Reference Manual

16-Axis MACRO CPU Software Reference Manual

54 16-Axis MACRO Station MI-Variable Reference

The bits of MI996 are arranged as follows:

Bit # Value Type Function

0 1($1) Config Node 0 Activate

1 2($2) Config Node 1 Activate

2 4($4) Config Node 2 Activate

3 8($8) Config Node 3 Activate

4 16($10) Config Node 4 Activate

5 32($20) Config Node 5 Activate

6 64($40) Config Node 6 Activate

7 128($80) Config Node 7 Activate

8 256($100) Config Node 8 Activate

9 512($200) Config Node 9 Activate

10 1024($400) Config Node 10 Activate

11 2048($800) Config Node 11 Activate

12 4096($1000) Config Node 12 Activate

13 8192($2000) Config Node 13 Activate

14 16384($4000) Config Node 14 Activate

15 32768($8000) Config Node 15 Activate

16-19 $X0000 Config Packet Sync Node Slave Address (0 - 15)

20-23 $X00000 Config Master Station Number (0-15)

Bits 0 to 15 are individual control bits for the matching node number 0 to 15. If the bit is set to 1, the

node is activated; if the bit is set to 0, the node is de-activated. On power-up reset, these bits are set as

defined by the SW1 setting, with some motor nodes possibly disabled by MI976, and some I/O nodes

possibly enabled by MI975. Node 15 should always be activated to support the Type 1 auxiliary

communications.

Bits 16-19 specify the slave number of the packet which will generate the “sync pulse” on the 16-Axis

MACRO Station. This is always set to 15 ($F) on the 16-Axis MACRO Station.

Bits 20-23 specify the master number (0-15) for the 16-Axis MACRO Station. At power-up/reset, these

bits get the value set by SW2. The number must be specified whether the card is a master station or a

slave station.

Bit

Hex ($) 000

000

Slave node Enables

Sync node

ddress

Master

ddress (0-15)

(0-15)