Reference Manual

16-Axis MACRO CPU Software Reference Manual
78 16-Axis MACRO Station Memory and I/O Map
21: Invert C Output Control (0=no inversion, 1=invert)
(Bits 22-23: MS{node},MI916)
22: Output A & B Mode Select (0=PWM, 1=DAC)
23: Output C Mode Select (0=PWM, 1=PFM)
Servo
IC #
Chan. 1
Chan. 2
Chan. 3 Chan. 4 Notes
2 $8006 $800E $8016 $801E 1
st
ACC-24E2x
3 $8046 $804E $8056 $805E 2
nd
ACC-24E2x
4 $9006 $900E $9016 $901E 3
rd
ACC-24E2x
5 $9046 $904E $9056 $905E 4
th
ACC-24E2x
Y:$8xxx or Y:$9xxx Channel n ADC B Input Value (MS{node},MI924)
Bits: 6-23: Serial ADC Value
0-5: Not used
X:$8xxx or X:$9xxx Channel n Encoder Compare Auto-increment value (24 bits, units of counts)
(MS{node},MI923)
Servo
IC #
Chan. 1
Chan. 2
Chan. 3 Chan. 4 Notes
2 $8007 $800F $8017 $801F 1
st
ACC-24E2x
3 $8047 $804F $8057 $805F 2
nd
ACC-24E2x
4 $9007 $900F $9017 $901F 3
rd
ACC-24E2x
5 $9047 $904F $9057 $905F 4
th
ACC-24E2x
Y:$8xxx or Y:$9xxx Channel n Encoder Compare A Value (24 bits, units of counts)
(MS{node},MI925)
X:$8xxx or X:$9xxx Channel n Encoder Compare B Value (24 bits, units of counts)
(MS{node},MI926)
MACRO UBUS Port I/O Registers
Note:
Presently, ACC-9E, 10E, 11E, and 12E boards make no distinction between A, B,
C, and D base addresses, because they do not use address lines A13 and A12.. If
one of these boards is set up for a certain base address 0, 2, 4, or 6, it will respond
to any of the four possible settings for this address (A, B, C, or D), and no other
board may be placed at any of the settings for this numerical base address.
X/Y:$8800 UBUS Port I/O Base Address 0A (CS10, A13=0, A12=0)
X/Y:$8840 UBUS Port I/O Base Address 2A (CS12, A13=0, A12=1)
X/Y:$8880 UBUS Port I/O Base Address 4A (CS14, A13=1, A12=0)
X/Y:$88C0 UBUS Port I/O Base Address 6A (CS16, A13=1, A12=1)
X/Y:$9800 UBUS Port I/O Base Address 0B (CS10, A13=0, A12=0)
X/Y:$9840 UBUS Port I/O Base Address 2B (CS12, A13=0, A12=1)
X/Y:$9880 UBUS Port I/O Base Address 4B (CS14, A13=1, A12=0)
X/Y:$98C0 UBUS Port I/O Base Address 6B (CS16, A13=1, A12=1)
X/Y:$A800 UBUS Port I/O Base Address 0C (CS10, A13=0, A12=0)
X/Y:$A840 UBUS Port I/O Base Address 2C (CS12, A13=0, A12=1)
X/Y:$A880 UBUS Port I/O Base Address 4C (CS14, A13=1, A12=0)
X/Y:$A8C0 UBUS Port I/O Base Address 6C (CS16, A13=1, A12=1)
X/Y:$B800 UBUS Port I/O Base Address 0D (CS10, A13=0, A12=0)