Reference Manual

16-Axis MACRO CPU Software Reference Manual
4 Table of Contents
Table of Contents
16-AXIS MACRO STATION MI-VARIABLE REFERENCE...............................................................................1
Global MI-Variables .................................................................................................................................................1
MS{anynode},MI0 Station Firmware Version (Read Only).............................................................................1
MS{anynode},MI1 Station Firmware Date (Read Only)..................................................................................1
MS{anynode},MI2 Station ID and User Configuration Word .........................................................................1
MS{anynode},MI3 Station Rotary Switch Setting ............................................................................................2
MS{anynode},MI4 Station Status Word (Read Only).......................................................................................2
MS{anynode},MI5 Ring Error Counter ...........................................................................................................3
MS{anynode},MI6 Maximum Permitted Ring Errors in One Second ..............................................................3
MS{anynode},MI7 (Reserved for future use) ...................................................................................................3
MS{anynode},MI8 MACRO Ring Check Period..............................................................................................3
MS{anynode},MI9 MACRO Ring Error Shutdown Count ...............................................................................3
MS{anynode},MI10 MACRO Sync Packet Shutdown Count............................................................................4
MS{anynode},MI11 Station Order Number .....................................................................................................4
MS{anynode},MI12 Card Identification ..........................................................................................................5
MS{anynode},MI13 Display Enable and Type.................................................................................................5
MS{anynode},MI14 MACRO IC Source of Phase Clock .................................................................................5
MS{anynode},MI15 Enable MACRO Plcc.......................................................................................................5
MACRO IC Global Channel Status Setup MI-Variables ..........................................................................................5
MS{anynode},MI16 Encoder-Fault Reporting Control ...................................................................................5
MS{anynode},MI17 Amplifier Fault Disable Control......................................................................................6
MS{anynode},MI18 Amplifier Fault Polarity ..................................................................................................7
Global I/O Transfer MI-Variables.............................................................................................................................7
MS{anynode},MI19 I/O Data Transfer Period ................................................................................................7
MS{anynode},MI20 Data Transfer Enable Mask ............................................................................................7
MS{anynode},MI21-MI68 Data Transfer Source and Destination Address .....................................................8
MACRO IC I/O Transfer MI-Variables ....................................................................................................................9
MS{anynode},MI69, MI70 I/O-Board 16-Bit Transfer Control.......................................................................9
MS{anynode},MI71 I/O-Board 24-Bit Transfer Control ...............................................................................11
MS{anynode},MI72-MI89 Output Power-On/Shutdown State.......................................................................12
MS{anynode},MI90 Y:MTR Servo Channel Disable and MI996 Enable.......................................................12
MS{anynode},MI91 - MI98 Phase Interrupt 24 Bit Data Copy .....................................................................13
MS{anynode},MI99 (Reserved for Future Use) .............................................................................................13
MACRO IC Position Processing MI-Variables.......................................................................................................13
MS{anynode},MI101-MI108 Ongoing Position Source Address ....................................................................13
MS{anynode},MI109 - MI110 (Reserved for Future Use) ..............................................................................14
MS{anynode},MI111-MI118 Power-Up Position Source Address .................................................................14
MS{anynode},MI119 (Reserved for Future Use) ..........................................................................................15
MS{anynode},MI120-MI151 Encoder Conversion Table Entries...................................................................15
MS{anynode},MI152 - MI153 Phase-Clock Latched I/O................................................................................21
MS{anynode},MI154 - MI160 (Reserved for Future Use) ..............................................................................22
MS{anynode},MI161-MI168 MLDT Frequency Control ................................................................................22
MACRO IC I/O Transfer MI-Variables ..................................................................................................................23
MS{anynode},MI169, MI170 I/O-Board 72-Bit Transfer Control..................................................................23
MS{anynode},MI171, MI172, MI173 I/O-Board 144-Bit Transfer Control ...................................................24
MS{anynode},MI174 – MI175 (12 Bit A/D Transfer ......................................................................................26
MACRO IC Node & Servo Channel Address MI-Variables...................................................................................26
MS{anynode},MI176 MACRO IC Base Address.............................................................................................26
MS{anynode},MI177 MACRO IC Address for Node 14..................................................................................26
MS{anynode},MI178 MACRO IC Address for Node 15..................................................................................26
MS{anynode},MI179 MACRO/SERVO IC #1 Base Address...........................................................................26
MS{anynode},MI180 MACRO/SERVO IC #2 Base Address...........................................................................27
MS{anynode},MI181 – MI188 MACRO/SERVO Channels 1 - 8 Address ......................................................27