Reference Manual

16-Axis MACRO CPU Software Reference Manual
16-Axis MACRO Station MI-Variable Reference 49
MI977 is a 16-bit value – bits 0 to 15 – with bit n controlling the enabling of MACRO node n on a ring
break If the bit is set to 0, the node will not be enabled on a ring break; if the bit is set to 1, the node will
be enabled on a ring break. The motor nodes on the 16-Axis MACRO Station are nodes 0, 1, 4, 5, 8, 9,
12, and 13, which can be enable on ring break by MI977 bits of these numbers. Only bits 0, 1, 4, 5, 8, 9,
12, and 13 of MI975 should ever be set to 1.
Examples:
MS0,MI977=$3300 ; Enable Motor Nodes 8, 9, 12, and 13 on ring break
MS8,MI977=$0033 ; Enable Motor Nodes 0, 1, 4, and
5 on ring break
MS{anynode},MI978-MI986 (Reserved for future use)
MACRO IC A/D Converter Demultiplex Control
Each MACRO IC (0 and 1) has its own set of these variables and is accessed from each MACRO IC.
MS{anynode},MI987 A/D Input Enable
Range: 0 - 1
Units: none
Default: 0
MI987 controls whether the 16-Axis MACRO Station will read an A/D backplane board). If MI987 is set
to 1, the Station will read these A/D converters at a high rate, copying new data every phase cycle into
each of the Y-registers $0200 to $0207 for MACRO IC 0 and &208 to $20F for MACRO IC 1. If MI987
is set to 0, the Station will ignore the A/D converters, even if they are physically present on the Station.
MS{anynode},MI988 A/D Unipolar/Bipolar Control
Range: $00 - $FF
Units: none
Default: $00
MI988 controls whether the 12-bit A/D converters are set up for unipolar (0 to +20V) or bipolar (-10 to
+10V) inputs. MI988 consists of 8 bits; each bit controls the setup of a pair of A/D converters. A value
of 0 in the bit sets up the A/D converters for unipolar inputs; a value of 1 in the bits sets up the A/D
converters for bipolar inputs.
The following table shows which bits of MI988 control which A/D converters:
MI998 Bit # Hex Bit
Value
1
st
ADC 2
nd
ADC
0 1 ANAI00 ANAI08
1 2 ANAI01 ANAI09
2 4 ANAI02 ANAI10
3 8 ANAI03 ANAI11
4 10 ANAI04 ANAI12
5 20 ANAI05 ANAI13
6 40 ANAI06 ANAI14
7 80 ANAI07 ANAI15
MS{anynode},MI989 A/D Source Address
Range: $0000 - $FFFF
Units: Station Y-addresses
Default: $0