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
16-Axis MACRO CPU Software Setup 35
Binding the Servo ICs to the MACRO ICs
Using the bits in X:MI200, the firmware attaches to each MACRO IC up to two Servo ICs and up to two
Encoder ICs. This allows up to eight servo channels and six encoder feedback channels per MACRO IC.
The Servo IC’s base addresses are registered in read-only MI179 (Servo IC 1) and MI180 (Servo IC 1).
The Encoder IC’s base addresses are registered in read-only MI189 (Encoder IC 1) and MI190 (Encoder IC
1). The logic that is used to assign the detected Servo IC’s to each of the MACRO ICs is defined below.
BITn System Status (MI4)
15 Detected Ubus Encoder IC 7 Attached to MACRO IC 0 and 1 (two channels each)
16 Detected Ubus Encoder 6 Attached to MACRO IC 1
17 Detected Ubus Encoder 5 Attached to MACRO IC 0
18 Detected Ubus Servo IC 4 Attached to MACRO IC 1
19 Detected Ubus Servo IC 3 Attached to MACRO IC 1
20 Detected Ubus Servo IC 2 Attached to MACRO IC 0
21 Detected Ubus Servo IC 1 Attached to MACRO IC 0
22 Detected CPU MACRO IC 1 ($C0C0)
23 Detected CPU MACRO IC 0 ($C080)
Mapping Machine Interface Channels to MACRO Servo Nodes
MACRO IC 0
From MI179 and MI180 and SW1, the 48-bit MI181 – MI188 variables are created. These variables bind
each of the machine interface channels (four channels per IC) to a MACRO Servo Node. The Y:MI18n
portion has the machine interface channel base address and the X:MI18n portion has the MACRO Servo
Node flag word address. These MI181 – MI188 are 48-bit status only variables and are read only, so this
binding cannot be changed. $$$ or $$$*** is done for each power-on. The following describes the
assignment for the Servo ICs in the standard address settings:
MACRO Node Address for
the Command/Status Flag
X:I181…188
$C0A3 MI181
$C0A7 MI182
$C0AB MI183
$C0AF MI184
$C0B3 MI185
$C0B7 MI186
$C0BB MI187
$C0BF MI188