User manual

Accessory 24E2
24 Ultralite/MACRO Station Setup
The PMAC2 Style outputs allow the PMAC to control up to three individual output channels based on the
mode. These outputs are described as output A, output B, and output C.
MSn, MI916
Output Description
Typical Use
0
A, B, and C are PWM
Direct PWM Mode Only
1
A and B are DAC
C is PWM
10V Outputs for torque, velocity and sinusoidal input amplifiers
2
A and B are PWM
C is PFM
Stepper Systems
3
A and B are DAC
C is PFM
10V Outputs with MLDT Feedback
The default output at the MACRO Station is PWM (MSn,I916=0).
MACRO Station Encoder Conversion Table (MSn,MI120-MI151)
At power-up, the MACRO Station will set up all of the key memory locations and MI-Variables based on
the SW1 connector and firmware of the MACRO Station automatically. The key variables set up at
power-up are the encoder conversion table, servo output registers, and flag input registers.
Encoder Conversion Table for Acc-24E2 at MACRO Station
MS0,MI120=$00C040 ;output at X:$0010 at MACRO Station (encoder 1)
MS0,MI121=$00C048 ;output at X:$0011 at MACRO Station (encoder 2)
MS0,MI122=$00C050 ;output at X:$0012 at MACRO Station (encoder 3)
MS0,MI123=$00C058 ;output at X:$0013 at MACRO Station (encoder 4)
MS0,MI120=$00C060 ;output at X:$0014 at MACRO Station (encoder 5)
MS0,MI121=$00C068 ;output at X:$0015 at MACRO Station (encoder 6)
MS0,MI122=$00C070 ;output at X:$0016 at MACRO Station (encoder 7)
MS0,MI123=$00C078 ;output at X:$0017 at MACRO Station (encoder 8)