Reference Manual

16-Axis MACRO CPU Software Reference Manual
16-Axis MACRO Station Memory and I/O Map 73
16-AXIS MACRO CPU STATION MEMORY AND I/O MAP
In the listing below, the hexadecimal address is listed first, followed by the decimal address in
parentheses.
Global Servo Calculation Registers
X/Y:$0000-$000F
Encoder Conversion (Interpolation) Table
X:$0010-$002F Converted encoder and time base data
(1824-1855)
Y:$0010-$002F Encoder conversion source and format
The format of the conversion table is:
Bits
Y:word 16-23 Conversion format:
$00 = 1/T incremental encoder
$10 = A/D register conversion
$20 = Unfiltered parallel Y word source*
$30 = Filtered parallel Y word source**
$40 = Time base*
$50 = Integrated A/D register conversion*
$60 = Unfiltered parallel X word source*
$70 = Filtered parallel X word source**
$80 = parallel interp. of incremental
$90 = Triggered time base; frozen*
$A0 = Triggered time base; running*
$B0 = Triggered time base; armed*
$C0 = no interp. of incremental encoder
$D0 = Exponential filter**
$E0 = Sum or difference of two entries
0-15 Address of source data
* Next Y word contains user-set constant for conversion (this is a double-entry conversion).
** Next two Y words contain user-set constants for conversion (this is a triple-entry conversion).
X:word 0-4 Fractional bits of converted data
5-23 Integer bits of converted data
(if last entry in conversion)
Intermediate value if not last entry in conversion
Refer to the detailed description of the encoder conversion table under "Feedback Features."
Display Output Buffer
Y: $00210 - $0025F ; Display 80 Character Output buffer
ASCII I/O Buffer
X: $00300 - $003FF ; ASCII Input buffer
Y: $00300 - $003FF ; ASCII Output buffer