Reference Manual

16-Axis MACRO CPU Software Reference Manual
16-Axis MACRO Station MI-Variable Reference 31
MACRO/SERVO ICs
Gate Addr MInns X:MI200 Bit Chip Select IDENT MInns
$C080-$C0BF I990-999 $1 MACRO CS4 NA
$C0C0-$C0FF I990-999 $2 MACRO CS5 NA
NA NA $400 NA NA
NA NA $800 NA NA
$8000-$801F I900-1939
1
$4 CS2 I210 ($88C8)
$8040-$805F I900-1939 $8 CS3 I211 ($88CC)
$8020-$803F I900-1939 $1000 CS2 Aux I212 ($88E8)
$8060-$807F I900-1939 $2000 CS3 Aux I213 ($88EC)
$9000-$901F I900-1939 $10 CS2 I214 ($98C8)
$9040-$905F I900-1939 $20 CS3 I215 ($98CC)
$9020-$903F I900-1939 $4000 CS2 Aux I216 ($98E8)
$9060-$907F I900-1939 $8000 CS3 Aux I217 ($98EC)
$A000-$A01F I900-1939 $40 CS2 I218 ($A8C8)
$A040-$A05F I900-1939 $80 CS3 I219 ($A8CC)
$A020-$A03F I900-1939 $10000 CS2 Aux I220 ($A8E8)
$A060-$A07F I900-1939 $20000 CS3 Aux I221 ($A8EC)
$B000-$B01F I900-1939 $100 CS2 I222 ($B8C8)
$B040-$B05F I900-1939 $200 CS3 I223 ($B8CC)
$B020-$B03F I900-1939 $40000 CS2 Aux I224 ($B8E8)
$B060-$B07F I900-1939 $80000 CS3 Aux I225 ($B8EC)
At PWR ON ($$$), if the firmware auto-detection finds that the configuration has changed form the saved
on, a bit is set (CONFIG ERROR) in the System Status word (MI4).
If new GATES are detected at Power On (X:MI200) that were not previously saved (Y:MI200) in the
FLASH, they will be loaded with their DEFAULT values.
MS{anynode}, M201 – MI202 (Reserved for Future Use)
Range: 0
Units: Modified 16-Axis MACRO Station Addresses
Default: 0
MS{anynode}, MI203 Phase Period
Range: 0
Units: Clock units/2
Default: 0
MS{anynode}, MI204 Phase Execution Time
Range: 0
Units: Clock units/2
Default: 0
Phase duty cycle (%) = (MI203/MI204) * 100. It should be <= 50 %