Accessory 24E2A
Remember, the output from the encoder conversion table will reside in the X register. For example, with
the following entry:
MS0,MI120=$30C040 ($10 of ECT)
MS0,MI121=$FFFFFF ($11 of ECT)
MS0,MI122=32 ($12 of ECT)
The output from the ECT will reside in X:$12 and this will be the register to obtain the absolute data from.
MI11x consists of two parts. The low 16 bits (last four hexadecimal digits) specify the address on the
MACRO Station from which the absolute position information is read. The high eight bits (first two
hexadecimal digits) tell the Compact MACRO Station how to interpret the data at that address (the method.
MACRO MI11x Parallel Word Example: Signed 24-bit Absolute MLDT $0010
HEX($)
D 8 0 0 1 0
BIT
23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
VALUE
1 1 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0
# of bits/location ($18=24dec) Source Address ($0011)
Y-address(0)/X-address(1) control bit
Unsigned(0)/signed(1) format bit
X/Y Address Bit: If bit 22 of Ix10 is 0, the PMAC looks for the parallel sensor in its Y address space.
This is the standard choice, since all I/O ports map into the Y address space. If this bit is 1, PMAC looks
for the parallel sensor in its X address space.
Signed/Unsigned Bit: If the most significant bit (MSB -- bit 23) of MI11x is 0, the value read from the
absolute sensor is treated as an unsigned quantity. If the MSB is 1, which adds $80 to the high eight bits
of MI11x, the value read from the sensor is treated as a signed, twos-complement quantity.
MS0,MI111=$D80010 ;read signed 24-bit absolute power on position
;from X:$0010
Example MLDT Setup for UMAC MACRO
Ultralite Turbo Ultralite Description
I110=$740000 I110=$000100
I195=$740000
Power on position read from MACRO Node 0 as an
unsigned value
MS0,i161=3825 ;(15*255)
Ms0,i903=2258 ;default
MS0,I904=25 ;might need to increase from factory default
MS0,I910=12
MS0,I916=3
MS0,i120=$30C040
MS0,I121=$FFFFFF ;24-bit
MS0,I122=32 ;output at $12
MS0,i101=$12
Ms0,i111=$D80010 ;grab data from 1
st
entry of ECT X register
38 MLDT Feedback for UMAC-MACRO
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