Reference Manual

16-Axis MACRO CPU Software Reference Manual
6 Table of Contents
MS{anynode},MI940 ADC1-4 Strobe Word ...................................................................................................46
MS{anynode},MI941 ADC5-8 Strobe Word ...................................................................................................46
MACRO IC MI-variables........................................................................................................................................46
MS{anynode},MI942 ADC Strobe Word Channel 1* & 2* (Not used)...........................................................46
MS{anynode},MI943 Phase and Servo Direction...........................................................................................47
MS{anynode},MI944-MI949 (Reserved for future use) ..................................................................................47
MACRO IC Setup MI-variables..............................................................................................................................47
MS{anynode},MI970-MI973 (Reserved for Future Use) ................................................................................47
MS{anynode},MI1974 Station Display Status (Read Only) ............................................................................47
MS{anynode},MI975 MACRO IC 0 I/O Node Enable ....................................................................................47
MS{anynode},MI976 MACRO IC 0 Motor Node Disable...............................................................................48
MS{anynode},MI977 Motor Nodes Reporting Ring Break .............................................................................48
MS{anynode},MI978-MI986 (Reserved for future use) ..................................................................................49
MACRO IC A/D Converter Demultiplex Control...................................................................................................49
MS{anynode},MI987 A/D Input Enable..........................................................................................................49
MS{anynode},MI988 A/D Unipolar/Bipolar Control .....................................................................................49
MS{anynode},MI989 A/D Source Address......................................................................................................49
MACRO IC MI-Variables.......................................................................................................................................50
MS{anynode},MI992 MaxPhase Frequency Control......................................................................................50
MS{anynode},MI993 Hardware Clock Control Handwheel Channels...........................................................50
MS{anynode},MI994 PWM Deadtime / PFM Pulse Width Control for Handwheel.....................................52
MS{anynode},MI995 MACRO Ring Configuration/Status .............................................................................53
MS{anynode},MI996 MACRO Node Activate Control ...................................................................................53
MS{anynode},MI997 Phase Clock Frequency Control...................................................................................55
MS{anynode},MI998 Servo Clock Frequency Control ...................................................................................55
MS{anynode},MI999 Handwheel DAC Strobe Word (Not used) ....................................................................56
16-AXIS MACRO CPU STATION MM AND MP-VARIABLES........................................................................57
16-AXIS MACRO CPU STATION MACPLCCS ..................................................................................................59
Requirements...........................................................................................................................................................59
Arithmetic Data Types ............................................................................................................................................59
MACRO MI Integer Variables (n = 0 – 1099) ........................................................................................................59
MACRO MM and MP Integer Variables (n = 0 – 511) ..........................................................................................59
MACROPlcc Ln Integer Variables (n = 0 – 511)....................................................................................................59
Direct Memory Addressing for Integer Ln & Ln[] Variable Definitions............................................................59
Standard MACRO Program Commands .................................................................................................................59
Special MACRO Program Commands....................................................................................................................60
Valid Math, Assignment and Conditional Operators ..............................................................................................60
Valid Expressions and Arrays .................................................................................................................................60
Ln Arrays Definition Examples...............................................................................................................................60
Example Program....................................................................................................................................................60
MACRO PLCC Code Memory ...............................................................................................................................60
MAC PLCC Related ASCII Commands .................................................................................................................61
16-AXIS MACRO CPU STATION SERIAL COMMANDS.................................................................................63
$$$ Station Reset .............................................................................................................................................63
$$$*** Station Re-initialize ...............................................................................................................................63
CHN Report Channel Number ...........................................................................................................................63
CID Report Card ID Number............................................................................................................................63
CLRF Clear Station Faults................................................................................................................................63
DATE Report Firmware Date ...........................................................................................................................63
DISABLE PLCC or CNTRL D Disables PLCC .................................................................................................63
ENABLE PLCC Enables PLCC..........................................................................................................................63
MI{constant} Report Station MI-Variable Value............................................................................................63
MI{constant}={constant} Set Station MI-Variable Value ..................................................................................64
MM{constant} Report Station MM-Variable Value .........................................................................................64