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UMAC MACRO and MACRO Stack User Manual
TABLE OF CONTENTS
INTRODUCTION ........................................................................................................................................ 1
3U MACRO STATION SETUP OVERVIEW .......................................................................................... 3
3U MACRO STATION HARDWARE SETUP......................................................................................... 7
Physical and Logical Configuration of the MACRO Station ..................................................................... 7
Stack Configuration............................................................................................................................... 7
UMAC (Pack) Configuration................................................................................................................. 8
Hybrid Stack/Pack Interface Configurations......................................................................................... 9
Wiring into the MACRO Station ............................................................................................................. 10
Stack Interface and Breakout Boards .................................................................................................. 10
UMAC (Pack) Interface/Breakout Boards........................................................................................... 11
MACRO CPU SW1 Setting ..................................................................................................................... 12
MACRO CPU SW2 Setting ..................................................................................................................... 13
PMAC2 SOFTWARE SETUP FOR MACRO STATION...................................................................... 15
MACRO Ring Update Frequency Setup .................................................................................................. 15
PMAC2 Ultralite: I992 and I997......................................................................................................... 15
PMAC2 (Not Ultralite): I900 and I901 ............................................................................................... 15
Notes on Servo Clock........................................................................................................................... 16
PMAC2 MACRO Ring Setup I-Variables ............................................................................................... 16
I995: MACRO Master & Ring Controller Enable............................................................................... 16
I996: MACRO Node Activation Control.............................................................................................. 16
I1000: MACRO Node Auxiliary Function Enable ............................................................................... 17
I1002: MACRO Node Protocol Type Control ..................................................................................... 17
I1001, I1004, I1005: MACRO Ring Check Period and Limits ............................................................ 18
I1003: MACRO Master/Slave Auxiliary Timeout ................................................................................ 18
MACRO Node Addresses ........................................................................................................................ 18
PMAC2 Conversion Table Setup............................................................................................................. 19
PMAC2 Motor I-Variables....................................................................................................................... 21
Ix02: Command Output Address ......................................................................................................... 21
Ix03, Ix04: Feedback Address ............................................................................................................. 22
Ix10: Power-On Feedback Address..................................................................................................... 22
Ix25: Flag Address .............................................................................................................................. 23
Ix70, Ix71: Commutation Cycle Size.................................................................................................... 24
Ix75: Absolute Phase Position Offset .................................................................................................. 24
Ix81: Power-On Phase Position Address ............................................................................................ 25
Ix82: Current Loop Feedback Address................................................................................................ 26
Ix83: Commutation Feedback Address................................................................................................ 26
TURBO PMAC2 SOFTWARE SETUP FOR MACRO STATION....................................................... 27
MACRO IC Address Specification .......................................................................................................... 27
MACRO Ring Update Frequency Setup .................................................................................................. 27
I7: Phase Cycle Extension ................................................................................................................... 27
I19: Clock Source I-Variable Number................................................................................................. 28
Turbo PMAC2 Ultralite: I6800 and I6801 .......................................................................................... 28
Turbo PMAC2 (Not Ultralite): I7000 and I7001................................................................................. 29
UMAC Turbo ....................................................................................................................................... 29
Notes on Servo Clock........................................................................................................................... 29
Turbo PMAC2 MACRO Ring Setup I-Variables .................................................................................... 30
I6840: MACRO IC 0 Master Configuration ........................................................................................ 30
I6890/I6940/I6990: MACRO IC 1/2/3 Master Configuration ............................................................. 30
I6841/I6891/I6941/I6991: MACRO IC 0/1/2/3 Node Activation Control ........................................... 30
I70/I72/I74/I76: MACRO IC 0/1/2/3 Node Auxiliary Function Enable............................................... 31
I71/I73/I75/I77: MACRO IC 0/1/2/3 Node Protocol Type Control ..................................................... 32
I78: MACRO Master/Slave Auxiliary Communications Timeout ........................................................ 32
Table of Contents
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