Reference Manual

16-Axis MACRO CPU Software Reference Manual
16-Axis MACRO Station MI-Variable Reference 5
MS{anynode},MI12 Card Identification
Range: 0 – $FFFFFF
Units: none
Default: $936747 (603719)
This returns the card part number. The same as the CID ASCII command.
MS{anynode},MI13 Display Enable and Type
Range: 0 – 3
Units: none
Default: 0
0 = No Display output
1 = LCD Display Output
3 = Vacuum Display Output
MS{anynode},MI14 MACRO IC Source of Phase Clock
Range: 0 – 1
Units: none
Default: 1
Default MACRO #1 is the default source of the Phase clock. Setting MI14 = 0, sets MACRO IC #0 as
the source of the Phase clock. Normally the second MACRO IC #1 receives its node information after
MACRO IC #0, so it should be the source of the phase clock. This insures that both MACRO ICs receive
the ring node data before a phase interrupt is generated.
MS{anynode},MI15 Enable MACRO Plcc
Range: 0 - 1
Units: none
Default: 0
MI15 enables and disables the PLCCs running in the 16-Axis MACRO CPU.
MACRO IC Global Channel Status Setup MI-Variables
Each MACRO IC (0 and 1) has its own set of these variables. Therefore, they are accessed through their
MACRO IC. For example, MS0,MI16 accesses MACRO IC 0’s MI16 and MS16,MI16 accesses
MACRO IC 1’s MI16. MACRO IC 1’s variables can be accessed can be accessed through MACRO IC 0
by adding 1000 to the MI variable. For example, MS0,MI1016 accesses MACRO IC 1’s MI16
MS{anynode},MI16 Encoder-Fault Reporting Control
Range: 0 - 1
Units: none
Default: 0
MI16 permits the user to control which type of encoder error is reported back to PMAC in the channel
status flag word for each servo interface channel.
If MI16 is set to 0 (default), then the encoder count-error status bit (bit 8 in the channel hardware status
word) for each encoder channel is copied into bit 8 of the matching node’s status flag word for
transmission back to the PMAC. An encoder count error is reported when both A and B encoder signals
have a transition in the same SCLK hardware sampling cycle.