Reference Manual

16-Axis MACRO CPU Software Reference Manual
16-Axis MACRO Station MI-Variable Reference 7
The following table shows the relationship between the bits of MI17 and the servo nodes on the Station:
MI17 Bit #
7 6 5 4 3 2 1 0
Node #
13 12 9 8 5 4 1 0
MS{anynode},MI18 Amplifier Fault Polarity
Range: $00 - $FF
Units: none
Default: $00 (low-true fault for all nodes)
This variable controls how the 16-Axis MACRO Station interprets the polarity of the amplifier fault
inputs for each servo node. The variable consists of eight bits; each bit controls the polarity for one of the
servo nodes on the Station. A 0 in a bit specifies a low-true fault (low voltage input means fault); a 1 in a
bit specifies a high-true fault (high voltage input means fault). A bit of MI18 is only used if the
corresponding bit of MI17 is set to 0, enabling the amplifier fault function for that node.
The following table shows the relationship between the bits of MI18 and the servo nodes on the Station:
MI18 Bit #
7 6 5 4 3 2 1 0
Node #
13 12 9 8 5 4 1 0
Global I/O Transfer MI-Variables
MS{anynode},MI19 I/O Data Transfer Period
Range: 0 - 255
Units: Phase Clock Cycles
Default: 0
MI19 controls the data transfer period on a 16-Axis MACRO Station between the MACRO node interface
registers and the I/O registers, as specified by station MI-variables MI20 through MI71, and MI169
through MI172. If MI19 is set to 0, this data transfer is disabled. If MI19 is greater than 0, its value sets
the period in Phase clock cycles (the same as MACRO communications cycles) at which the transfer is
done.
MS{anynode},MI20 Data Transfer Enable Mask
Range: $000000000000 - $FFFFFFFFFFFF
Units: Bits
Default: 0
MI20 controls which of 48 possible data transfer operations are performed at the data transfer period set
by MI19. MI20 is a 48-bit value; each bit controls whether the data transfer specified by one of the
variables MI21 through MI68 is performed. The relationship of MI20 bits to MI21-MI68 transfers is
explained in the following table.