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
36 16-Axis MACRO CPU Software Setup
MACRO IC 0 ($$$ or $$$***)
# I/O Nodes # Servo Nodes Node Servo IC
Base Address
Nodes
Enabled
SW1 Select Y:I181…188
0 4 $8000,$8008,
$8010,$8018
0,1,
4,5
0 I181, I182,
I183, I184
0 4 $8000,$8008,
$8010,$8018
8,9,
12,13
1 I185, I186,
I187, I188
0 2 $8000,$8008 0,1 2 I181, I182
0 2 $8000,$8008 4,5 3 I183, I184
0 2 $8000,$8008 8,9 4 I185, I186
0 2 $8000,$8008 12,13 5 I187, I188
0 6 $8000,$8008,
$8010,$8018,
$8040,$8048
0,1,
4,5,
8,9
6 I181, I182,
I183, I184,
I185, I186
0 8 $8000,$8008,
$8010,$8018,
$8040,$8058,
$8050,$8058
0,1,
4,5,
8,9,
12,13
7 I181, I182,
I183, I184,
I185, I186,
I187, I188
2 0
2,3 8
2 0
6,7 9
2 0
10,11 10
4 0
2,3,6,7 11
6 0
2,3,6,7,10,11 12
1 0
11 13
0 0 $8000,$8008,
$8010,$8018,
$8040,$8058,
$8050,$8058 (if
two Servo ICs)
None 14 (Ring
Order)
I181, I182,
I183, I184,
I185, I186,
I187, I188
1 0
11 15 (Equivalent
to a $$$***)
MACRO IC 1
The 48-bit MI181 – MI188 variables are created from MI179 and MI180. These variables bind each of
the Servo channels (four channels per IC) to a MACRO Servo Node. The Y:MI18n portion has the Servo
channel base address and the X:MI18n portion has the MACRO Servo Node flag word address. These
MI181 – MI188 are 48-bit status only variables and are read-only so this binding cannot be changed. $$$
and $$$*** is done for each power-on.
The following describes the Servo ICs being addressed in normal address settings:
MACRO Node Address for the
Command/Status Flag
X:I181…188
$C0E3 MI181
$C0E7 MI182
$C0EB MI183
$C0EF MI184
$C0F3 MI185
$C0F7 MI186
$C0FB MI187
$C0FF MI188