Delta Tau 16-AXIS MACRO CPU Reference Manual

^1 SOFTWARE REFERENCE MANUAL

^2 16-AXIS MACRO CPU

^3 16-Axis MACRO CPU

^4 3Ax-603719-xSxx

^5 April 4, 2007

Single Source Machine Control Power // Flexibility // Ease of Use

21314 Lassen Street Chatsworth, CA 91311 // Tel. (818) 998-2095 Fax. (818) 998-7807 // www.deltatau.com

This document is furnished for the customers of Delta Tau Data Systems, Inc. Other uses are unauthorized without written permission of Delta Tau Data Systems, Inc. Information contained in this manual may be updated from time-to-time due to product improvements, etc., and may not conform in every respect to former issues.

To report errors or inconsistencies, call or email:

Delta Tau Data Systems, Inc. Technical Support

Phone: (818) 717-5656 Fax: (818) 998-7807 Email: support@deltatau.com Website: http://www.deltatau.com

Operating Conditions

All Delta Tau Data Systems, Inc. motion controller products, accessories, and amplifiers contain static sensitive components that can be damaged by incorrect handling. When installing or handling Delta Tau Data Systems, Inc. products, avoid contact with highly insulated materials. Only qualified personnel should be allowed to handle this equipment.

In the case of industrial applications, we expect our products to be protected from hazardous or conductive materials and/or environments that could cause harm to the controller by damaging components or causing electrical shorts. When our products are used in an industrial environment, install them into an industrial electrical cabinet or industrial PC to protect them from excessive or corrosive moisture, abnormal ambient temperatures, and conductive materials. If Delta Tau Data Systems, Inc. products are exposed to hazardous or conductive materials and/or environments, we cannot guarantee their operation.

REVISION HISTORY

REV. DESCRIPTION DATE CHG APPVD

1 UPDATED MI4 FAULT DESCRIPTION, P. 2 04/04/07 CP B.PEDERSEN

16-Axis MACRO CPU Software Reference Manual

Table of Contents

16-AXIS MACRO STATION MI-VARIABLE REFERENCE...............................................................................1

Global MI-Variables .................................................................................................................................................1

MS{anynode},MI0 Station Firmware Version (Read Only).............................................................................1

MS{anynode},MI1 Station Firmware Date (Read Only)..................................................................................1

MS{anynode},MI2 Station ID and User Configuration Word .........................................................................1

MS{anynode},MI3 Station Rotary Switch Setting ............................................................................................2

MS{anynode},MI4 Station Status Word (Read Only).......................................................................................2

MS{anynode},MI5 Ring Error Counter ...........................................................................................................3

MS{anynode},MI6 Maximum Permitted Ring Errors in One Second..............................................................3

MS{anynode},MI7 (Reserved for future use) ...................................................................................................3

MS{anynode},MI8 MACRO Ring Check Period..............................................................................................3

MS{anynode},MI9 MACRO Ring Error Shutdown Count ...............................................................................3

MS{anynode},MI10 MACRO Sync Packet Shutdown Count............................................................................4

MS{anynode},MI11 Station Order Number .....................................................................................................4

MS{anynode},MI12 Card Identification ..........................................................................................................5

MS{anynode},MI13 Display Enable and Type.................................................................................................5

MS{anynode},MI14 MACRO IC Source of Phase Clock .................................................................................5

MS{anynode},MI15 Enable MACRO Plcc.......................................................................................................5

MACRO IC Global Channel Status Setup MI-Variables..........................................................................................5

MS{anynode},MI16 Encoder-Fault Reporting Control ...................................................................................5

MS{anynode},MI17 Amplifier Fault Disable Control......................................................................................6

MS{anynode},MI18 Amplifier Fault Polarity ..................................................................................................7

Global I/O Transfer MI-Variables.............................................................................................................................7

MS{anynode},MI19 I/O Data Transfer Period ................................................................................................7

MS{anynode},MI20 Data Transfer Enable Mask ............................................................................................7

MS{anynode},MI21-MI68 Data Transfer Source and Destination Address .....................................................8

MACRO IC I/O Transfer MI-Variables....................................................................................................................9

MS{anynode},MI69, MI70 I/O-Board 16-Bit Transfer Control.......................................................................9

MS{anynode},MI71 I/O-Board 24-Bit Transfer Control ...............................................................................11

MS{anynode},MI72-MI89 Output Power-On/Shutdown State.......................................................................12

MS{anynode},MI90 Y:MTR Servo Channel Disable and MI996 Enable.......................................................12

MS{anynode},MI91 - MI98 Phase Interrupt 24 Bit Data Copy.....................................................................13

MS{anynode},MI99 (Reserved for Future Use).............................................................................................13

MACRO IC Position Processing MI-Variables.......................................................................................................13

MS{anynode},MI101-MI108 Ongoing Position Source Address ....................................................................13

MS{anynode},MI109 - MI110 (Reserved for Future Use) ..............................................................................14

MS{anynode},MI111-MI118 Power-Up Position Source Address .................................................................14

MS{anynode},MI119 (Reserved for Future Use) ..........................................................................................15

MS{anynode},MI120-MI151 Encoder Conversion Table Entries...................................................................15

MS{anynode},MI152 - MI153 Phase-Clock Latched I/O................................................................................21

MS{anynode},MI154 - MI160 (Reserved for Future Use) ..............................................................................22

MS{anynode},MI161-MI168 MLDT Frequency Control ................................................................................22

MACRO IC I/O Transfer MI-Variables..................................................................................................................23

MS{anynode},MI169, MI170 I/O-Board 72-Bit Transfer Control..................................................................23

MS{anynode},MI171, MI172, MI173 I/O-Board 144-Bit Transfer Control ...................................................24

MS{anynode},MI174 – MI175 (12 Bit A/D Transfer ......................................................................................26

MACRO IC Node & Servo Channel Address MI-Variables...................................................................................26

MS{anynode},MI176 MACRO IC Base Address.............................................................................................26

MS{anynode},MI177 MACRO IC Address for Node 14..................................................................................26

MS{anynode},MI178 MACRO IC Address for Node 15..................................................................................26

MS{anynode},MI179 MACRO/SERVO IC #1 Base Address...........................................................................26

MS{anynode},MI180 MACRO/SERVO IC #2 Base Address...........................................................................27

MS{anynode},MI181 – MI188 MACRO/SERVO Channels 1 - 8 Address ......................................................27

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16-Axis MACRO CPU Software Reference Manual

MS{anynode},MI189 MACRO/Encoder IC #3 Base Address .........................................................................27

MS{anynode},MI190 MACRO/Encoder IC #4 Base Address .........................................................................27

MS{anynode},MI191 – MI196 Encoder Channels 9 – 14 Base Address ........................................................27

MS{anynode}, MI197 (Reserved for Future use)............................................................................................27

MACRO IC I/O Transfer MI-Variables..................................................................................................................28

MS{anynode},MI198 Direct Read/Write Format and Address .......................................................................28

MS{anynode},MI199 Direct Read/Write Variable..........................................................................................30

Global MACRO, SERVO IC, I/O Identification and Status MI-Variables.............................................................30

MS{anynode},MI200 MACRO/SERVO ICs Detected & Saved.......................................................................30

MS{anynode}, M201 – MI202 (Reserved for Future Use)..............................................................................31

MS{anynode}, MI203 Phase Period ...............................................................................................................31

MS{anynode}, MI204 Phase Execution Time .................................................................................................31

MS{anynode}, MI205 Background Cycle Time...............................................................................................32

MS{anynode}, MI206 Maximum Background Cycle Time..............................................................................32

MS{anynode}, MI207 Identification break down............................................................................................32

MS{anynode}, MI208 User Ram Start ............................................................................................................32

MS{anynode}, MI209 CPU Identification.......................................................................................................32

MS{anynode}, M210 – MI225 Servo IC Identification Variables...................................................................33

MS{anynode}, M226 – MI249 (Reserved for Future Use)..............................................................................33

MS{anynode}, M250 – MI265 I/O Card Identification Variables ..................................................................33

MS{anynode},MI300 - MI899 (Reserved for future use) ................................................................................33

MACRO/SERVO IC 4-Axis Servo IC MI-variables...............................................................................................33

MS{anynode},MI900 PWM 1-4 Frequency Control .......................................................................................33

MS{anynode},MI903 Hardware Clock Control Channels 1-4........................................................................34

MS{anynode},MI904 PWM 1-4 Deadtime / PFM 1-4 Pulse Width Control...................................................35

MS{anynode},MI905 DAC 1-4 Strobe Word ..................................................................................................36

MS{anynode},MI906 PWM 5-8 Frequency Control ......................................................................................36

MS{anynode},MI907 Hardware Clock Control Channels 5-8........................................................................37

MS{anynode},MI908 PWM 5-8 Deadtime / PFM 5-8 Pulse Width Control...................................................38

MS{anynode},MI909 DAC 5-8 Strobe Word ..................................................................................................39

MACRO/SERVO IC Node-Specific Gate Array MI-variables...............................................................................39

MS{node},MI910 Encoder/Timer n Decode Control ......................................................................................39

MS{node},MI911 Position Compare n Channel Select...................................................................................40

