Reference Manual

16-Axis MACRO CPU Software Reference Manual
28 16-Axis MACRO Station MI-Variable Reference
MACRO IC I/O Transfer MI-Variables
Each MACRO IC (0 and 1) has its own set of these variables. Therefore, they are access through their
MACRO IC.
MS{anynode},MI198 Direct Read/Write Format and Address
Range: $000000 - $FFFFFF
Units: Modified 16-Axis MACRO Station Addresses
Default: $000000
MI198 controls the address and format of the register to be accessed (read from or written to) with
MI199. This permits the access to any register on the 16-Axis MACRO Station by first assigning a value
to MI198, then either reading MI199 or writing to it.
MI198 is a 24-bit variable that can be expressed as six hexadecimal digits. The low 16 bits, represented
by the last four hex digits, represent the 16-Axis MACRO Station address of the register. The high eight
bits, represented by the first two hex digits, represent the format of that address. The table below shows
the legal entries for the first two digits and the format each represents.
For example, for the host computer to read the contents of the DAC1A register as a signed quantity – the
high 16 bits of Y:$8002 – of the 16-axis MACRO Station through a PMAC board, MI198 would be set to
$6D8002, then MI199 would be read. For a 16-axis MACRO Station with an active node 0, this could be
done with the on-line commands:
MS0, MI198=$6D8002
MS0, MI199
16384
In another example, to read the state of Channel 2’s encoder A input – bit 12 of X:$C008 – through a
PMAC board, MI198 would be set to $8CC008, then MI99 would be read.
MI198 Format Digits
MI198
Digits
Address
Space
Starting
Bit
Bit
Width
Format MI198
Digits
Address
Space
Starting
Bit
Bit
Width
Format
$00
Y 0 2 U
$80
X 0 1 U
$01
Y 2 2 U
$81
X 1 1 U
$02
Y 4 2 U
$82
X 2 1 U
$03
Y 6 2 U
$83
X 3 1 U
$04
Y 8 2 U
$84
X 4 1 U
$05
Y 10 2 U
$85
X 5 1 U
$06
Y 12 2 U
$86
X 6 1 U
$07
Y 14 2 U
$87
X 7 1 U
$08
Y 16 2 U
$88
X 8 1 U
$09
Y 18 2 U
$89
X 9 1 U
$0A
Y 20 2 U
$8A
X 10 1 U
$0B
Y 22 2 U
$8B
X 11 1 U
$0C
- - - -
$8C
X 12 1 U
$0D
- - - -
$8D
X 13 1 U
$0E
- - - -
$8E
X 14 1 U
$0F
- - - -
$8F
X 15 1 U
$10
Y 0 1 U
$90
X 16 1 U
$11
Y 1 1 U
$91
X 17 1 U
$12
Y 2 1 U
$92
X 18 1 U
$13
Y 3 1 U
$93
X 19 1 U
$14
Y 4 1 U
$94
X 20 1 U
$15
Y 5 1 U
$95
X 21 1 U
$16
Y 6 1 U
$96
X 22 1 U