Reference Manual

16-Axis MACRO CPU Software Reference Manual
42 16-Axis MACRO Station MI-Variable Reference
MS{node},MI914 Encoder n Gated Index Select
Range: 0 - 1
Units: none
0 = Use ungated index for encoder position capture
1 = Use index gated by quadrature channels for position capture
Default: 0
When MI914 is set to 0, the index channel input (CHCn) for the encoder mapped to the specified
MACRO node is passed directly into the position capture circuitry.
When MI914 is set to 1, the encoder index channel input (CHCn) is logically combined with (“gated by”)
the quadrature signals of Encoder n before going to the position capture circuitry. The intent is to get a
“gated index” signal exactly one quadrature state wide. This provides a more accurate and repeatable
capture, and makes the use of the capture function to confirm the proper number of counts per revolution
very straightforward.
In order for the gated index capture to work reliably, the index pulse must reliably span one, but only one,
“high-high” or “low-low” AB quadrature state of the encoder. MI915 allows you to select which of these
two possibilities is used.
MS{node},MI915 Encoder n Index Gate State
Range: 0 - 1
Units: none
0 = Gate index with “high-high” quadrature state (GI = A & B & C)
1 = Gate index with “low-low” quadrature state (GI = A/ & B/ & C)
Default: 0
When using the gated index feature of the 16-Axis MACRO Station for more accurate position capture
(see MI914), MI915 specifies whether the raw index-channel signal for the encoder mapped to the
specified MACRO node is passed through to the position capture signal only on the high-high quadrature
state, or only on the low-low quadrature state. If MI915 is set to 0, it is passed through only on the high-
high state; if MI915 is set to 1, it is passed through only on the “low-low” state.
MS{node},MI916 Output n Mode Select
Range: 0 - 3
Units: none
0 = Outputs A & B are PWM; Output C is PWM
1 = Outputs A & B are DAC; Output C is PWM
2 = Outputs A & B are PWM; Output C is PFM
3 = Outputs A & B are DAC; Output C is PFM
Default: 3
MI916 controls what output formats are used on the command output signal lines for machine interface
channel n. If a three-phase direct PWM command format is desired, MI916 should be set to 0. If signal
outputs for (external) digital-to-analog converters are desired, MI916 should be set to 1 or 3. In this case,
the C output can be used as a supplemental (non-servo) output in either PWM or PFM form. For
example, it can be used to excite an MLDT sensor (e.g. Temposonics
TM
) in PFM form.