Reference Manual

16-Axis MACRO CPU Software Reference Manual
Table of Contents 5
MS{anynode},MI189 MACRO/Encoder IC #3 Base Address .........................................................................27
MS{anynode},MI190 MACRO/Encoder IC #4 Base Address .........................................................................27
MS{anynode},MI191 – MI196 Encoder Channels 9 – 14 Base Address ........................................................27
MS{anynode}, MI197 (Reserved for Future use)............................................................................................27
MACRO IC I/O Transfer MI-Variables ..................................................................................................................28
MS{anynode},MI198 Direct Read/Write Format and Address .......................................................................28
MS{anynode},MI199 Direct Read/Write Variable..........................................................................................30
Global MACRO, SERVO IC, I/O Identification and Status MI-Variables.............................................................30
MS{anynode},MI200 MACRO/SERVO ICs Detected & Saved.......................................................................30
MS{anynode}, M201 – MI202 (Reserved for Future Use)..............................................................................31
MS{anynode}, MI203 Phase Period ...............................................................................................................31
MS{anynode}, MI204 Phase Execution Time .................................................................................................31
MS{anynode}, MI205 Background Cycle Time...............................................................................................32
MS{anynode}, MI206 Maximum Background Cycle Time..............................................................................32
MS{anynode}, MI207 Identification break down............................................................................................32
MS{anynode}, MI208 User Ram Start ............................................................................................................32
MS{anynode}, MI209 CPU Identification.......................................................................................................32
MS{anynode}, M210 – MI225 Servo IC Identification Variables...................................................................33
MS{anynode}, M226 – MI249 (Reserved for Future Use)..............................................................................33
MS{anynode}, M250 – MI265 I/O Card Identification Variables ..................................................................33
MS{anynode},MI300 - MI899 (Reserved for future use) ................................................................................33
MACRO/SERVO IC 4-Axis Servo IC MI-variables...............................................................................................33
MS{anynode},MI900 PWM 1-4 Frequency Control .......................................................................................33
MS{anynode},MI903 Hardware Clock Control Channels 1-4........................................................................34
MS{anynode},MI904 PWM 1-4 Deadtime / PFM 1-4 Pulse Width Control...................................................35
MS{anynode},MI905 DAC 1-4 Strobe Word ..................................................................................................36
MS{anynode},MI906 PWM 5-8 Frequency Control ......................................................................................36
MS{anynode},MI907 Hardware Clock Control Channels 5-8........................................................................37
MS{anynode},MI908 PWM 5-8 Deadtime / PFM 5-8 Pulse Width Control...................................................38
MS{anynode},MI909 DAC 5-8 Strobe Word ..................................................................................................39
MACRO/SERVO IC Node-Specific Gate Array MI-variables...............................................................................39
MS{node},MI910 Encoder/Timer n Decode Control ......................................................................................39
MS{node},MI911 Position Compare n Channel Select...................................................................................40
MS{node},MI912 Encoder n Capture Control................................................................................................41
MS{node},MI913 Capture n Flag Select Control ...........................................................................................41
MS{node},MI914 Encoder n Gated Index Select ............................................................................................42
MS{node},MI915 Encoder n Index Gate State................................................................................................42
MS{node},MI916 Output n Mode Select .........................................................................................................42
MS{node},MI917 Output n Invert Control......................................................................................................43
MS{node},MI918 Output n PFM Direction Signal Invert Control .................................................................43
MS{node},MI919 Reserved for Future Use ....................................................................................................43
MS{node},MI920 Absolute Power-On Position (Read Only) .........................................................................43
MS{node},MI921 Flag Capture Position (Read Only) ...................................................................................44
MS{node},MI922 ADC A Input Value (Read Only) ........................................................................................44
MS{node},MI923 Compare Auto-Increment Value.........................................................................................44
MS{node},MI924 ADC B Input Value (Read Only) ........................................................................................44
MS{node},MI925 Compare A Position Value.................................................................................................44
MS{node},MI926 Compare B Position Value.................................................................................................44
MS{node},MI927 Encoder Loss Status Bit......................................................................................................45
MS{node},MI928 Compare-State Write Enable .............................................................................................45
MS{node},MI929 Compare-Output Initial State.............................................................................................45
MS{node},MI930 Absolute Power-On Position (Read Only) .........................................................................45
MS{node},MI931-MI937 (Reserved for Future use).......................................................................................46
MS{node},MI938 Servo IC Status Word (Read Only).....................................................................................46
MS{node},MI939 Servo IC Control Word (Read Only)..................................................................................46
MACRO/SERVO IC 4-Axis Servo IC MI-variables...............................................................................................46