Accessory 14M
ii Table of Contents
Method 3 .............................................................................................................................................................25
Method 4 .............................................................................................................................................................25
Method 5 .............................................................................................................................................................26
MACRO ASCII Communication Reference:..........................................................................................................27
Firmware Updates ...................................................................................................................................................28
ACC-14M MACRO STATION MI-VARIABLE REFERENCE..........................................................................29
Global MI-Variables ...............................................................................................................................................29
MS{anynode}, MI0 Station Firmware Version (Read Only)..............................................................................29
MS{anynode},MI1 Station Firmware Date (Read Only) ...................................................................................29
MS{anynode},MI2 Station ID and User Configuration Word ...........................................................................29
MS{anynode},MI3 (Reserved for Future Use)...................................................................................................30
MS{anynode},MI4 Station Status Word (Read Only) ........................................................................................30
MS{anynode},MI5 Ring Error Counter .............................................................................................................30
MS{anynode},MI6 Maximum Permitted Ring Errors in One Second................................................................31
MS{anynode},MI7 (Reserved for Future Use)...................................................................................................31
MS{anynode},MI8 MACRO Ring Check Period................................................................................................31
MS{anynode},MI9 MACRO Ring Error Shutdown Count .................................................................................31
MS{anynode},MI10 MACRO Sync Packet Shutdown Count .............................................................................32
MS{anynode},MI11 Station Order Number.......................................................................................................32
MS{anynode},MI12 Card Identification ............................................................................................................32
MS{anynode},MI13 (Reserved for Future Use).................................................................................................32
MS{anynode},MI14 Input/Output Configuration...............................................................................................33
MS{anynode},MI15 Enable MACRO PLCC......................................................................................................34
MACRO IC MI-Variables.......................................................................................................................................34
MS{anynode},MI176 MACRO IC Base Address................................................................................................34
MS{anynode},MI177 MACRO IC Address for Node 14 ....................................................................................34
MS{anynode},MI178 MACRO IC Address for Node 15 ....................................................................................34
MS{anynode},MI181–MI188 MACRO Channels 1 - 8 Address ........................................................................34
MACRO IC I/O Transfer MI-Variables ..................................................................................................................34
MS{anynode},MI198 Direct Read/Write Format and Address..........................................................................35
MI198 Format Digits..........................................................................................................................................36
MS{anynode},MI199 Direct Read/Write Variable.............................................................................................38
Global MACRO Status MI-Variables .....................................................................................................................38
MS{anynode}, MI203 Phase Period ..................................................................................................................38
MS{anynode}, MI204 Phase Execution Time ....................................................................................................38
MS{anynode}, MI205 Background Cycle Time .................................................................................................38
MS{anynode}, MI206 Maximum Background Cycle Time ................................................................................38
MS{anynode}, MI208 User Ram Start...............................................................................................................38
MACRO IC MI-Variables.......................................................................................................................................39
MS{anynode},MI942 ADC Strobe Word for ADC1 and ADC2 Inputs ..............................................................39
MACRO IC Setup MI-Variables.............................................................................................................................39
MS{anynode},MI970-MI973 (Reserved for Future Use)...................................................................................39
MS{anynode},MI1974 Station Display Status (Read Only)...............................................................................39
MS{anynode},MI977 Motor Nodes Reporting Ring Break................................................................................39
MS{anynode},MI978-MI989 (Reserved for Future Use)...................................................................................40
MACRO IC MI-Variables.......................................................................................................................................40
MS{anynode},MI992 MaxPhase Frequency Control.........................................................................................40
MS{anynode},MI993 Hardware Clock Control Handwheel Channels..............................................................40
MS{anynode},MI994 PWM Deadtime / PFM Pulse Width Control for Handwheel........................................42
MS{anynode},MI995 MACRO Ring Configuration/Status ................................................................................42
MS{anynode},MI996 MACRO Node Activate Control ......................................................................................43
MS{anynode},MI997 Phase Clock Frequency Control .....................................................................................45
MS{anynode},MI998 Servo Clock Frequency Control......................................................................................45
MS{anynode},MI999 Handwheel DAC Strobe Word (Not Used)......................................................................46
Other ACC-14M MACRO Station Mm & MP-Variables.......................................................................................46