Reference Manual

16-Axis MACRO CPU Software Reference Manual
84 16-Axis MACRO Station Memory and I/O Map
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 Handwheel 1 Channel A (HWAn) Input Value
13 Handwheel 1 Channel B (HWBn) Input Value
14 Handwheel 1 Channel C (Index, HWCn) 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
Chan # 1* 2*
Hex
[$C091] [$C099]
Y:$C09x Channel n* Encoder Time Since Last Encoder Count (SCLK cycles)
X:$C09x Channel n* Encoder Phase Position Capture Register (counts)
Chan # 1* 2*
Hex
[$C092] [$C09A]
Y:$C09x Channel n* Output A Command Value
Bits: 8-23: PWM Command Value
6-23: Serial DAC Command Value
0-5: Not Used
X:$C09x Channel n* Encoder Servo Position Capture Register
Bits: 0: Direction of last count (0=up, 1=down)
1-23: Position counter (units of counts)
Chan # 1* 2*
Hex
[$C093] [$C09B]
Y:$C09x Channel n* Output B Command Value
Bits: 8-23: PWM Command Value
6-23: Serial DAC Command Value
0-5: Not used
X:$C09x Channel n* Flag Position Capture Value; 24 bits, units of counts
Chan # 1* 2*
Hex
[$C094] [$C09C]
Y:$C09x Channel n* Output C Command Value
Bits: 8-23: PWM Command Value
0-23: PFM Command Value
X:$C094 Channel 1*-2* ADC Strobe Word, 24 bits
(Shifted out MSB first one bit per DAC_CLK cycle, starting on rising
edge of phase clock)
X:$C09C Channel 1*-2* PWM, PFM, MaxPhase Control Word