Reference Manual

16-Axis MACRO CPU Software Reference Manual
16-Axis MACRO Station MI-Variable Reference 3
MS{anynode},MI5 Ring Error Counter
Range: $000000 - $FFFFFF
Units: Error Count
This variable, when queried, reports the number of ring communications errors detected by the 16-Axis
MACRO Station since the most recent power-up or reset.
Note:
It is possible to write a value to this variable, but this should not be done if you are
using MI6
The ring error counter value can be cleared to zero using the or MS$$${anynode} commands.
MS{anynode},MI6 Maximum Permitted Ring Errors in One Second
Range: $0000000 - $FFFFFFF
Units: Errors per second
Default:
This variable sets the maximum number of ring errors that can be detected by the 16-Axis MACRO
Station in a one second period without causing it to shut down for ring failure.
MS{anynode},MI7 (Reserved for future use)
Range: 0
Units: none
Default: 0
MS{anynode},MI8 MACRO Ring Check Period
Range: 0 - 255
Units: Station phase cycles
Default: 8
MI8 determines the period, in phase cycles, for the 16-Axis MACRO Station to evaluate whether there
has been a MACRO ring failure or not. Every phase cycle, the Station checks the ring communications
status. In MI8 phase cycles (or MACRO ring cycles), the Station must receive at least MI10 “sync
packets” and detect fewer than MI9 ring communications errors, to conclude that the ring is operating
correctly. Otherwise, it will conclude that the ring is not operating properly, set its servo command output
values to zero, set its amplifier enable outputs to the “disable” state, and force all of its digital outputs to
their “shutdown” state as defined by I72-I89, and report a ring fault.
If MI8 is set to 0 at power-on/reset, the 16-Axis MACRO Station will automatically set it to 8.
MS{anynode},MI9 MACRO Ring Error Shutdown Count
Range: 0 - 255
Units: none
Default: 4
MI9 determines the number of MACRO communications errors detected that will cause a shutdown fault
of the 16-Axis MACRO Station. If the Station detects MI9 or greater MACRO communications errors in
MI8 phase (MACRO ring) cycles, it will shut down on a MACRO communications fault, turning off all
outputs.
The Station can detect one ring communications error per phase cycle. Setting MI9 greater than MI8
means that the Station will never shut down for ring communications error.