Reference Manual

16-Axis MACRO CPU Software Reference Manual
16-Axis MACRO Station MI-Variable Reference 9
The following table shows the 2-digit hex format codes and the portions of the address that each one
selects.
Code X or Y Bit Width Bit Range Notes
$40 Y 8 0-7
$48 Y 8 8-15
$50 Y 8 16-23
$54 Y 12 0-11 Lower 12-bit ADC registers
$60 Y 12 12-23 Upper 12-bit ADC registers
$64 Y 16 0-15
$6C Y 16 8-23 16-bit MACRO Servo Node Registers
$78 Y 24 0-23 24-bit MACRO Servo Node Registers
$7E NA NA NA Use the MM variable definition for the
decode of the variable and address and the
address being the MM variable number.
$B0 X 8 0-7
$B8 X 8 8-15
$C0 X 8 16-23
$C4 X 12 0-11
$D0 X 12 12-23
$D4 X 16 0-15
$DC X 16 8-23 16-bit MACRO I/O Node Registers
$E8 X 24 0-23 24-bit MACRO I/O Node Registers
The memory and I/O map at the back of this Software Reference manual provides a detailed list of
registers that can be copied using these MI-variables.
Note:
For copying data between digital I/O cards with byte-wide data paths (ACC-9E,
10E, 11E, 12E, 14E, 65E, 66E, 67E and 68E) and MACRO nodes, it is generally
better to use MI69 – MI71, and MI169 – MI172.
Example:
MI21=$780200E8C0A0
copies 24-bit data from Station address Y:$0200 to X:$C0A0
MI21=$7E00027E0003
copies MM2 into MM3 ( MM3 = MM2)
MACRO IC I/O Transfer 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,MI69 accesses MACRO IC 0’s MI69 and MS16,MI69 accesses
MACRO IC 1’s MI69. 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,MI1069 accesses MACRO IC 1’s MI69.
MS{anynode},MI69, MI70 I/O-Board 16-Bit Transfer Control
Range: $000000000000 - $FFFFFFFFFFFF
Units: Extended addresses
Default: 0
MI69 and MI70 specify the registers used in 16-bit I/O transfers between MACRO node interface
registers and I/O registers on the 9E, 10E, 11E, 12E, 14E, 65E, 66E, 67E, and ACC-68E I/O boards on a
16-Axis MACRO Station. They are used only if MI19 is greater than 0.