
used on the MACRO station MACRO IC 0. It also establishes the mapping of MACRO node numbers to
MACRO Station channel numbers. This mapping information will be important in establishing the
software setup. More detailed information on the SW1 settings is presented in the Jumper/Switch
description in the back of this manual.
SW2 Rotary Switch Setting: SW2 establishes the number of the master IC to which the MACRO station
will respond. The values of 0 to 15 correspond to Master numbers 0 to 15, respectively. For a non-Turbo
PMAC2 master, this value must match the master number value in the first hexadecimal digit of PMAC2’s
I996. For a Turbo PMAC2, this value must match the master number value in the first hexadecimal digit of
the Turbo PMAC2’s I6840, I6890, I6940, or I6990, for MACRO ICs 0, 1, 2, or 3, respectively, on the
Turbo PMAC2. The default switch setting is 0, so the station will respond to Master 0.
Watchdog Timer Enable Jumper: For normal operation of the Compact MACRO Station, jumper E1
should be OFF to enable the watchdog timer (an important safety feature).
Operational Mode Jumper: Jumper E2 should connect pins 2 and 3 to tell the CPU it is in normal
operational mode, not in bootstrap mode. To load new firmware into the flash IC through the serial port,
it should only connect pins 1 and 2.
Baud Rate Jumper: Jumper E3 must be ON if connecting an Acc-8D Option 9 Yaskawa absolute
encoder converter to the J7 serial port (most will connect it to the JTHW port instead). This sets the baud
rate to 9600. If E3 is OFF, the baud rate is 38400.
Power Supply Check Jumper: Remove jumper E4 if not bringing a +/-12V to +/-15V supply into the
Compact MACRO Station itself (5V only). If bringing these analog circuit supplies into the Compact
MACRO Station, have jumper E4 on so that the servo outputs are disabled if either of the analog supplies
is lost.
MACRO Input Select Jumper: Because the 16-Axis MACRO CPU board can accept MACRO ring
input from either the RJ-45 electrical input or the fiber input, select which input is used (even if only one
of the ring interface options is present). Jumper E40 must be ON to use the fiber input; it must be OFF to
use the electrical input. (If both interface options A and C are present, either ring output may be used,
regardless of the setting of E40.)