Manuale Di RiferimentoSommarioINTRODUCTION1Configuration3SPECIFICATIONS4Physical Specifications4EMC and Safety4HARDWARE SETUP5Board Connections6Connector Summary6JUMPER AND SWITCH CONFIGURATIONS9Jumper Descriptions9E1: Watchdog Timer Disable9E2: CPU Mode Operation9E3: Serial Port Baud Rate9E4: Power Supply-Loss Control (±15Vdc Supply Monitor)9E40: MACRO Input (Fiber/Wired) Selector9SW1: MACRO Slave Node Configure10SW2: MACRO IC 0 Master Number Select10CHARACTER DISPLAY AND LEDS11CONNECTOR PINOUTS13J14, J17: MACRO Copper I/O (OPT C)13U73: MACRO Fiber Optic Connector (OPT A)13TB1: (JPWR) 4-Pin Terminal Block14TB2: (JWD) 4-Pin Terminal Block14P1: UBUS Interface Connector15J2 (JDISP) Display Connector16J3 (JHW) Handwheel Encoder Connector16J4: (JRS232) Serial Port Connector17HARDWARE MEMORY MAP19ACCESSORIES21DECLARATION OF CONFORMITY23Dimensioni: 444 KBPagine: 29Language: EnglishApri il manuale
Manuale Di RiferimentoSommarioMACRO IC 024MACRO IC 124Direct Memory Addressing for Integer Ln & Ln[] Variable Definitions67MS Command75MS Variable Read76MS Variable Write76MS Variable Read Copy77MS Variable Write Copy77MS Variable Read Copy78MS Variable Write Copy78Dimensioni: 643 KBPagine: 97Language: EnglishApri il manuale
Manuale UtenteSommario16-Axis MACRO Slave Station Binding to a MACRO Master9Mapping Servo Channels to Servo Node11Mapping Motor Node Registers11Mapping Motor Function Registers to Node Registers12Mapping of General Purpose I/O13UMAC (Pack) Configuration15Servo Accessory Boards15I/O Accessory Boards15Auto Configuration and Identification of UMAC (Pack) Boards17UMAC (Pack) Interface/Breakout Boards17MACRO Ring Rules19I7: Phase Cycle Extension20I19: Clock Source I-Variable Number21Turbo PMAC2 Ultralite: I6800 and I680121UMAC Turbo21Notes on Servo Clock21I6840: MACRO IC 0 Master Configuration22I6890/I6940/I6990: MACRO IC 1/2/3 Master Configuration22I6841/I6891/I6941/I6991: MACRO IC 0/1/2/3 Node Activation Control22I70/I72/I74/I76: MACRO IC 0/1/2/3 Node Auxiliary Function Enable23I71/I73/I75/I77: MACRO IC 0/1/2/3 Node Protocol Type Control24I78: MACRO Master/Slave Auxiliary Communications Timeout24I79: MACRO Master/Master Auxiliary Communications Timeout24I80, I81, I82: MACRO Ring Check Period and Limits24Ixx01: Commutation Enable30Ixx02: Command Output Address30Ixx03, Ixx04: Feedback Address31Ixx10, Ixx95: Absolute Position Address and Format32Ixx25, Ixx24: Flag Address and Mode33Ixx70, Ixx71: Commutation Cycle Size34Ixx75: Absolute Phase Position Offset34Ixx81, Ixx91: Power-On Phase Position Address and Mode35Ixx82: Current Loop Feedback Address36Ixx83: Commutation Feedback Address36Ring Update Frequency40Station Servo Clock Frequency41MACRO IC 041MACRO IC 142MACRO IC 043MACRO IC 144Channels 1-4 (First 4-Axis Board)45Channels 5-8 (Second 4-Axis Board)46On Board Auxiliary Channels (Handwheel/Pulse and Direction)47Incremental Digital Encoder Feedback50Analog Encoder Feedback51Resolver Feedback52MLDT Feedback5212-Bit A/D Converter Feedback5214E Parallel Feedback54MI17 Amplifier Fault Disable Control54MI18 Amplifier Fault Polarity Control54MI10x Position Feedback Address55MI11x Power-On Position Feedback Address55MI16x Power-On MLDT Excitation Value55MI975 I/O Node Enable56MI19 I/O Transfer Period56Bi-Directional I/O Transfer Control56Uni-Directional I/O Transfer Control59Setting the Trigger Condition62Using for Homing62Using in User Program62Setting up for a Single Pulse Output63Setting up for Multiple Pulse Outputs63How to Enable and Disable MACRO ASCII Communication Mode66The Ring Order Method67Example: Read Using MM-Variables – Actual Encoder67Example: Read DAC Output from Servo IC Card68Example: Monitor Up/Down Counter from Servo IC Card68Example: Write to DACnB on Servo IC Card69Example: Read Using MI198 and MI199 – Direct Hal70Example: Read Using MI198 and MI199 – Actual DAC70Dimensioni: 946 KBPagine: 93Language: EnglishApri il manuale
