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
76 MACRO Equivalent Servo IC Memory Locations
Servo IC 4 Registers for Channel 2 (usually for Motor #10)
MACRO Location MIVariable Turbo Location M-Var Description
X:$9009,0,24,S - - M1001
ENC10 24-bit counter position
Y:$900A,8,16,S - - M1002
OUT10A command value; DAC or
PWM
X:$900B,0,24,S MS17,MI921 - M1003
ENC10 captured position
Y:$900B,8,16,S - - M1004
OUT10B command value; DAC or PWM
Y:$900D,8,16,s MS17,MI922 Y:$79425,8,16,s M1005
ADC10A input value
Y:$900E,8,16,s MS17,MI924 Y:$79426,8,16,s M1006
ADC10B input value
Y:$900C,8,16,s - - M1007
OUT10C command value; PFM or PWM
Y:$900F,0,24,s MS17,MI925 - M1008
ENC10 compare A position
X:$900F,0,24,s MS17,MI926 - M1009
ENC10 compare B position
X:$900E,0,24,s MS17,MI923 - M1010
ENC10 compare auto-increment value
X:$900D,11 MS17,MI928 - M1011
ENC10 compare initial state write enable
X:$900D,12 MS17,MI929 - M1012
ENC10 compare initial state
X:$900D,14 - Y:$003541,14 M1014
AENA10 output status
X:$9008,19 - Y:$003541,19 M1015
USER10 flag input status
X:$9008,9 - Y:$003541,9 M1016
ENC10 compare output value
X:$9008,11 - Y:$003541,11 M1017
ENC10 capture flag
X:$9008,8 - Y:$003541,8 M1018
ENC10 count error flag
X:$9008,14 - - M1019
CHC10 input status
X:$9008,16 - Y:$003541,16 M1020
HMFL10 flag input status
X:$9008,17 - Y:$003541,17 M1021
PLIM10 flag input status
X:$9008,18 - Y:$003541,18 M1022
MLIM10 flag input status
X:$9008,15 - Y:$003541,15 M1023
FAULT10 flag input status
X:$9008,20 - Y:$003541,20 M1024
Channel 10 W flag input status
X:$9008,21 - Y:$003541,21 M1025
Channel 10 V flag input status
X:$9008,22 - Y:$003541,22 M1026
Channel 10 U flag input status
X:$9008,23 - Y:$003541,23 M1027
Channel 10 T flag input status
X:$9008,20,4 - Y:$003541,20,4 M1028
Channel 10 TUVW inputs as 4-bit value
Suggested MM-Variables:
MM100->X:$9009,0,24,s ; ENC10 24-bit counter position
MM101->Y:$900A,8,16,s ; OUT10A command value
MM102->Y:$900B,8,16,s ; OUT10B command value
MM103->Y:$900C,8,16,s ; OUT10C command value