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
78 MACRO Equivalent Servo IC Memory Locations
Servo IC 4 Registers for Channel 4 (usually for Motor #12)
MACRO Location MIVariable Turbo Location M-Var Description
X:$9019,0,24,S - Y:$7942C,0,24,s M1201
ENC12 24-bit counter position
Y:$901A,8,16,S - - M1202
OUT12A command value; DAC or PWM
X:$901B,0,24,S MS21,MI921 - M1203
ENC12 captured position
Y:$901B,8,16,S - - M1204
OUT12B command value; DAC or PWM
Y:$901D,8,16,s MS21,MI922 Y:$7942D,8,16,s M1205
ADC12A input value
Y:$901E,8,16,s MS21,MI924 Y:$7942E,8,16,s M1206
ADC12B input value
Y:$901C,8,16,s - - M1207
OUT12C command value; PFM or PWM
Y:$901F,0,24,s MS21,MI925 - M1208
ENC12 compare A position
X:$901F,0,24,s MS21,MI926 - M1209
ENC12 compare B position
X:$901E,0,24,s MS21,MI923 - M1210
ENC12 compare auto-increment value
X:$901D,11 MS21,MI928 - M1211
ENC12 compare initial state write enable
X:$901D,12 MS21,MI929 - M1212
ENC12 compare initial state
X:$901D,14 - Y:$003545,14 M1214
AENA12 output status
X:$9018,19 - Y:$003545,19 M1215
USER12 flag input status
X:$9018,9 - Y:$003545,9 M1216
ENC12 compare output value
X:$9018,11 - Y:$003545,11 M1217
ENC12 capture flag
X:$9018,8 - Y:$003545,8 M1218
ENC12 count error flag
X:$9018,14 - - M1219
CHC12 input status
X:$9018,16 - Y:$003545,16 M1220
HMFL12 flag input status
X:$9018,17 - Y:$003545,17 M1221
PLIM12 flag input status
X:$9018,18 - Y:$003545,18 M1222
MLIM12 flag input status
X:$9018,15 - Y:$003545,15 M1223
FAULT12 flag input status
X:$9018,20 - Y:$003545,20 M1224
Channel 12 W flag input status
X:$9018,21 - Y:$003545,21 M1225
Channel 12 V flag input status
X:$9018,22 - Y:$003545,22 M1226
Channel 12 U flag input status
X:$9018,23 - Y:$003545,23 M1227
Channel 12 T flag input status
X:$9018,20,4 - Y:$003545,20,4 M1228
Channel 12 TUVW inputs as 4-bit value
Suggested MM-Variables:
MM120->X:$9019,0,24,s ; ENC12 24-bit counter position
MM121->Y:$901A,8,16,s ; OUT12A command value
MM122->Y:$901B,8,16,s ; OUT12B command value
MM123->Y:$901C,8,16,s ; OUT12C command value