Reference Manual

16-Axis MACRO CPU Software Reference Manual
16-Axis MACRO Station Memory and I/O Map 75
Servo
IC #
Chan. 1 Chan. 2 Chan. 3 Chan. 4 Notes
2 $8001 $8009 $8011 $8019 1
st
ACC-24E2x
3 $8041 $8049 $8051 $8059 2
nd
ACC-24E2x
4 $9001 $9009 $9011 $9019 3
rd
ACC-24E2x
5 $9041 $9049 $9051 $9059 4
th
ACC-24E2x
Y:$8xxx or Y:$9xxx Channel n Time since last encoder count (SCLK cycles)
X:$8xxx or X:$9xxx Channel n Encoder phase position (counts)
Servo
IC #
Chan. 1 Chan. 2 Chan. 3 Chan. 4 Notes
2 $8002 $800A $8012 $801A 1
st
ACC-24E2x
3 $8042 $804A $8052 $805A 2
nd
ACC-24E2x
4 $9002 $900A $9012 $901A 3
rd
ACC-24E2x
5 $9042 $904A $9052 $905A 4
th
ACC-24E2x
Y:$8xxx or Y:$9xxx Channel n Output A Command Value
Bits: 8-23: PWM Command Value
6-23: Serial DAC Command Value
0-5: Not Used
X:$8xxx or X:$9xxx Channel n Encoder Servo Position Capture Register
Bits: 0: Direction of last count (0=up, 1=down)
1-23: Position counter (units of counts)
Servo
IC #
Chan. 1 Chan. 2 Chan. 3 Chan. 4 Notes
2 $8003 $800B $8013 $801B 1
st
ACC-24E2x
3 $8043 $804B $8053 $805B 2
nd
ACC-24E2x
4 $9003 $900B $9013 $901B 3
rd
ACC-24E2x
5 $9043 $904B $9053 $905B 4
th
ACC-24E2x
Y:$8xxx or Y:$9xxx Channel n Output B Command Value
Bits: 8-23: PWM Command Value
6-23: Serial DAC Command Value
0-5: Not used
X:$8xxx or X:$9xxx Channel n Flag Position Capture Value; 24 bits, in counts (MS{node},
MI921)
Servo
IC #
Chan. 1
Chan. 2
Chan. 3 Chan. 4 Notes
2 $8004 $800C $8014 $801C 1
st
ACC-24E2x
3 $8044 $804C $8054 $805C 2
nd
ACC-24E2x
4 $9004 $900C $9014 $901C 3
rd
ACC-24E2x
5 $9044 $904C $9054 $905C 4
th
ACC-24E2x
Y:$8xxx or Y:$9xxx Channel n Output C Command Value
Bits: 8-23: PWM Command Value
0-23: PFM Command Value
X:$8xxx or X:$9xxx IC Global Control Word
Backplane Channel 1: X:$8004; Backplane Channel 5: X:$8044:
Backplane Channel 9: X:$9004; Backplane Channel 13: X:$9044:
Clock Control Word
(X:$8004 controls backplane channels 1-4; X:$80444 controls backplane channels 5-8)