Reference Manual

16-Axis MACRO CPU Software Reference Manual
46 16-Axis MACRO Station MI-Variable Reference
MS{node},MI931-MI937 (Reserved for Future use)
MS{node},MI938 Servo IC Status Word (Read Only)
Range: 0 – $FFFFFF
Units:
Default:
This variable allows you to read the entire 24 bits of the Servo IC channel status register.
MS{node},MI939 Servo IC Control Word (Read Only)
Range: 0 – $FFFFFF
Units:
Default:
This variable allows you to read the entire 24 bits of the Servo IC channel command register
MACRO/SERVO IC 4-Axis Servo IC MI-variables
Each MACRO IC has a set of these 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 base address of
the Servo IC that contains channels 1 – 4 and MI180 defines the base address of the Servo IC that
contains channels 5 – 8.
MS{anynode},MI940 ADC1-4 Strobe Word
Range: $000000 - $FFFFFF
Units: Individual Bits
Default: $FFFFFE
MI940 specifies the strobe word for the serial A/D converters connected to the first 4-axis interface board
defined by MI179. The bits of the strobe word are shifted out, one bit per ADC_CLK cycle, MSB first,
starting on the rising edge of the phase clock. The default value is suitable both for current-feedback
ADCs on ACC-8K boards or in most direct PWM amplifiers, and for ACC-28B general-purpose ADCs.
MS{anynode},MI941 ADC5-8 Strobe Word
Range: $000000 - $FFFFFF
Units: Individual Bits
Default: $FFFFFE
MI941 specifies the strobe word for the serial A/D converters connected to the second 4-axis interface
board defined by MI180. The bits of the strobe word are shifted out, one bit per ADC_CLK cycle, MSB
first, starting on the rising edge of the phase clock. The default value is suitable both for current-feedback
ADCs on ACC-8K boards or in most direct PWM amplifiers, and for ACC-28B general-purpose ADCs.
MACRO IC MI-variables
Each MACRO IC has a set of these variables and they are used to setup each MACRO IC.
MS{anynode},MI942 ADC Strobe Word Channel 1* & 2* (Not used)
Range: $000000 - $FFFFFF
Units: Individual Bits
Default: $FFFFFE