MS{node},MI912 Encoder n Capture Control................................................................................................41

MS{node},MI913 Capture n Flag Select Control ...........................................................................................41

MS{node},MI914 Encoder n Gated Index Select ............................................................................................42

MS{node},MI915 Encoder n Index Gate State................................................................................................42

MS{node},MI916 Output n Mode Select.........................................................................................................42

MS{node},MI917 Output n Invert Control......................................................................................................43

MS{node},MI918 Output n PFM Direction Signal Invert Control .................................................................43

MS{node},MI919 Reserved for Future Use ....................................................................................................43

MS{node},MI920 Absolute Power-On Position (Read Only) .........................................................................43

MS{node},MI921 Flag Capture Position (Read Only) ...................................................................................44

MS{node},MI922 ADC A Input Value (Read Only)........................................................................................44

MS{node},MI923 Compare Auto-Increment Value.........................................................................................44

MS{node},MI924 ADC B Input Value (Read Only)........................................................................................44

MS{node},MI925 Compare A Position Value.................................................................................................44

MS{node},MI926 Compare B Position Value.................................................................................................44

MS{node},MI927 Encoder Loss Status Bit......................................................................................................45

MS{node},MI928 Compare-State Write Enable .............................................................................................45

MS{node},MI929 Compare-Output Initial State.............................................................................................45

MS{node},MI930 Absolute Power-On Position (Read Only) .........................................................................45

MS{node},MI931-MI937 (Reserved for Future use).......................................................................................46

MS{node},MI938 Servo IC Status Word (Read Only).....................................................................................46

MS{node},MI939 Servo IC Control Word (Read Only)..................................................................................46

MACRO/SERVO IC 4-Axis Servo IC MI-variables...............................................................................................46

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16-Axis MACRO CPU Software Reference Manual

MS{anynode},MI940 ADC1-4 Strobe Word ...................................................................................................46

MS{anynode},MI941 ADC5-8 Strobe Word ...................................................................................................46

MACRO IC MI-variables........................................................................................................................................46

MS{anynode},MI942 ADC Strobe Word Channel 1* & 2* (Not used)...........................................................46

MS{anynode},MI943 Phase and Servo Direction ...........................................................................................47

MS{anynode},MI944-MI949 (Reserved for future use) ..................................................................................47

MACRO IC Setup MI-variables..............................................................................................................................47

MS{anynode},MI970-MI973 (Reserved for Future Use) ................................................................................47

MS{anynode},MI1974 Station Display Status (Read Only) ............................................................................47

MS{anynode},MI975 MACRO IC 0 I/O Node Enable ....................................................................................47

MS{anynode},MI976 MACRO IC 0 Motor Node Disable...............................................................................48

MS{anynode},MI977 Motor Nodes Reporting Ring Break .............................................................................48

MS{anynode},MI978-MI986 (Reserved for future use) ..................................................................................49

MACRO IC A/D Converter Demultiplex Control...................................................................................................49

MS{anynode},MI987 A/D Input Enable..........................................................................................................49

MS{anynode},MI988 A/D Unipolar/Bipolar Control .....................................................................................49

MS{anynode},MI989 A/D Source Address......................................................................................................49

MACRO IC MI-Variables.......................................................................................................................................50

MS{anynode},MI992 MaxPhase Frequency Control......................................................................................50

MS{anynode},MI993 Hardware Clock Control Handwheel Channels...........................................................50

MS{anynode},MI994 PWM Deadtime / PFM Pulse Width Control for Handwheel.....................................52

MS{anynode},MI995 MACRO Ring Configuration/Status .............................................................................53

MS{anynode},MI996 MACRO Node Activate Control ...................................................................................53

MS{anynode},MI997 Phase Clock Frequency Control...................................................................................55

MS{anynode},MI998 Servo Clock Frequency Control ...................................................................................55

MS{anynode},MI999 Handwheel DAC Strobe Word (Not used) ....................................................................56

16-AXIS MACRO CPU STATION MM AND MP-VARIABLES........................................................................57

16-AXIS MACRO CPU STATION MACPLCCS ..................................................................................................59

Requirements...........................................................................................................................................................59

Arithmetic Data Types ............................................................................................................................................59

MACRO MI Integer Variables (n = 0 – 1099)........................................................................................................59

MACRO MM and MP Integer Variables (n = 0 – 511) ..........................................................................................59

MACROPlcc Ln Integer Variables (n = 0 – 511)....................................................................................................59

Direct Memory Addressing for Integer Ln & Ln[] Variable Definitions............................................................59

Standard MACRO Program Commands .................................................................................................................59

Special MACRO Program Commands....................................................................................................................60

Valid Math, Assignment and Conditional Operators ..............................................................................................60

Valid Expressions and Arrays.................................................................................................................................60

Ln Arrays Definition Examples...............................................................................................................................60

Example Program....................................................................................................................................................60

MACRO PLCC Code Memory ...............................................................................................................................60

MAC PLCC Related ASCII Commands .................................................................................................................61

16-AXIS MACRO CPU STATION SERIAL COMMANDS.................................................................................63

$$$ Station Reset .............................................................................................................................................63

$$$*** Station Re-initialize ...............................................................................................................................63

CHN Report Channel Number ...........................................................................................................................63

CID Report Card ID Number............................................................................................................................63

CLRF Clear Station Faults................................................................................................................................63

DATE Report Firmware Date ...........................................................................................................................63

DISABLE PLCC or CNTRL D Disables PLCC .................................................................................................63

ENABLE PLCC Enables PLCC..........................................................................................................................63

MI{constant} Report Station MI-Variable Value............................................................................................63

MI{constant}={constant} Set Station MI-Variable Value ..................................................................................64

MM{constant} Report Station MM-Variable Value .........................................................................................64

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16-Axis MACRO CPU Software Reference Manual

MM{constant}={constant} Set Station MM-Variable Value..............................................................................64

MP{constant} Report Station MP-Variable Value...........................................................................................64

MP{constant}={constant} Set Station MP-Variable Value ................................................................................64

MM{constant}-> Report Station MM-Variable Definition.................................................................................64

MM{constant}->{X/Y:offset,width,format} Set Station MM-Variable Definition ............................................64

R{address} Read Station Address ...................................................................................................................64

SAVE Save Station MI-variables......................................................................................................................64

SID Reports Serial Identification Number........................................................................................................65

VERS Report Firmware Version ......................................................................................................................65

VID Report Vendor ID Number........................................................................................................................65

W{address},{value} Write Value to Station Address .........................................................................................65

TURBO PMAC TYPE 1 16-AXIS MACRO CPU STATION COMMANDS ......................................................67

On-Line Commands ................................................................................................................................................67

MS Command .....................................................................................................................................................67

MS Variable Read...............................................................................................................................................68

MS Variable Write ..............................................................................................................................................68

MS Variable Read Copy .....................................................................................................................................69

MS Variable Write Copy.....................................................................................................................................69

Turbo PMAC PLC Commands for Type 1 16-Axis MACRO Stations...................................................................70

MS Variable Read Copy .....................................................................................................................................70

MS Variable Write Copy.....................................................................................................................................70

16-AXIS MACRO CPU STATION MEMORY AND I/O MAP ...........................................................................73

Global Servo Calculation Registers.........................................................................................................................73

Encoder Conversion (Interpolation) Table..............................................................................................................73

Display Output Buffer.............................................................................................................................................73

ASCII I/O Buffer.....................................................................................................................................................73

MM and MP Variables Table..................................................................................................................................74

Open Memory .........................................................................................................................................................74

DSPGATE1 Registers.............................................................................................................................................74

MACRO UBUS Port I/O Registers.........................................................................................................................78

DSPGATE2 Registers.............................................................................................................................................79

DSPGATE2 Channel 1* and Channel 2*................................................................................................................83

MACRO CPU Node Addresses ..............................................................................................................................86

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16-Axis MACRO CPU Software Reference Manual

16-AXIS MACRO STATION MI-VARIABLE REFERENCE

The 16-Axis MACRO Station is set up through its own set of initialization I-variables, which are distinct from the I-variables on PMAC. Usually, they are referenced as MI-variables (e.g. MI900) to distinguish them from the PMAC’s own I-variables, although they can be referenced just as I-variables.

These MI-variables can be accessed from the Turbo PMAC2 Ultralite through the on-line MS{node#},MI{variable#} read and MS{node#},MI{variable#}={constant} write commands, or the MSR{node#},MI{variable#},{PMAC variable} read-copy and MSW{node#},MI{variable#},{PMAC variable} write-copy commands (either on-line or background PLC), where {node#} specifies the MACRO node number (0 to 15), {variable#} specifies the number of the Station MI-variable (0 - 1999), {constant} represents the numerical value to be written to the Station MI-variable, or {PMAC variable} specifies the value to be copied to or from the Station MI-variable.

For most Station MI-variables, the {node#} specifier can take the number of any active node on the station (usually the lowest-numbered active node). These variables have MS{anynode} in the header of their descriptions below.

However, there are several node-specific MI-variables. These variables are in the range MI910 to MI939. For these variables, the node specifier must contain the specific node number for the MACRO node they affect. These variables have MS{node} in the header of their descriptions below.

