Reference Manual

16-Axis MACRO CPU Software Reference Manual
16-Axis MACRO Station Memory and I/O Map 77
Servo
IC #
Chan. 1
Chan. 2
Chan. 3 Chan. 4 Notes
2 $8005 $800D $8015 $801D 1
st
ACC-24E2x
3 $8045 $804D $8055 $805D 2
nd
ACC-24E2x
4 $9005 $900D $9015 $901D 3
rd
ACC-24E2x
5 $9045 $904D $9055 $905D 4
th
ACC-24E2x
Y:$8xxx or Y:$9xxx Channel n ADC A Input Value (MS{node},MI922}
Bits: 6-23: Serial ADC Value
0-5: Not used
X:$8xxx or X:$9xxx Channel n Control Word
(Bits 0-3: MS{node},MI910)
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 (MS{node},MI912)
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 (MS{node},MI913)
00: Home Flag (HMFLn)
01: Positive End Limit (PLIMn)
10: Negative End Limit (MLIMn)
11: User Flag (USERn)
10: Encoder Counter Reset Control (1=reset)
11: Position Compare Initial State Write Enable (MS{node},MI928)
12: Position Compare Initial State Value (MS{node},MI929)
13: Position Compare Channel Select (MS{node},MI911)
(0 = use this channel’s encoder; 1 = use first encoder on IC)
14: AENAn output value
15: Gated Index Select for Position Capture (MS{node},MI914)
(0=ungated index, 1=gated index)
16: Invert AB for Gated Index (MS{node},MI915)
(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)
(MS{node},MI918)
(Bits 20-21: MS{node},MI917)
20: Invert A & B Output Control (0=no inversion, 1=invert)