MACRO CPU Board Hardware Reference Manual
6
Configuration and Hardware Setup
Board Jumper and Switch Setup
The MACRO Station has two 16-way rotary switches on the MACRO CPU board that establish the
station’s basic configuration on the MACRO ring.
SW1 Rotary Switch Setting:
SW1 establishes how many servo nodes, and which servo nodes, will be
used on the MACRO station. It also establishes the mapping of MACRO node numbers to MACRO
Station channel numbers. This mapping information will be important in establishing the software setup.
The following table shows possible MACRO Station axis configurations and the appropriate settings of
SW1:
# of Servo
Channels and
Nodes Used
Which MACRO
Servo Nodes Used
Stack Axis
Boards Used
Backplane (UMAC) Axis
Boards Used
SW1 Setting
2 0,
1
1x
Acc-1E
--
8
2 4,
5
1x
Acc-1E
--
9
2
8, 9
1x Acc-1E
--
10 ($A)
2
12, 13
1x Acc-1E
--
11 ($B)
2
0, 1
1x Acc-2E*
1x Acc-24E2x or 51E
2
2
4, 5
1x Acc-2E*
1x Acc-24E2x or 51E
3
2
8, 9
1x Acc-2E*
1x Acc-24E2x or 51E
4
2
12, 13
1x Acc-2E*
1x Acc-24E2x or 51E
5
4
0, 1, 4, 5
1x Acc-2E
1x Acc-24E2x with Option 1x or 1x
Acc-51E with Option 1
0
4
8, 9, 12, 13
1x Acc-2E
1x Acc-24E2x with Option 1x or 1x
Acc-51E with Option 1
1
6
0, 1, 4, 5, 8, 9
1x Acc-1E,
1x Acc-2E
1x Acc-24E2x with Option 1x or 1x
Acc-51E with Option 1;
Plus 1x Acc-24E2x or 51E
12 ($C)
6
0, 1, 4, 5, 8, 9
2x Acc-2E*
1x Acc-24E2x with Option 1x or 1x
Acc-51E with Option 1;
Plus 1x Acc-24E2x or 51E
6
8
0, 1, 4, 5, 8, 9, 12, 13
2x Acc-2E
2x Acc-24E2x with Option 1x /
Acc-51E with Option 1
7
More detailed information on the SW1 settings is presented in the Jumper/Switch description in the back of this
manual.
SW2 Rotary Switch Setting:
SW2 establishes the number of the master IC to which the MACRO
station will respond. The values of 0 to 15 correspond to Master numbers 0 to 15, respectively. For a
non-Turbo PMAC2 master, this value must match the master number value in the first hexadecimal digit
of PMAC2’s I996. For a Turbo PMAC2, this value must match the master number value in the first
hexadecimal digit of the Turbo PMAC2’s I6840, I6890, I6940, or I6990, for MACRO ICs 0, 1, 2, or 3,
respectively, on the Turbo PMAC2. The default switch setting is 0, so the station will respond to Master
0.
Watchdog Timer Enable Jumper:
For normal operation of the Compact MACRO Station, jumper
E1 should be OFF to enable the watchdog timer (an important safety feature).
Operational Mode Jumper:
Jumper E2 should connect pins 2 and 3 to tell the CPU it is in normal
operational mode, not in bootstrap mode. It should only connect pins 1 and 2 to load new firmware into
the flash IC through the serial port.
Baud Rate Jumper:
Jumper E3 must be ON if you are connecting an Acc-8D Option 9 Yaskawa
absolute encoder converter to the J7 serial port (most users will connect it to the JTHW port instead).
This sets the baud rate to 9600. If E3 is OFF, the baud rate is 38400.
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