Global MI-Variables

MS{anynode},MI0 Station Firmware Version (Read Only)

Range: 1.200 - 9.999 Units: Revision numbers

Example:

MS0,MI0

1.200

MS{anynode},MI1 Station Firmware Date (Read Only)

Range: 01/01/00 – 12/31/99 Units: MM/DD/YY

This variable, when queried, reports the date of implementation of the firmware on the 16-Axis MACRO Station. The date is reported in the North American style of month/day/year with two decimal digits for each.

The PMAC command MSDATE, which polls this value, turns the year into a 4-digit value before reporting the value to the host computer.

MS{anynode},MI2 Station ID and User Configuration Word

Range: $000000 - $FFFFFF Units: none Default: 0

This variable permits the user to write a station identification number to the 16-Axis MACRO Station. Typically, when the software setup of a Station is complete, a unique value is written to this MI-variable in the station, and saved with the other MI-variables. On power-up/reset, the controller can query MI2 as a quick test to see if the Station has been set up properly for the application. If it does not report the expected value, the controller can download and save the setup values.

16-Axis MACRO Station MI-Variable Reference 1

16-Axis MACRO CPU Software Reference Manual

MS{anynode},MI3 Station Rotary Switch Setting

Range: $00 - $FF Units: none

This variable, when queried, reports the setting of the two rotary hex switches on the 16-Axis MACRO Station. The first hex digit reports the setting of SW1; the second reports the setting of SW2.

Note:

It is possible to write a value to this variable, but this should not be done.

MS{anynode},MI4 Station Status Word (Read Only)

Range: $000000 - $FFFFFF Units: Bits

This variable, when queried, reports the value of the current status word bits for the 16-Axis MACRO Station. The value reported should be broken into bits. Each bit reports the presence or absence of a particular fault on the Station. If the bit is 0, the fault has not occurred since Station faults were last cleared. If the bit is 1, the fault has occurred since Station faults were last cleared.

BITn

Fault Description

0 CPU – Fault (No MACRO IC #1 detected) 1 Ring Error - Temporary 2 Ring Break 3 Station Fault - Station Shutdown 4 Ring Fault - Any permanent Ring fault 5 Spare 6 Amplifier Fault 7 Ring Break Received 8 Spare 9 Spare 10 Spare 11 Spare 12 Ring Active 13 Spare 14 Detected a MACRO or SERVO IC configuration change or SW1 change from last save. 15 Detected UBUS SERVO IC #7 Attached to MACRO IC #0 & 1 (2 channels each) 16 Detected UBUS SERVO IC #6 Attached to MACRO IC #1 17 Detected UBUS SERVO IC #5 Attached to MACRO IC #0 18 Detected UBUS SERVO IC #4 Attached to MACRO IC #1 19 Detected UBUS SERVO IC #3 Attached to MACRO IC #1 20 Detected UBUS SERVO IC #2 Attached to MACRO IC #0 21 Detected UBUS SERVO IC #1 Attached to MACRO IC #0 22 Detected CPU MACRO IC #1 ($C0C0) 23 Detected CPU MACRO IC #0 ($C080)

Any of the fault bits that are set can be cleared with the MSCLRF{anynode} (clear fault) command, or the MS$$${anynode} (Station reset) command.

2 16-Axis MACRO Station MI-Variable Reference

16-Axis MACRO CPU Software Reference Manual

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.

16-Axis MACRO Station MI-Variable Reference 3

16-Axis MACRO CPU Software Reference Manual

The Station can detect four types of communications errors: byte violation errors, packet checksum errors, packet overrun errors, and packet under run errors. If MI9 errors have occurred in the MI8 check period, and at least half of these errors are byte “violation” errors, the Station will conclude that there is a ring break immediately upstream of it (if there are no ring input communications to the Station, there will be continual byte violation errors). In this case, not only will it 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, but it will also turn itself into a master so it can report to other devices downstream on the ring.

If MI9 is set to 0 at power-on/reset, the 16-Axis MACRO Station will automatically set it to 4.

MS{anynode},MI10 MACRO Sync Packet Shutdown Count

Range: 0 – 65,535 Units: none Default: 4

MI10 determines the number of MACRO ring “sync packets” that must be received during a check period for the Station to consider the ring to be working properly. If the Station detects fewer than MI10 sync packets in MI8 phase (MACRO ring) cycles, it will shut down on a MACRO communications fault, setting its servo command output values to zero, setting its amplifier enable outputs to the “disable” state, and forcing all of its digital outputs to their shutdown state as defined by I72-I89.

The node number (0-15) of the sync packet is determined by bits 16-19 of Station variable MI996. On the 16-Axis MACRO Station, this is always node 15 ($F), because this node is always active for MACRO Type 1 auxiliary communications.

The Station checks each phase cycle to see if a sync packet has been received or not. Setting MI10 to 0 means the Station will never shut down for lack of sync packets. Setting MI10 greater than MI8 means that the Station will always shut down for lack of sync packets.

If MI10 is set to 0 at power-on/reset, the 16-Axis MACRO Station will automatically set it to 4.

MS{anynode},MI11 Station Order Number

Range: 0 – 254 Units: none Default: 0

MI11 contains the station-order number of the 16-Axis MACRO Station on the ring. This permits it to respond to auxiliary MACROSTASCII<n=Station Order Number> commands from a Turbo PMAC ring controller, regardless of the 16-Axis MACRO Station’s rotary-switch settings.

The station ordering scheme permits the ring controller to isolate each master or slave station on the ring in sequence and communicate with it, without knowing in advance how the ring is configured or whether there are any conflicts in the regular addressing scheme. This is very useful for the initial setup and debugging of the ring configuration.

Normally, station order numbers of devices on the ring are assigned in numerical order, with the station downstream of the ring controller getting station-order number 1. This does not have to be the case, however.

Unordered stations have the station-order number 0. When the ring controller executes a MACROSTASCII255 command, the first unordered station in the ring will respond.

MI11 can also be set with the ASCII command STN={constant}. The value of MI11 can also be queried with the ASCII command STN.

4 16-Axis MACRO Station MI-Variable Reference

16-Axis MACRO CPU Software Reference Manual

MS{anynode},MI12 Card Identification

Range: 0 – $FFFFFF Units: none Default: $936747 (603719)

This returns the card part number. The same as the CID ASCII command.

MS{anynode},MI13 Display Enable and Type

Range: 0 – 3 Units: none Default: 0

0 = No Display output 1 = LCD Display Output 3 = Vacuum Display Output

MS{anynode},MI14 MACRO IC Source of Phase Clock

Range: 0 – 1 Units: none Default: 1

Default MACRO #1 is the default source of the Phase clock. Setting MI14 = 0, sets MACRO IC #0 as the source of the Phase clock. Normally the second MACRO IC #1 receives its node information after MACRO IC #0, so it should be the source of the phase clock. This insures that both MACRO ICs receive the ring node data before a phase interrupt is generated.

MS{anynode},MI15 Enable MACRO Plcc

Range: 0 - 1 Units: none Default: 0

MI15 enables and disables the PLCCs running in the 16-Axis MACRO CPU.

MACRO IC Global Channel Status Setup MI-Variables

Each MACRO IC (0 and 1) has its own set of these variables. Therefore, they are accessed through their MACRO IC. For example, MS0,MI16 accesses MACRO IC 0’s MI16 and MS16,MI16 accesses MACRO IC 1’s MI16. MACRO IC 1’s variables can be accessed can be accessed through MACRO IC 0 by adding 1000 to the MI variable. For example, MS0,MI1016 accesses MACRO IC 1’s MI16

MS{anynode},MI16 Encoder-Fault Reporting Control

Range: 0 - 1 Units: none Default: 0

MI16 permits the user to control which type of encoder error is reported back to PMAC in the channel status flag word for each servo interface channel.

If MI16 is set to 0 (default), then the encoder count-error status bit (bit 8 in the channel hardware status word) for each encoder channel is copied into bit 8 of the matching node’s status flag word for transmission back to the PMAC. An encoder count error is reported when both A and B encoder signals have a transition in the same SCLK hardware sampling cycle.

16-Axis MACRO Station MI-Variable Reference 5

16-Axis MACRO CPU Software Reference Manual

If MI16 is set to 1, then the ASIC’s own encoder-loss status bit (bit 7 in the channel hardware status word) for each encoder channel is copied into bit 8 of the matching node’s status flag word for transmission back to the PMAC. Note that this reporting function is unrelated to the automatic encoderloss shutdown function using external circuitry that can be enabled with MI7 and reported in MI4.

In order for this encoder-loss detection to work properly, several conditions must apply:

• A B version or newer of the DSPGATE1/2 Servo/MACRO IC must be used (true on boards built

since Spring 1998).

• Differential encoders must be used.

• The A+, A-, B+, and B- encoder signals must be wired into the T, U, V, and W supplemental flag

inputs, respectively, as well as into the regular encoder lines.

