Reference Manual

16-Axis MACRO CPU Software Reference Manual
16-Axis MACRO Station Memory and I/O Map 85
Bits: 0-7: PWM Dead Time (16*PWM CLK cycles)
also PFM pulse width (PFM CLK cycles)
8-23: PWM Max Count Value
PWM Frequency = 117.96MHz / [10(MaxCount+1)]
"MaxPhase" Frequency = 2*PWM* Frequency
Chan # 1* 2*
Hex
[$C095] [$C09D]
Y:$C09x Supplementary Channel n* ADC A Input Value
Bits: 6-23: Serial ADC Value
0-5: Not used
X:$C09x Channel n* Control Word
Bits 0-1: Encoder Decode Control
00: Pulse and direction decode
01: x1 quadrature decode
10: x2 quadrature decode
11: x4 quadrature decode
2-3: Direction & Timer Control
00: Standard timer control, external signal source, no inversion
01: Standard timer control, external signal source, invert direction
10: Standard timer control, internal PFM source, no inversion
11: Alternate timer control, external signal source
4-5: Position Capture Control
00: Software capture (by setting bit 6)
01: Use encoder index alone
10: Use capture flag alone
11: Use encoder index and capture flag
6: Index Capture Invert Control (0=no inversion, 1=inversion)
7: Flag Capture Invert Control (0=no inversion, 1=inversion)
8-9: Capture Flag Select Control
00: Home Flag (HMFLn)
01: Positive Limit (PLIMn)
10: Negative Limit (MLIMn)
11: User Flag (USERn)
10: Encoder Counter Reset Control (1=reset)
11: Position Compare Initial State Write Enable
12: Position Compare Initial State Value
13: Position Compare Channel Select
(0= use this channel's encoder; 1=use first encoder on IC)
14: AENAn output value
15: Gated Index Select for Position Capture
(0=ungated index, 1=gated index)
16: Invert AB for Gated Index
(0: Gated Signal=A&B&C; 1: Gated Signal=A/&B/&C)
17: Index channel demultiplex control (0=no demux, 1=demux)
18: Reserved for future use (reports as 0)
19: Invert PFM Direction Control (0=no inversion, 1=invert)
20: Invert A & B Output Control (0=no inversion, 1=invert)
21: Invert C Output Control (0=no inversion, 1=invert)
22: Output A & B Mode Select (0=PWM, 1=DAC)