Reference Manual

16-Axis MACRO CPU Software Reference Manual
14 16-Axis MACRO Station MI-Variable Reference
MS{anynode},MI109 - MI110 (Reserved for Future Use)
MS{anynode},MI111-MI118 Power-Up Position Source Address
Range: $000000 - $FFFFFF
Units: Extended 16-Axis MACRO Station Addresses
Default: 0
MI111 (1
st
motor node: Node 0)
MI112 (2
nd
motor node: Node 1)
MI113 (3
rd
motor node: Node 4)
MI114 (4
th
motor node: Node 5)
MI115 (5
th
motor node: Node 8)
MI116 (6
th
motor node: Node 9)
MI117 (7
th
motor node: Node 12)
MI118 (8
th
motor node: Node 13)
MI111 through MI118 (MI11x) specify whether, where, and how absolute position is to be read on the
16-Axis MACRO Station for a motor node (MI11x controls the xth motor node, which usually
corresponds to Motor x on PMAC) and sent back to the PMAC or PMAC2.
If MI11x is set to 0, no power-on/reset absolute position value will be returned to PMAC. If MI11x is set
to a value greater than 0, then when the PMAC requests the absolute position because its Ix10 and/or Ix81
values are set to obtain absolute position through MACRO (sending an auxiliary MS{node},MI920 or
MS{node},MI930 command), the 16-Axis MACRO Station will use MI11x to determine how to read
the absolute position, and report that position back to PMAC as an auxiliary response.
MI11x consists of two parts. The low 16 bits (last four hexadecimal digits) specify the address on the 16-
axis MACRO Station from which the absolute position information is read. The high eight bits (first two
hexadecimal digits) tell the 16-axis MACRO Station how to interpret the data at that address (the method.
The following table shows the possible values for MI11x, organized by the first two digits:
MI11n Bits
16-23 for
Unsigned
(Signed)
Type of Feedback Notes
$00-$07
($80-$87)
Resolver-to-Digital Converter Used for ACC-8D Opt 7 connected to CPU board
JTHW connector; address is multiplexer port
address ($00 - $FF)
$08-$18
($88-$98)
Single-Y-Word Parallel (8 to 24
bits)
Used for MDLT feedback;
Value in B16-21 is number of bits to read
$17-$2A
($97-$AA)
Double-Y-Word Parallel (25 to
42 bits)
Value in B16-21 is number of bits; most
significant bits are at {address + 1}
$2B ($AB) Double-Byte Parallel (16 bits) in
low bytes of 24-bit words
Used for ACC-3E parallel feedback;
Most significant byte is at {address + 1}
$2C ($AC) Double-Byte Parallel (16 bits) in
middle bytes of 24-bit words
Used for ACC-3E parallel feedback;
Most significant byte is at {address + 1}
$2D ($AD) Double-Byte Parallel (16 bits) in
middle bytes of 24-bit words
Used for ACC-3E parallel feedback;
Most significant byte is at {address + 1}
$2E ($AE) Triple-Byte Parallel (24 bits) in
low bytes of 24-bit words
Used for ACC-3E parallel feedback;
Middle byte is at {address + 1};
Most significant byte is at {address + 2}
$2F ($AF) Triple-Byte Parallel (24 bits) in
middle bytes of 24-bit words
Used for ACC-3E parallel feedback;
Middle byte is at {address + 1};
Most significant byte is at {address + 2}