• The socketed resistor SIP packs for the encoder channels must be reversed from their factory default

configuration. These SIP packs are installed at the factory so that pin 1 of the pack – marked with a dot – is installed in pin 1 of the socket – marked with a bold white outline and a square solder pin on the board. For this encoder-loss to work, the SIP-pack for each encoder must be reversed so that it is at the opposite end of the socket. The SIP packs are:

Board Encoder 1 Encoder 2 Encoder 3 Encoder 4

ACC-24E2 RP22 RP24 RP22* RP24*

ACC-24E2A RP22 RP24 RP22* RP24*

ACC-24E2S RP19 RP21 RP27 RP29

*Resistor packs on Option 1 top board of 2-board assembly

• MI16 must be set to 1.

If the T, U, V, and W input flags are used for different purposes, such as Hall commutation sensors, or sub-count information from an analog encoder interpolator, the state of the encoder-loss status bit would appear random and arbitrary.

The state of the encoder-loss hardware status bit for a channel can be polled with MI927 for the node mapped to the channel. If it has been set, it can be cleared by writing a 0 value to MI927.

Note:

As long as the socketed resistor pack for an encoder is reversed from the factory default configuration, the 16-Axis MACRO Station will be able to detect differential encoder loss and shut down on it, even without wiring the encoder signals into T, U, V, and W. However, unless the signals are wired into these flag lines and MI16 is set to 1, the 16-Axis MACRO Station will not be able to notify PMAC exactly which encoder sustained the loss.

MS{anynode},MI17 Amplifier Fault Disable Control

Range: $00 - $FF Units: none Default: $00 (amplifier function enabled for all axes)

This variable controls whether the amplifier input to the machine interface channel mapped to each servo node by SW1 is used as one of the conditions that creates a node fault to be sent back to the PMAC over the MACRO ring.

The variable consists of eight bits; each bit controls the disabling of the amplifier fault input for one of the nodes on the Station. A 0 in the bit specifies that the amplifier fault input is to be used (enabled); a 1 in the bit specifies that the amplifier fault input is not to be used (disabled). The corresponding bit of MI18 determines the polarity of the input if it is enabled.

6 16-Axis MACRO Station MI-Variable Reference

16-Axis MACRO CPU Software Reference Manual

The following table shows the relationship between the bits of MI17 and the servo nodes on the Station:

MI17 Bit # Node #

7 6 5 4 3 2 1 0

13 12 9 8 5 4 1 0

MS{anynode},MI18 Amplifier Fault Polarity

Range: $00 - $FF Units: none Default: $00 (low-true fault for all nodes)

This variable controls how the 16-Axis MACRO Station interprets the polarity of the amplifier fault inputs for each servo node. The variable consists of eight bits; each bit controls the polarity for one of the servo nodes on the Station. A 0 in a bit specifies a low-true fault (low voltage input means fault); a 1 in a bit specifies a high-true fault (high voltage input means fault). A bit of MI18 is only used if the corresponding bit of MI17 is set to 0, enabling the amplifier fault function for that node.

The following table shows the relationship between the bits of MI18 and the servo nodes on the Station:

MI18 Bit # Node #

7 6 5 4 3 2 1 0 13 12 9 8 5 4 1 0

Global I/O Transfer MI-Variables

MS{anynode},MI19 I/O Data Transfer Period

Range: 0 - 255 Units: Phase Clock Cycles Default: 0

MI19 controls the data transfer period on a 16-Axis MACRO Station between the MACRO node interface registers and the I/O registers, as specified by station MI-variables MI20 through MI71, and MI169 through MI172. If MI19 is set to 0, this data transfer is disabled. If MI19 is greater than 0, its value sets the period in Phase clock cycles (the same as MACRO communications cycles) at which the transfer is done.

MS{anynode},MI20 Data Transfer Enable Mask

Range: $000000000000 - $FFFFFFFFFFFF Units: Bits Default: 0

MI20 controls which of 48 possible data transfer operations are performed at the data transfer period set by MI19. MI20 is a 48-bit value; each bit controls whether the data transfer specified by one of the variables MI21 through MI68 is performed. The relationship of MI20 bits to MI21-MI68 transfers is explained in the following table.

16-Axis MACRO Station MI-Variable Reference 7

16-Axis MACRO CPU Software Reference Manual

MI20 Bit # Bit

Value

0 $1 MI21 24 $1000000 MI45 1 $2 MI22 25 $2000000 MI46 2 $4 MI23 26 $4000000 MI47 3 $8 MI24 27 $8000000 MI48 4 $10 MI25 28 $10000000 MI49 5 $20 MI26 29 $20000000 MI50 6 $40 MI27 30 $40000000 MI51 7 $80 MI28 31 $80000000 MI52 8 $100 MI29 32 $100000000 MI53

9 $200 MI30 33 $200000000 MI54 10 $400 MI31 34 $400000000 MI55 11 $800 MI32 35 $800000000 MI56 12 $1000 MI33 36 $1000000000 MI57 13 $2000 MI34 37 $2000000000 MI58 14 $4000 MI35 38 $4000000000 MI59 15 $8000 MI36 39 $8000000000 MI60 16 $10000 MI37 40 $10000000000 MI61 17 $20000 MI38 41 $20000000000 MI62 18 $40000 MI39 42 $40000000000 MI63 19 $80000 MI40 43 $80000000000 MI64 20 $100000 MI41 44 $100000000000 MI65 21 $200000 MI42 45 $200000000000 MI66 22 $400000 MI43 46 $400000000000 MI67 23 $800000 MI44 47 $800000000000 MI68

Transfer-

Control

MI-Variable

MI20 Bit # Bit Value Transfer-

Control

MI-Variable

MS{anynode},MI21-MI68 Data Transfer Source and Destination Address

Range: $000000000000 - $FFFFFFFFFFFF Units: Double 16-Axis MACRO Station Addresses Default: 0

These MI-variables each specify a data transfer (copying) operation that will occur on the 16-Axis MACRO Station at a rate specified by Station Variable MI19, and enabled by Station variable MI20.

Each variable specifies the address from which the data will be copied (read), and the address to which the data will be copied (written). These variables are 48-bit values, usually specified as 12 hexadecimal digits.

The first 24 bits (6 hex digits) specify the address of the register on the 16-Axis MACRO Station from which the data is to be copied; the second 24 bits (six hex digits) specify the address on the 16-Axis MACRO Station to which the data is to be copied. In each set of six hex digits, the last four hex digits specify the actual address. The first two digits (eight bits) specify what portion of the address is to be used.

The following diagram shows what each digit represents:

Hex Digit #

Contents

1 2 3 4 5 6 7 8 9 10 11 12

From Register Format Code

From Register Address To

To Register Address

8 16-Axis MACRO Station MI-Variable Reference

16-Axis MACRO CPU Software Reference Manual

The following table shows the 2-digit hex format codes and the portions of the address that each one selects.

Code X or Y Bit Width Bit Range Notes

$40 Y 8 0-7 $48 Y 8 8-15 $50 Y 8 16-23 $54 Y 12 0-11 Lower 12-bit ADC registers $60 Y 12 12-23 Upper 12-bit ADC registers $64 Y 16 0-15

$6C Y 16 8-23 16-bit MACRO Servo Node Registers

$78 Y 24 0-23 24-bit MACRO Servo Node Registers

$7E NA NA NA Use the MM variable definition for the

decode of the variable and address and the

address being the MM variable number. $B0 X 8 0-7 $B8 X 8 8-15 $C0 X 8 16-23 $C4 X 12 0-11 $D0 X 12 12-23 $D4 X 16 0-15

$DC X 16 8-23 16-bit MACRO I/O Node Registers

$E8 X 24 0-23 24-bit MACRO I/O Node Registers

The memory and I/O map at the back of this Software Reference manual provides a detailed list of registers that can be copied using these MI-variables.

Note:

For copying data between digital I/O cards with byte-wide data paths (ACC-9E, 10E, 11E, 12E, 14E, 65E, 66E, 67E and 68E) and MACRO nodes, it is generally better to use MI69 – MI71, and MI169 – MI172.

Example:

MI21=$780200E8C0A0

copies 24-bit data from Station address Y:$0200 to X:$C0A0

MI21=$7E00027E0003

copies MM2 into MM3 ( MM3 = MM2)

MACRO IC I/O Transfer MI-Variables

Each MACRO IC (0 and 1) has its own set of these variables. Therefore, they are accessed through their MACRO IC. For example, MS0,MI69 accesses MACRO IC 0’s MI69 and MS16,MI69 accesses MACRO IC 1’s MI69. MACRO IC 1’s variables can be accessed can be accessed through MACRO IC 0 by adding 1000 to the MI variable. For example, MS0,MI1069 accesses MACRO IC 1’s MI69.

MS{anynode},MI69, MI70 I/O-Board 16-Bit Transfer Control

Range: $000000000000 - $FFFFFFFFFFFF Units: Extended addresses Default: 0

MI69 and MI70 specify the registers used in 16-bit I/O transfers between MACRO node interface registers and I/O registers on the 9E, 10E, 11E, 12E, 14E, 65E, 66E, 67E, and ACC-68E I/O boards on a 16-Axis MACRO Station. They are used only if MI19 is greater than 0.

