Reference Manual

16-Axis MACRO CPU Software Reference Manual
24 16-Axis MACRO Station MI-Variable Reference
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.
Since most of the Backplane IO accessories are only 48 bits, this variable will waste some IO node space
unless three IO cards are placed at the same address utilizing the low, middle and high bites. If one of the
above transfer variables is utilized (only if one card at the address) the transfers take the low byte of 5
consecutive addresses (starting at the address specified in the low 16 bits of this variable) as well as the
middle byte of first three consecutive addresses. It places the data on a full node that is specified with the
node address in bits 24-39 of this variable
Examples:
Accessory 11E at base address $8800 in the low byte and a 9E at base address $8800 in the middle byte.
MI169=$00C0A0008800 transfers 72-bit I/O between an I/O board set at $8800 and MACRO Node 2
($C0A0-$C0A3).
MI170=$10C0A4008800 transfers 72-bit I/O between an I/O board set at $8800 in the middle byte and
MACRO Node 2 ($C0A4-$C0A7).
Card Address High Byte
(Destination Address)
Middle Byte
(Destination Address)
Low Byte
(Destination Address)
$8800 X:$C0A5
($78425_on_Turbo)
X:$C0A2
($78422_on_Turbo)
X:$C0A0
($78420_on_Turbo)
$8801 X:$C0A5
($78425_on_Turbo)
X:$C0A3
($78423_on_Turbo)
X:$C0A0
($78420_on_Turbo)
$8802 X:$C0A6
($78426_on_Turbo)
X:$C0A3
($78423_on_Turbo)
X:$C0A0
($78420_on_Turbo)
$8803 X:$C0A6
($78426_on_Turbo)
X:$C0A4
($78424_on_Turbo)
X:$C0A1
($78421_on_Turbo)
$8804 X:$C0A7
($78427_on_Turbo)
X:$C0A4
($78424_on_Turbo)
X:$C0A1
($78421_on_Turbo)
$8805 X:$C0A7
($78427_on_Turbo)
X:$C0A4
($78424_on_Turbo)
X:$C0A2
($78422_on_Turbo)
MS{anynode},MI171, MI172, MI173 I/O-Board 144-Bit Transfer Control
Range: $000000000000 - $FFFFFFFFFFFF
Units: Extended addresses
Default: 0
MI171, MI172, and MI173 specify the registers used in 144-bit I/O transfers between MACRO I/O node
interface registers and I/O registers on the ACC-3E, 9E, 10E, 11E, and 12E I/O boards on a 16-axis
MACRO Station. It is only used if MI19 is greater than 0.
The transfer utilizes two consecutive 72-bit X-memory MACRO I/O nodes and 3 48-bit IOGATE I/O ICs
that occupy different bytes (low, middle, and high) of the same base address.
MI171, MI172, and MI173 are 48-bit variables each represented as 12 hexadecimal digits. The first six
digits specify the address of the first 72-bit real-time MACRO-node register sets to be used. The second
six digits specify the address of the three 48-bit I/O sets on the I/O board to be used. The individual digits
are specified as follows: