Reference Manual

16-Axis MACRO CPU Software Reference Manual
16-Axis MACRO Station MI-Variable Reference 39
MS{anynode},MI909 DAC 5-8 Strobe Word
Range: $000000 - $FFFFFF
Units: Serial Data Stream (MSB first, starting on rising edge of phase clock)
Default: $7FFF00 (for 16-bit DAC data)
MI909 controls the DAC strobe signal for machine interface channels 5-8. The 24-bit word set by MI909
is shifted out serially on the DAC_STROB lines, MSB first, one bit per DAC_CLK cycle starting on the
rising edge of the phase clock. The value in the LSB is held until the next phase clock cycle. ACC-
24E2A backplane analog axis-interface boards have 18-bit DACs; MI909 should be set to $7FFFC0.
See Also: MI905, MI999
MACRO/SERVO IC Node-Specific Gate Array MI-variables
Each MACRO IC has a set of these node related variables. Up to two Servo IC are attached to each
MACRO IC. The base addresses of the two Servo ICs are defined by MI179 and MI180. MI179 defines
the SERVO IC base address for channels 1 – 4, from it the lower 24 bits (Y:part) of MI181 – MI184 are
generated. MI180 defines the SERVO IC base address for channels 5 – 8, from it the lower 24 bits
(Y:part) of MI185 – MI188 are generated. The lower 24 bits (Y:part) of MI181 – MI188 define the base
address for each of the eight node-specific hardware interface channels. MI-variables MI910 through
MI919 on the 16-Axis MACRO Station control the hardware setup of these channels.
These variables are accessed using the MS station auxiliary read and write commands. The number
immediately after the MS specifies the node number, and therefore the channel number mapped to that
node by the SW1 setting.
MS{node},MI910 Encoder/Timer n Decode Control
Range: 0 - 15
Units: None
Default: 7
MI910 controls how the input signal for the encoder mapped to the specified node is decoded into counts.
As such, this defines the sign and magnitude of a “count”. The following settings may be used to decode
an input signal.
0: Pulse and direction CW
1: x1 quadrature decode CW
2: x2 quadrature decode CW
3: x4 quadrature decode CW
4: Pulse and direction CCW
5: x1 quadrature decode CCW
6: x2 quadrature decode CCW
7: x4 quadrature decode CCW
8: Internal pulse and direction
9: Not used
10: Not used
11: x6 hall format decode CW
12: MLDT pulse timer control
(internal pulse resets timer; external pulse latches timer)
13: Not used
14: Not used
15: x6 hall format decode CCW