16-Axis MACRO Station MI-Variable Reference 9

16-Axis MACRO CPU Software Reference Manual

MI69 and MI70 are 48-bit variables represented as 12 hexadecimal digits. The first six digits specify the number and address of 48-bit (3 x 16) real-time MACRO-node register sets to be used. The second six digits specify the number and address of 16-bit I/O sets on an UMAC IO board to be used. The individual digits are specified as follows:

Digit # Possible Values Description

1 0, 1, 2, 3 Number of MACRO I/O nodes to use (0 disables); this

should also match the number of 48-bit I/O sets you intend to use (see Digit 7)

2 0 (Reserved for future use)

3-6 $C0A1 (Node 2), $C0A5 (Node 3),

$C0A9 (Node 6), $C0AD (Node 7), $C0B1 (Node 10), $C0B5 (Node 11)

7 0, 1, 2, 3 Number of 16-bit I/O sets to use (1x16, 2x16, 3x16; 0

8 1 Set to 1 for ACC-14E, ACC-65E, ACC-66E, ACC-67E

9-12 $8800, $8840

$8880, $88C0

MACRO Station X Address of MACRO I/O node first of three 16-bit registers

disables)

consecutive address read (Base, +$1000, +$2000) MACRO Station Y Base Address of UMAC IO Card

When this function is active, the 16-Axis MACRO Station will copy values from the MACRO command (input) node registers to the I/O board addresses; it will copy values from the I/O board addresses to the MACRO feedback (output) node registers. Writing a ‘0’ to a bit of the I/O board enables it as an input, letting the output pull high. Writing a ‘1’ to a bit of the I/O board enables it as an output and pulls the output low.

The following table shows the mapping of I/O points on the I/O backplane boards to the MACRO node registers:

Board # at

Set

Address

1st 1 & 2 Low 0 –15 Specified MACRO X Address + 0 1st 1 & 2 Low 16 – 31 Specified MACRO X Address + 1

1st 1 & 2 Low 32 - 47 Specified MACRO X Address + 2 2nd 2 & 3* Middle 0 –15 Specified MACRO X Address + 4 2nd 2 & 3* Middle 16 – 31 Specified MACRO X Address + 5 2nd 2 & 3* Middle 32 - 47 Specified MACRO X Address + 6 3rd 4 & 5 High 0 –15 Specified MACRO X Address + 8 3rd 4 & 5 High 16 – 31 Specified MACRO X Address + 9 3rd 4 & 5 High 32 - 47 Specified MACRO X Address + 10

* Rows 3 & 4 connected creates same setting

E6x Rows

Connected

Byte on

Data Bus

I/O Point

#s on

Board

Matching MACRO X Register

Examples:

MI69=$30C0A1308800 transfers three sets of 48-bit I/O between an I/O board set at $8800 and MACRO Nodes 2 ($C0A1-$C0A3), 3 ($C0A5-$C0A7), and 6 ($C0A9-$C0AB).

MI70=$10C0B1308840 transfers one set of 48-bit I/O between an I/O board set at $8840 and MACRO Node 10 ($C0B1-$C0B3).

10 16-Axis MACRO Station MI-Variable Reference

16-Axis MACRO CPU Software Reference Manual

MS{anynode},MI71 I/O-Board 24-Bit Transfer Control

Range: $000000000000 - $FFFFFFFFFFFF Units: Extended addresses Default: 0

MI71 specifies the registers used in 24-bit I/O transfers between MACRO I/O node interface registers and I/O registers on the 9E, 10E, 11E, 12E, 14E, 65E, 66E, 67E, and 68E I/O boards on a 16-Axis MACRO Station. It is only used if MI19 is greater than 0.

MI71 is a 48-bit variable represented as 12 hexadecimal digits. The first six digits specify the number and address of 48-bit real-time MACRO-node register sets to be used. The second six digits specify the number and address of 48-bit I/O sets on an UMAC IO board to be used. The individual digits are specified as follows:

Digit # Possible Values Description

1 0, 1, 2, 3 Number of MACRO I/O nodes to use times 2 (0

disables); this should also match the number of 48-bit I/O sets you intend to use (see Digit 7)

2 0 (Reserved for future use)

3-6 $C0A0 (Node 2), $C0A4 (Node 3),

$C0A8 (Node 6), $C0AC (Node 7), $C0B0 (Node 10), $C0B4 (Node

11)

7 0, 1, 2 Number of 24-bit I/O sets to use (1x24, 2x24; 0

8 1 Set to 1 for ACC-14E, ACC-65E, ACC-66E, ACC-67E

9-12 $8800, $8840

$8880, $88C0

MACRO Station X Address of MACRO I/O node first of three 16-bit registers

disables)

consecutive address read (Base, +$1000, +$2000) MACRO Station Y Base Address of UMAC IO card

The following table shows the mapping of I/O points on the I/O backplane boards to the MACRO node registers:

Board # at

Set

Address

1st 1 & 2 Low 0 –23 Specified MACRO X Address + 0

1st 1 & 2 Low 24 – 47 Specified MACRO X Address + 4 2nd 2 & 3* Middle 0 –23 Specified MACRO X Address + 8 2nd 2 & 3* Middle 24 – 47 Specified MACRO X Address + 12 3rd 4 & 5 High 0 –23 Specified MACRO X Address + 16 3rd 4 & 5 High 24 – 47 Specified MACRO X Address + 20

* Rows 3 and 4 connected creates same setting

E6x Rows

Connected

Byte on

Data Bus

I/O Point

#s on

Board

Matching MACRO X Register

16-Axis MACRO Station MI-Variable Reference 11

16-Axis MACRO CPU Software Reference Manual

MS{anynode},MI72-MI89 Output Power-On/Shutdown State

Range: $000000 - $FFFFFF Units: Individual bit values Default: $000000

MI72 through MI89 are used to determine the states of the digital outputs for 16-Axis MACRO Station I/O boards at power-on and on controlled station shutdown due to a ring error condition.

Each of these MI-variables is a 24-bit value controlling 24 consecutively numbered I/O points on a MACRO I/O board. Each bit controls one I/O point. The least significant bit of the MI-variable controls the lowest-numbered I/O point; the most significant bit controls the highest-numbered I/O point.

A value of 0 in a bit specifies that the corresponding output is to be turned off at power-on or shutdown; a value of 1 in a bit specifies that the corresponding output is to be turned on at power-on or shutdown. If an I/O point has been set up as an input, the value of the bit is not important.

The following table shows which I/O points are controlled by each of these MI-variables

Variable Board Addressed

by Variable

MI72 MI69 I/O00 – I/O23 Option A Yes MI73 MI69 I/O24 – I/O47 Option A Yes MI74 MI69 I/O48 – I/O71 Option B No MI75 MI69 I/O72 – I/O95 Option B No MI76 MI69 I/O96 – I/O119 Option C No MI77 MI69 I/O120 – I/O143 Option C No MI78 MI70 I/O00 – I/O23 Option A Yes MI79 MI70 I/O24 – I/O47 Option A Yes MI80 MI70 I/O48 – I/O71 Option B No MI81 MI70 I/O72 – I/O95 Option B No MI82 MI70 I/O96 – I/O119 Option C No MI83 MI70 I/O120 – I/O143 Option C No MI84 MI71 I/O00 – I/O23 Option A Yes MI85 MI71 I/O24 – I/O47 Option A Yes MI86 MI71 I/O48 – I/O71 Option B No MI87 MI71 I/O72 – I/O95 Option B No MI88 MI71 I/O96 – I/O119 Option C No MI89 MI71 I/O120 – I/O143 Option C No

I/O Points

Controlled

ACC-3E Option

Required

Present on

ACC-4E?

MS{anynode},MI90 Y:MTR Servo Channel Disable and MI996 Enable

Range: $00 - $3333 Units: None Default: $0000

MI996 = MI996 | (MI90 & $3333)

The servo channel nodes that are enabled in MI996 by MI90 are disabled as servo transfer channels.

Example:

MI90 = $3000 will disable servo channel transfers on nodes 12 and 13 and sets nodes 12 and 13 on MI996. This allows the use of these nodes by MI91 – MI98 for data transfer.

12 16-Axis MACRO Station MI-Variable Reference

16-Axis MACRO CPU Software Reference Manual

MS{anynode},MI91 - MI98 Phase Interrupt 24 Bit Data Copy

Range: $00000000 - $FFFFFFFF Units: Individual bits

Hex Digit #

Contents

1 2 3 4 5 6 7 8 9 10 11 12

From $00 = Y: 24bit $80 = X: 24bit

From Register Address To $00 =

Y: 24bit $80 = X: 24bit

To Register Address

MS{anynode},MI99 (Reserved for Future Use)

Range: 0

Units: Default: 0

MACRO IC Position Processing MI-Variables

Each MACRO IC (0 and 1) has its own set of these variables. Therefore, they are accessed through their MACRO IC. For example, MS0,MI101 accesses MACRO IC 0’s MI101 and MS16,MI101 accesses MACRO IC 1’s MI101. MACRO IC 1’s variables can be accessed can be accessed through MACRO IC 0 by adding 1000 to the MI variable. For example, MS0,MI1101 accesses MACRO IC 1’s MI101.

