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
Turbo PMAC2 Software Setup for MACRO Station 19
Register Addresses for MACRO IC 3 with I23=$07B400 (default)
Turbo PMAC2 Addresses MACRO IC 3
Node # Reg. 0 Reg. 1 Reg. 2 Reg. 3
0 Y:$07B420 Y:$07B421 Y:$07B422 Y:$07B423
1 Y:$07B424 Y:$07B425 Y:$07B426 Y:$07B427
2 X:$07B420 X:$07B421 X:$07B422 X:$07B423
3 X:$07B424 X:$07B425 X:$07B426 X:$07B427
4 Y:$07B428 Y:$07B429 Y:$07B42A Y:$07B42B
5 Y:$07B42C Y:$07B42D Y:$07B42E Y:$07B42F
6 X:$07B428 X:$07B429 X:$07B42A X:$07B42B
7 X:$07B42C X:$07B42D X:$07B42E X:$07B42F
8 Y:$07B430 Y:$07B431 Y:$07B432 Y:$07B433
9 Y:$07B434 Y:$07B435 Y:$07B436 Y:$07B437
10 X:$07B430 X:$07B431 X:$07B432 X:$07B433
11 X:$07B434 X:$07B435 X:$07B436 X:$07B437
12 Y:$07B438 Y:$07B439 Y:$07B43A Y:$07B43B
13 Y:$07B43C Y:$07B43D Y:$07B43E Y:$07B43F
14 X:$07B438 X:$07B439 X:$07B43A X:$07B43B
15 X:$07B43C X:$07B43D X:$07B43E X:$07B43F
Note: With the MACRO station, only nodes that map into Turbo PMAC2 Y registers
(0, 1, 4, 5, 8, 9, 12, and 13) can be used for servo control. The nodes that map into X
registers (2, 3, 6, 7, 10, 11, and 14) can be used for I/O control. Node 15 is reserved
for Type 1 auxiliary communications. Node 14 is often reserved for broadcast
communications.
Turbo PMAC2 Conversion Table Setup
Turbo PMAC2 processes the raw feedback data it receives through an encoder conversion table before the
servo loop uses the data for feedback. This table permits various techniques, such as 1/T extension of
encoder data, to refine the feedback values. However, when the 16-Axis MACRO CPU is used to provide
the feedback, the Station has its own encoder conversion table to do the refinement before the data is sent
across the ring. Therefore, all that the PMAC’s encoder conversion table must do is a simple copying
operation.
The encoder conversion table on Turbo PMAC uses I-variables I8000 through I8191. I8000 represents
the first line of the first entry in the table. Each entry in the table produces one feedback value. The entry
can occupy one, two, or three lines.
Position feedback data for a node from a 16-Axis MACRO CPU appears in the 24-bit Register 0 for the
node. The least significant bit of the register represents 1/32 of a count (i.e. there are five bits of fraction).
To process this data for the servo loop (position and/or velocity loop feedback), the Turbo PMAC’s
conversion table will treat the data as a parallel Y word with no filtering (MACRO provides error
detection). This makes bits 20 – 23 of the first line of the entry (the first hex digit) equal to $2. The
conversion will be unshifted because the conversion result is expected also to have its LSB represent 1/32
of a count. This makes bit 19 of the first line equal to 1. Bits 0 – 18 contain the 19-bit address of the
MACRO node’s register 0 ($7x4yy, where ‘x’ varies with the MACRO IC, and ‘yy’ varies with the node
number). This makes the line equal to $2Fx4yy.
The second line of the entry (the next I-variable) specifies the bit width of the source register in bits 12 –
23 (the first three hex digits) and the starting bit number in bits 0 – 11 (the last three hex digits). Because
position feedback in Register 0 is a 24-bit value starting at bit 0, this line should be $018000, where $018
specifies the 24-bit width, and $000 specifies the bit-0 starting point.