Reference Manual

16-Axis MACRO CPU Software Reference Manual
74 16-Axis MACRO Station Memory and I/O Map
MM and MP Variables Table
X: $00400 - $005FF ; MP Variables (0-511)
Y: $00400 - $005FF ; MM Variable Definitions (0-511)
Open Memory
X: $00700 - $007FF ; Open Memory
Y: $00700 - $007FF ; Open Memory
DSPGATE1 Registers
Note:
The 16-Axis MACRO Station can support with its automatic servo functions up to
16 servo interface channels on four 4-channel DSPGATE1 ICs. Four Servo IC
boards with DSPGATE1 ICs can be installed on the backplane. Registers on
boards not used by automatic servo functions can be used with Station I/O copying
operations.
• UBUS Addresses are selected using SW1 through SW6 on the Servo IC card
Servo
IC #
Chan. 1 Chan. 2 Chan. 3 Chan. 4 Notes
2 $8000 $8008 $8010 $8018 1
st
ACC-24E2x Channel n Flag Set
3 $8040 $8048 $8050 $8058 2
nd
ACC-24E2x Channel n Flag Set
4 $9000 $9008 $9010 $9018 3
rd
ACC-24E2x Channel n Flag Set
5 $9040 $9048 $9050 $9058 4
th
ACC-24E2x Channel n Flag Set
Y:$8xxx or Y:$9xxx Channel n Time between last two encoder counts (SCLK cycles)
X:$8xxx or X:$9xxx Channel n Status Word
Bits: 0-2 Capture Hall Effect Device State
3 Invalid demultiplex of C, U, V, and W
4-7 Not used (reports as 0)
8 Encoder Count Error (0 on counter reset, 1 on illegal transition)
(MS{node},MI927)
9 Position Compare (EQUn) output value
10 Position-Captured-On-Gated-Index Flag
(=0 on read of captured position register, =1 on trigger capture)
11 Position-Captured Flag (on any trigger)
(=0 on read of captured position register, =1 on trigger capture)
12 Encoder Channel A (CHAn) Input Value
13 Encoder Channel B (CHBn) Input Value
14 Encoder Channel C (Index, CHCn) Input Value (ungated)
15 Amplifier Fault (FAULTn) Input Value
16 Home Flag (HMFLn) Input Value
17 Positive End Limit (PLIMn) Input Value
18 Negative End Limit (MLIMn) Input Value
19 User Flag (USERn) Input Value
20 FlagWn Input Value
21 FlagVn Input Value
22 FlagUn Input Value
23 FlagTn Input Value