MS{anynode},MI101-MI108 Ongoing Position Source Address

Range: $0000 - $FFFF Units: 16-Axis MACRO Station “X” Addresses Default MACRO IC 0:

MI101 (1st motor node: Node 0): $0010 {1st line of encoder conversion table} MI102 (2 MI103 (3 MI104 (4 MI105 (5 MI106 (6 MI107 (7 MI108 (8

Default MACRO IC 1:

MI101 (1st motor node: Node 0): $0090 {1st line of encoder conversion table} MI102 (2 MI103 (3 MI104 (4 MI105 (5 MI106 (6 MI107 (7 MI108 (8

MI101 through MI108 (MI10x) determine what registers are used for feedback for the eight possible motor nodes (MI10x controls the xth motor node, which usually corresponds to Motor x on PMAC) on a 16-Axis MACRO Station.

motor node: Node 1): $0011 {2nd line of encoder conversion table}

motor node: Node 4): $0012 {3rd line of encoder conversion table}

motor node: Node 5): $0013 {4th line of encoder conversion table}

motor node: Node 8): $0014 {5th line of encoder conversion table}

motor node: Node 9): $0015 {6th line of encoder conversion table}

motor node: Node 12): $0016 {7th line of encoder conversion table}

motor node: Node 13): $0017 {8th line of encoder conversion table}

motor node: Node 1): $0091 {2nd line of encoder conversion table}

motor node: Node 4): $0092 {3rd line of encoder conversion table}

motor node: Node 5): $0093 {4th line of encoder conversion table}

motor node: Node 8): $0094 {5th line of encoder conversion table}

motor node: Node 9): $0095 {6th line of encoder conversion table}

motor node: Node 12): $0096 {7th line of encoder conversion table}

motor node: Node 13): $0097 {8th line of encoder conversion table}

For each active motor node, the value in the specified register is copied into the 24-bit position feedback MACRO register. Typically, the addresses specified are those from the 16-Axis MACRO Station’s encoder conversion table, at Station registers X:$0010 to X:$002F, corresponding to Station MI-variables MI120 to MI151, respectively.

16-Axis MACRO Station MI-Variable Reference 13

16-Axis MACRO CPU Software Reference Manual

MS{anynode},MI109 - MI110 (Reserved for Future Use)

MS{anynode},MI111-MI118 Power-Up Position Source Address

Range: $000000 - $FFFFFF Units: Extended 16-Axis MACRO Station Addresses Default: 0

MI111 (1st motor node: Node 0) MI112 (2 MI113 (3 MI114 (4 MI115 (5 MI116 (6 MI117 (7 MI118 (8

MI111 through MI118 (MI11x) specify whether, where, and how absolute position is to be read on the 16-Axis MACRO Station for a motor node (MI11x controls the xth motor node, which usually corresponds to Motor x on PMAC) and sent back to the PMAC or PMAC2.

If MI11x is set to 0, no power-on/reset absolute position value will be returned to PMAC. If MI11x is set to a value greater than 0, then when the PMAC requests the absolute position because its Ix10 and/or Ix81 values are set to obtain absolute position through MACRO (sending an auxiliary MS{node},MI920 or MS{node},MI930 command), the 16-Axis MACRO Station will use MI11x to determine how to read the absolute position, and report that position back to PMAC as an auxiliary response.

motor node: Node 1)

motor node: Node 4)

motor node: Node 5)

motor node: Node 8)

motor node: Node 9)

motor node: Node 12)

motor node: Node 13)

MI11x consists of two parts. The low 16 bits (last four hexadecimal digits) specify the address on the 16axis MACRO Station from which the absolute position information is read. The high eight bits (first two hexadecimal digits) tell the 16-axis MACRO Station how to interpret the data at that address (the method.

The following table shows the possible values for MI11x, organized by the first two digits:

MI11n Bits

Type of Feedback Notes 16-23 for Unsigned

(Signed)

$00-$07 ($80-$87)

$08-$18 ($88-$98) $17-$2A ($97-$AA) $2B ($AB) Double-Byte Parallel (16 bits) in

$2C ($AC) Double-Byte Parallel (16 bits) in

$2D ($AD) Double-Byte Parallel (16 bits) in

$2E ($AE) Triple-Byte Parallel (24 bits) in

$2F ($AF) Triple-Byte Parallel (24 bits) in

Resolver-to-Digital Converter Used for ACC-8D Opt 7 connected to CPU board

JTHW connector; address is multiplexer port

address ($00 - $FF) Single-Y-Word Parallel (8 to 24 bits) Double-Y-Word Parallel (25 to 42 bits)

Used for MDLT feedback;

Value in B16-21 is number of bits to read

Value in B16-21 is number of bits; most

significant bits are at {address + 1}

Used for ACC-3E parallel feedback; low bytes of 24-bit words

Most significant byte is at {address + 1}

Used for ACC-3E parallel feedback; middle bytes of 24-bit words

Most significant byte is at {address + 1}

Used for ACC-3E parallel feedback; middle bytes of 24-bit words

Most significant byte is at {address + 1}

Used for ACC-3E parallel feedback; low bytes of 24-bit words

Middle byte is at {address + 1};

Most significant byte is at {address + 2}

Used for ACC-3E parallel feedback; middle bytes of 24-bit words

Middle byte is at {address + 1};

Most significant byte is at {address + 2}

14 16-Axis MACRO Station MI-Variable Reference

16-Axis MACRO CPU Software Reference Manual

$30 ($B0) Triple-Byte Parallel (24 bits) in

middle bytes of 24-bit words

$31 ($B1) 16-Bit Parallel in high 16 bits of

24 bit word

$32 ($B2) Double 13-Bit Parallel Used for Sanyo Absolute Encoder Interface $33 ($B3) 12-Bit Parallel in high 12 bits of

24-bit word

$48-$56 ($C8-$D6) $57-$6A ($D7-$EA) $71 ($F1) Yaskawa Absolute Encoder

$72 ($F2) Yaskawa Absolute Encoder

Single-X-Word Parallel (8 to 24 bits) Double-X-Word Parallel (25 to 42 bits)

Converter thru Multiplexer Port

Converter thru RS-232 interface

Used for ACC-3E parallel feedback;

Middle byte is at {address + 1};

Most significant byte is at {address + 2}

Used for ACC-28B A/D converter feedback

Used for ACC-1E-B2 or ACC-6E A/D converter

feedback

Value in B16-23 is number of bits to read

Value in B16-23 is number of bits; most

significant bits are at {address + 1}

Used for ACC-8D Opt 9 connected to CPU board

JTHW port; address is multiplexer port address

($00 - $FF)

Used for ACC-8D Opt 9 connected to CPU board

serial port.

If Bit 23 of MI11x is set to 1 (providing the value for Bits 16-23 shown in parentheses), then the position value read is sign extended to produce a signed position value. If Bit 23 is set to 0, no sign extension is performed, producing an unsigned positive position value. Bit 23 of PMAC’s Ix10 for the motor using this MACRO node must be the same as Bit 23 of the Station’s MI11x.

MS{anynode},MI119 (Reserved for Future Use)

MS{anynode},MI120-MI151 Encoder Conversion Table Entries

Range: $000000 - $FFFFFF Units: Extended 16-Axis MACRO Station Addresses Default: (dependent on SW1 setting)

MI120 through MI151 form the 32-setup lines of the 16-axis MACRO Station’s Encoder Conversion Table (ECT). The Encoder Conversion Table on the Station is similar in concept to that of the PMAC or PMAC2 itself; it is identical in structure to the Encoder Conversion Table of the Turbo PMAC. The 16axis MACRO Station’s table is executed every ring cycle to prepare the feedback data to be sent back to the PMAC over the MACRO ring, where it will likely be passed through the PMAC’s own table.

The ECT consists of a series of entries with each entry processing one feedback value. An entry in the ECT can have one, two, or three lines, therefore one, two, or three of these 24-bit MI-variables. Each MIvariable occupies a fixed register in the 16-axis MACRO Station’s memory map. The register addresses are important, because the results of the ECT are accessed by address.

Table Addresses: The following table shows the Station Y-address for each of the MI-variables in the table. The processed feedback value for an entry resides in the X-register of the same address as the last line of the entry. Variable MI10x for the xth motor node on the Station should contain the address of this X-register for the feedback it wants to send back to PMAC over the MACRO ring.

