Reference Manual

16-Axis MACRO CPU Software Reference Manual
10 16-Axis MACRO Station MI-Variable Reference
MI69 and MI70 are 48-bit variables represented as 12 hexadecimal digits. The first six digits specify the
number and address of 48-bit (3 x 16) real-time MACRO-node register sets to be used. The second six
digits specify the number and address of 16-bit I/O sets on an UMAC IO board to be used. The
individual digits are specified as follows:
Digit # Possible Values Description
1 0, 1, 2, 3 Number of MACRO I/O nodes to use (0 disables); this
should also match the number of 48-bit I/O sets you
intend to use (see Digit 7)
2 0 (Reserved for future use)
3-6 $C0A1 (Node 2), $C0A5 (Node 3),
$C0A9 (Node 6), $C0AD (Node 7),
$C0B1 (Node 10), $C0B5 (Node 11)
MACRO Station X Address of MACRO I/O node first
of three 16-bit registers
7 0, 1, 2, 3 Number of 16-bit I/O sets to use (1x16, 2x16, 3x16; 0
disables)
8 1 Set to 1 for ACC-14E, ACC-65E, ACC-66E, ACC-67E
consecutive address read (Base, +$1000, +$2000)
9-12 $8800, $8840
$8880, $88C0
MACRO Station Y Base Address of UMAC IO Card
When this function is active, the 16-Axis MACRO Station will copy values from the MACRO command
(input) node registers to the I/O board addresses; it will copy values from the I/O board addresses to the
MACRO feedback (output) node registers. Writing a ‘0’ to a bit of the I/O board enables it as an input,
letting the output pull high. Writing a ‘1’ to a bit of the I/O board enables it as an output and pulls the
output low.
The following table shows the mapping of I/O points on the I/O backplane boards to the MACRO node
registers:
Board # at
Set
Address
E6x Rows
Connected
Byte on
Data Bus
I/O Point
#s on
Board
Matching MACRO X Register
1
st
1 & 2 Low 0 –15 Specified MACRO X Address + 0
1
st
1 & 2 Low 16 – 31 Specified MACRO X Address + 1
1
st
1 & 2 Low 32 - 47 Specified MACRO X Address + 2
2
nd
2 & 3* Middle 0 –15 Specified MACRO X Address + 4
2
nd
2 & 3* Middle 16 – 31 Specified MACRO X Address + 5
2
nd
2 & 3* Middle 32 - 47 Specified MACRO X Address + 6
3
rd
4 & 5 High 0 –15 Specified MACRO X Address + 8
3
rd
4 & 5 High 16 – 31 Specified MACRO X Address + 9
3
rd
4 & 5 High 32 - 47 Specified MACRO X Address + 10
* Rows 3 & 4 connected creates same setting
Examples:
MI69=$30C0A1308800 transfers three sets of 48-bit I/O between an I/O board set at $8800 and
MACRO Nodes 2 ($C0A1-$C0A3), 3 ($C0A5-$C0A7), and 6 ($C0A9-$C0AB).
MI70=$10C0B1308840 transfers one set of 48-bit I/O between an I/O board set at $8840 and MACRO
Node 10 ($C0B1-$C0B3).