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
Introduction 3
Mapping Servo Channels
Mapping Physical Servo Channels to the 16-Axis MACRO Station’s Servo Channels:
MI179 and MI180 provide the base addresses of the two Servo ICs attached to the MACRO IC and
Y:MI181 – Y:MI188 provide the base address for the eight servo channels. Station servo node-specific
variables MI910 - MI939 use Y:MI18n to configure the Servo IC’s interface channels associated with
specified MACRO node determined by SW1. Each MACRO IC has its own unique set of these MI
variables.
UMAC (pack) cards provide breakout connectors to wire the physical machine interface to the 16-Axis
servo channels. The dip switch S1 determines the base address of the UMAC pack cards like Acc-
24E2A. This address will show up in MI179 and MI180.
Mapping Servo Channels to Servo Node
Mapping the 16-Axis MACRO Station’s servo channels to the Station’s MACRO servo node registers is
set up automatically and cannot be changed.
• The mapping addresses are in MI181 – MI188. The X: part (upper six hex characters) is the MACRO
node command/status flag address and the Y: part (lower six hex characters) is the Servo IC’s status
register address. Each MACRO IC has its own unique set of these MI variables.
• Station Encoder conversion table (MI120-MI151) and Motor x variables MI10x control mapping of
feedback position from machine interface channels to Station MACRO servo nodes. Each MACRO
IC has its own unique set of these MI variables.
• Station Motor x variables MI11x control mapping of power-on absolute feedback position to Station
MACRO servo nodes. Each MACRO IC has its own unique set of these MI variables.
Mapping Motor Node Registers
Map the 16-Axis MACRO CPU’s MACRO motor node registers to the Turbo PMAC2’s MACRO motor
node registers:
• Connection of the Turbo PMAC2 MACRO master and MACRO Slave Station in a common ring
• Turbo PMAC2 MACRO cycle frequency control
• Turbo PMAC2 Ultralite I6800, I6801
• Turbo PMAC2 I6840, I6890, I6940, I6990
• Turbo PMAC2 MACRO Node Activation Control and Master number I6841, I6891, I6941, I6991