16-Axis MACRO Station MI-Variable Reference 15

16-Axis MACRO CPU Software Reference Manual

MACRO IC 0

MI-Var. Address MI-Var. Address MI-Var. Address MI-Var. Address

MI120 $0010 MI128 $0018 MI136 $0020 MI144 $0028 MI121 $0011 MI129 $0019 MI137 $0021 MI145 $0029 MI122 $0012 MI130 $001A MI138 $0022 MI146 $002A MI123 $0013 MI131 $001B MI139 $0023 MI147 $002B MI124 $0014 MI132 $001C MI140 $0024 MI148 $002C MI125 $0015 MI133 $001D MI141 $0025 MI149 $002D MI126 $0016 MI134 $001E MI142 $0026 MI150 $002E MI127 $0017 MI135 $001F MI143 $0027 MI151 $002F

MACRO IC 1

MI-Var. Address MI-Var. Address MI-Var. Address MI-Var. Address

MI120 $0090 MI128 $0098 MI136 $00A0 MI144 $00A8 MI121 $0091 MI129 $0099 MI137 $00A1 MI145 $00A9 MI122 $0092 MI130 $009A MI138 $00A2 MI146 $00AA MI123 $0093 MI131 $009B MI139 $00A3 MI147 $00AB MI124 $0094 MI132 $009C MI140 $00A4 MI148 $00AC MI125 $0095 MI133 $009D MI141 $00A5 MI149 $00AD MI126 $0096 MI134 $009E MI142 $00A6 MI150 $00AE MI127 $0097 MI135 $009F MI143 $00A7 MI151 $00AF

Entry First Line: The first line (MI-variable) in each entry consists of a source address in the low 16 bits, which contains the Station address of the raw data to be processed, and a method value in the high 8 bits, which specifies how this data is to be processed.

Entry Additional Lines: Depending on the method, 1 or 2 additional lines (MI-variables) may be required in the entry to provide further instructions on processing. If the first line (MI-variable) in the entry is $000000, this signifies the end of the active table, regardless of what subsequent entries in the table (higher numbered MI-variables) contain.

Method # of

Process Defined 1

Additional Line 2nd Additional Line

lines

$0x 1 1/T Extension of Incremental

Encoder

$1x 1 ACC-28 style A/D converter

(high 16 bits, no rollover) $2x 2 Parallel Y-word data, no filtering Bits-Used Mask $3x 3 Parallel Y-word data, with

filtering $4x 2 Time Base scaled digital

differentiation $5x 2 Integrated ACC-28 style A/D

converter $6x 2 Parallel X-word data, no filtering Bits-Used Mask $7x 3 Parallel X-word data, with

filtering $8x 1 Parallel Extension of Incremental

Encoder $9x 2 Triggered Time Base, frozen Time Base Scale Factor -

$Ax 2 Triggered Time Base, running Time Base Scale Factor $Bx 2 Triggered Time Base, armed Time Base Scale Factor $Cx 1 Incremental Encoder, no

extension

- -

Bits-Used Mask Max Change per Cycle

Time Base Scale Factor -

Input Bias -

Bits-Used Mask Max Change per Cycle

- -

16 16-Axis MACRO Station MI-Variable Reference

16-Axis MACRO CPU Software Reference Manual

$Dx 3 Exponential filter of parallel data Max Change per Cycle Filter Gain (Inverse

Time Constant)

$Ex 1 Sum or difference of entries - -

$Fx 3 High-resolution Interpolator Address of 1st A/D

converter

A/D Bias Term

Digital Incremental Encoder Entries ($0x, $Cx): These two conversion table methods utilize the incremental encoder registers in the DSPGATE ASICs on the Station. Each method provides a processed result with the units of (1/32) count – the low five bits are fractional data.

With the $0x method, the fractional data is computed by dividing the Time Since Last Count register by the Time Between Last Two Counts register. This technique is known as 1/T extension, and is the most commonly used method. It can be used with a digital incremental encoder connected directly to the Station

With the $Cx method, the fractional data is always set to zero, which means there is no extension of the incremental encoder count. This setting is used mainly to verify the effect of one of the 1/T extension, or the parallel extension of an analog encoder, explained below.

The ‘x’ in the second digit is always 0 in both of these methods.

With either of these conversion methods, the source address in the low 16 bits is that of the starting register of the machine interface channel. The addresses of the machine interface channels that can be used, and the ECT entry MI-variables that correspond to them, are shown in the following tables. The ‘m’ is the conversion method, representing ‘0’ (Incremental Encoder-1/T interpolation extension) or ‘C’ (Incremental Encoder-no extension).

Entries for Backplane Axis Boards (ACC-24E2x)

Machine

Interface

Channel #

16-Axis

MACRO

Station Base

Conversion

Table Entry

Address

1 $8000 $m08000 9 $9000 $m09000 2 $8008 $m08008 10 $9008 $m09008 3 $8010 $m08010 11 $9010 $m09010 4 $8018 $m08018 12 $9018 $m09018 5 $8040 $m08040 13 $9040 $m09040 6 $8048 $m08048 14 $9048 $m09048 7 $8050 $m08050 15 $9050 $m09050 8 $8058 $m08058 16 $9058 $m09058

Machine

Interface

Channel #

16-Axis

MACRO

Station Base

Address

Conversion

Table Entry

These are single-line entries in the table, so the next line (MI-Variable) is the start of the next entry.

Analog Incremental Encoder Entries ($8x, $Fx): These two entries process data from analog sinewave encoders through a Delta Tau interpolator, providing a high number of position states per line using fractional count data.

Low Resolution: With the $8x method, the fractional data is computed by reading the five inputs at bits 19-23 of the specified address (USER, W, V, U, and T flag inputs, respectively). This technique is known as parallel extension and can be used with an analog incremental encoder processed through accessories for the older Macro Stack Technology. This entry will not be utilized very often since the 16Axis Macro Station is used in backplane mode only.

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16-Axis MACRO CPU Software Reference Manual

High Resolution: With the $Fx method, the table computes the fractional information using the A/Dconverter data from an ACC-51E high-resolution encoder interpolator, producing a value with 4096 states per line. The entry must read both an encoder channel for the whole number of lines of the encoder, and a pair of A/D converters to determine the location within the line, mathematically combining the values to produce a single position value.

Encoder Channel Address: The first line of the three-line entry contains $F in the first hex digit and the base address of the encoder channel to be read in the last four digits (bits 0 to 15). The following table shows the possible entries for an ACC-51E in the station.

Entry First Lines for ACC-51E Backplane Interpolator Boards

ACC-51E # Channel 1 Channel 2 Channel 3 Channel 4

1st $F08000 $F08008 $F08010 $F08018 2nd $F08040 $F08048 $F08050 $F08058 3rd $F09000 $F09008 $F09010 $F09018

4th $F09040 $F09048 $F09050 $F09058

5th $F0A000 $F0A008 $F0A010 $F0A018

6th $F0A040 $F0A048 $F0A050 $F0A058

7th $F0B000 $F0B008 $F0B010 $F0B018

8th $F0B040 $F0B048 $F0B050 $F0B058

A/D Converter Address: The second line of the entry contains the base address of the first A/D converter to be read in the last four digits (bits 0 to 15). The second A/D converter will be read at the next higher address. The following table shows the possible settings when the ACC-51E is used.

Entry Second Lines for ACC-51E Backplane Interpolator Boards

ACC-51E # Channel 1 Channel 2 Channel 3 Channel 4

1st $008005 $00800D $008015 $00801D 2nd $008045 $00804D $008055 $00805D

3rd $009005 $00900D $009015 $00901D 4th $009045 $00904D $009055 $00905D 5th $00A005 $00A00D $00A015 $00A01D 6th $00A045 $00A04D $00A055 $00A05D 7th $00B005 $00B00D $00B015 $00B01D 8th $00B045 $00B04D $00B055 $00B05D

A/D Bias Term: The third line of the entry contains the bias in the A/D converter values. This line should contain the value that the A/D converters report when they should ideally report zero. The 16Axis MACRO Station subtracts this value from both A/D readings before calculating the arctangent. Many users will leave this value at 0, but it is particularly useful to remove the offsets of single-ended analog encoder signals.

This line is scaled so that the maximum A/D converter reading provides the full value of the 24-bit register (+/-2

). Generally, it is set by reading the A/D converter values directly as 24-bit values,

computing the average value over a cycle or cycles, and entering this value here.

Conversion Result: The result of the conversion is placed in the X-register of the third line of the entry. Careful attention must be paid to the scaling of this 24-bit result. The least significant bit (Bit 0) of the result represents 1/4096 of a line of the sine/cosine encoder.

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16-Axis MACRO CPU Software Reference Manual

When this data is passed to a PMAC, and it reads this data for servo use with Ix03, Ix04, Ix05, or Ix93, it expects to find data in units of 1/32 of a count. Therefore, PMAC software regards this format as producing 128 counts per line. (The fact that the hardware counter used produces 4 counts per line is not relevant to the actual use of this format; this fact would only be used when reading the actual hardware counter for debugging purposes.)

Example:

This format is used to interpolate a linear scale with a 40-micron pitch (40µm/line), producing a resolution of about 10 nanometers (40,000/4096), used as position feedback for a motor. PMAC considers a count to be 1/128 of a line, yielding a count length of 40/128 = 0.3125 µm. To set user units of millimeters for the axis, the axis scale factor would be:

actorAxisScaleF ==

mm1

UserUnit

count

m3125.0

3200

counts

UserUnit

m1000

ACC-28 Style A/D Entries ($1x, $5x): The A/D feedback entries read from the high 16-bits of the specified address and shift the data right three bits so that the least significant bit of the processed result in bit 5. Unlike the parallel feedback methods, this method will not roll over and extend the result.

This data typically comes from an ACC-28E backplane A/D board.

The $1x method processes the information directly, essentially a copying with shift. The $5x integrates the input value as it copies and shifts it. That is, it reads the input value, shifts it right three bits, adds the bias term in the second line, and adds this value to the previous processed result.

