Reference Manual

16-Axis MACRO CPU Software Reference Manual
Table of Contents 7
MM{constant}={constant} Set Station MM-Variable Value..............................................................................64
MP{constant} Report Station MP-Variable Value...........................................................................................64
MP{constant}={constant} Set Station MP-Variable Value ................................................................................64
MM{constant}-> Report Station MM-Variable Definition.................................................................................64
MM{constant}->{X/Y:offset,width,format} Set Station MM-Variable Definition ............................................64
R{address} Read Station Address...................................................................................................................64
SAVE Save Station MI-variables......................................................................................................................64
SID Reports Serial Identification Number........................................................................................................65
VERS Report Firmware Version ......................................................................................................................65
VID Report Vendor ID Number........................................................................................................................65
W{address},{value} Write Value to Station Address .........................................................................................65
TURBO PMAC TYPE 1 16-AXIS MACRO CPU STATION COMMANDS ......................................................67
On-Line Commands ................................................................................................................................................67
MS Command .....................................................................................................................................................67
MS Variable Read...............................................................................................................................................68
MS Variable Write ..............................................................................................................................................68
MS Variable Read Copy .....................................................................................................................................69
MS Variable Write Copy.....................................................................................................................................69
Turbo PMAC PLC Commands for Type 1 16-Axis MACRO Stations...................................................................70
MS Variable Read Copy .....................................................................................................................................70
MS Variable Write Copy.....................................................................................................................................70
16-AXIS MACRO CPU STATION MEMORY AND I/O MAP ...........................................................................73
Global Servo Calculation Registers.........................................................................................................................73
Encoder Conversion (Interpolation) Table..............................................................................................................73
Display Output Buffer.............................................................................................................................................73
ASCII I/O Buffer.....................................................................................................................................................73
MM and MP Variables Table..................................................................................................................................74
Open Memory .........................................................................................................................................................74
DSPGATE1 Registers .............................................................................................................................................74
MACRO UBUS Port I/O Registers.........................................................................................................................78
DSPGATE2 Registers .............................................................................................................................................79
DSPGATE2 Channel 1* and Channel 2*................................................................................................................83
MACRO CPU Node Addresses ..............................................................................................................................86