If the second digit ‘x’ of the entry is ‘0’, the 16-bit source value is treated as a signed quantity; if it is ‘8’, the 16-bit value is treated as an unsigned quantity. Presently, the only A/D accessory of this format that can interface to the 16-axis MACRO Station is the ACC-28E, which provides an unsigned value, so $18 and $58 should be used.

The following table shows the entries for ACC-28E backplane converter board ADCs. The ‘m’ represents the conversion method, either ‘1’ or ‘5’.

Entries for ACC-28E ADCs

ACC-28E

Entry for ADC1 Entry for ADC2 Entry for ADC3 Entry for ADC4

Base Address

$8800 $m88800 $m88801 $m88802 $m88803

$9800 $m89800 $m89801 $m89802 $m89803 $A800 $m8A800 $m8A801 $m8A802 $m8A803 $B800 $m8B800 $m8B801 $m8B802 $m8B803

$8840 $m88840 $m88841 $m88842 $m88843

$9840 $m89840 $m89841 $m89842 $m89843 $A840 $m8A840 $m8A841 $m8A842 $m8A843 $B840 $m8B840 $m8B841 $m8B842 $m8B843

$8880 $m88880 $m88881 $m88882 $m88883

$9880 $m89880 $m89881 $m89882 $m89883 $A880 $m8A880 $m8A881 $m8A882 $m8A883 $B880 $m8B880 $m8B881 $m8B882 $m8B883 $88C0 $m888C0 $m888C1 $m888C2 $m888C3 $98C0 $m898C0 $m898C1 $m898C2 $m898C3

$A8C0 $m8A8C0 $m8A8C1 $m8A8C2 $m8A8C3 $B8C0 $m8B8C0 $m8B8C1 $m8B8C2 $m8B8C3

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Parallel Feedback Entries ($2x, $3x, $6x, $7x): The parallel feedback entries read a word from the address specified in the low 16 bits of the first entry. The four methods in this class are:

• $2x: Y-word parallel, no filtering (2-line entry)

• $3x: Y-word parallel, with filtering (3-line entry)

• $6x: X-word parallel, no filtering (2-line entry)

• $7x: X-word parallel, with filtering (3-line entry)

The second digit in the first line of the entry, represented above by ‘x’, specifies how the parallel data at the specified address is to be processed. Currently there are 5 valid values of ‘x’:

• x=0: Shift data so that the least significant bit of the source register as specified in the “bits used”

mask word is placed in bit 5 of the processed result.

• x=4: Read the least significant byte from the low byte of the specified address; read the middle byte

from the low byte of the (specified address + 1); read the most significant byte from the low byte of the (specified address + 2). This is used for feedback brought in through the ACC-14E 48-I/O board.

• x=5: Read the least significant byte from the middle byte of the specified address; read the middle

byte from the middle byte of the (specified address + 1); read the most significant byte from the middle byte of the (specified address + 2). This is used for feedback brought in through the ACC14E 48-I/O board.

• x=6: Read the least significant byte from the high byte of the specified address; read the middle byte

from the high byte of the (specified address + 1); read the most significant byte from the high byte of the (specified address + 2). This is used for feedback brought in through the ACC-14E 48-I/O board.

• x=8: Process the data from the source register without any shifting, so the least significant bit of the

source register as specified in the “bits used” mask word is place in bit 0 of the processed result.

Time Base Entries ($4x): A time-base entry performs a scaled digital differentiation of the value in the source register. It is a two-line entry. The first line contains a ‘4’ in the first hex digit and the address of the source register in the last four hex digits. Usually, the source register is the result register of an incremental encoder entry higher in the table (addresses $0020 to $003F).

The second line in the entry is the time-base scale factor. The result value equals 2 * Time-Base-ScaleFactor * (New Source Value - Old Source Value). When this entry is used to synchronize a motion program to a master encoder, creating an electronic cam function, this scale factor should be set equal to

/ Real-Time-Input-Frequency, where the RTIF is expressed in counts per millisecond. The program is

then written if the master encoder is always putting out this RTIF.

Triggered Time Base Entries ($9x, $Ax, $Bx): A triggered time-base entry is like a regular time-base entry, except that it is easy to freeze the time base, then start it exactly on receipt of a trigger that captures the starting master position or time.

The source register for triggered time base must be the starting (X) address for one of the machine interface channels on the Station.

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16-Axis MACRO CPU Software Reference Manual

The following table shows the addresses for each channel on the ACC-24E2x backplane axis boards, and the corresponding ECT entry. The ‘m’ represents the method, either ‘9’, ‘A’, or ‘B’.

Machine

Interface

Channel #

16-Axis

MACRO

Station Base

Address

Conversion

Table Entry

Machine

Interface

Channel #

16-Axis

MACRO

Station Base

Address

Conversion

Table Entry

In use, the method byte is changed as needed by setting of the MI-variable. It is set to $90 (e.g. MI129=$908808) before the calculations of the triggered move are started, to freeze the time base. It is set to $B0 (e.g. MI129=$B08808) after the calculations of the triggered move are finished, to “arm” the time base for the trigger. When the Table sees the trigger (the capture trigger for the machine interface channel as defined by MI912 and MI913 for the channel), it automatically sets the method byte to $A0 for running time base.

/ Real-Time-Input-Frequency, where the RTIF is expressed in counts per millisecond. The program is

then written assuming that the master encoder is always putting out this RTIF.

Addition/Subtraction of Entries ($E0, $E8): The $Ex entry is used to add or subtract two other entries in the Table. If the method byte is $E0, the two specified entries are added. If the method byte is $E8, the second entry is subtracted from the first.

Bits 0-7 of the entry specify the address offset from this entry to the first entry to be used, as a signed 8bit quantity. Bits 8-15 of the entry specify the offset from this entry to the second entry to be used. For example, MI131 is to be used to subtract the result values with MI121 from that of MI120, the offset to the first entry is -11 ($F5), and the offset to the second entry is -10 ($F6). Therefore MI131=$E8F6F5.

MS{anynode},MI152 - MI153 Phase-Clock Latched I/O

Range: $000000000000 - $FFFFFFFFFFFF Units: Extended 16-Axis MACRO Station Y Addresses Default: $000000000000

MI152 and MI153 permit the use of inputs latched by the phase clock on Station I/O boards. This function is used to get reliable parallel-data feedback on the 16-Axis MACRO Station. It is useful mainly on ACC-14E backplane boards.

Note:

Jumper E2 on the ACC-14E backplane board must connect pins 2 and 3 to permit this function.

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MI152 and MI153 are 48-bit values represented by 12 hexadecimal digits. These digits have the following functions:

Digits Function and Setting

1 & 2 3rd I/O ASIC Latch Control (Maps into high bytes; ACC-9E, 10E, 11E, 12E

with E6x connecting rows 4 & 5) =$C0 for latched inputs =$00 for transparent inputs or ASIC not present

3 & 4 2nd I/O ASIC Latch Control (Maps into middle bytes ACC-9E, 10E, 11E, 12E

with E6x connecting rows 2 & 3) =$C0 for latched inputs =$00 for transparent inputs or ASIC not present

5 & 6 2nd I/O ASIC Latch Control (Maps into low bytes; ACC-9E, 10E, 11E, 12E

with E6x connecting rows 1 & 2) =$C0 for latched inputs

=$00 for transparent inputs or ASIC not present 7 Number of bytes (1 to 6) on each ASIC (starting with lowest byte) to latch 8 (Reserved for future use; set to 0)

9 - 12 Base address of I/O Board

=$8800 (ACC-9E, 10E, 11E, 12E board w/ E1 ON, ACC-14E)

=$8840 (ACC-9E, 10E, 11E, 12E board w/ E2 ON, ACC-14E)

=$8880 (ACC-9E, 10E, 11E, 12E board w/ ON, ACC-14E)

=$88c0 (ACC-9E, 10E, 11E, 12E board w/ E4 ON, ACC-14E)

Examples:

MS0,MI153=$0000C0308840 ; Latches inputs on 1st ASIC, 1st 3 bytes, of an ; ACC-14E board with base address $8840

MS{anynode},MI154 - MI160 (Reserved for Future Use)

MS{anynode},MI161-MI168 MLDT Frequency Control

Range: $000000 - $FFFFFF Units: PFMCLK cycles Default: 0

MI161 (1st motor node: Node 0) MI162 (2 MI163 (3 MI164 (4 MI165 (5 MI166 (6 MI167 (7 MI168 (8

MI161 through MI168 (MI16x) on the 16-Axis MACRO Station permit the ‘C’ output channel associated with the MACRO motor node (MI16x controls the xth motor node, which usually corresponds to Motor x on PMAC) to put out a specified output frequency, starting immediately on power-on/reset, for the purposes of creating an excitation signal for an MLDT sensor.

motor node: Node 1)

motor node: Node 4)

motor node: Node 5)

motor node: Node 8)

motor node: Node 9)

motor node: Node 12)

motor node: Node 13)

If MI16x is set to 0, this function is not enabled, and the ‘C’ output channel can be used for servo control functions such as PFM stepper control or direct PWM servo control.

22 16-Axis MACRO Station MI-Variable Reference

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