Delta 36-R31 User Manual download pdf (Page 42)

ACC-36E Manual

USING ACC-36E WITH UMAC MACRO 42

Quick Review: Nodes and Addressing

Each MACRO IC consists of 16 nodes: 2 auxiliary, 8 servo, and 6 I/O nodes.

 Auxiliary nodes are Master/Control registers and internal firmware use.

 Servo nodes are used for motor control, carrying feedback, commands, and flag information.

 I/O nodes are by default unoccupied and are user configurable for transferring various data.

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0Node

Auxiliary

Nodes

I/O Nodes

Servo Nodes

Each I/O node consists of 4 registers; one 24-bit and three 16-bit registers for a total of 72 bits of data:

5 4 2 1 0

24-bit

16-bit

24-bit

16-bit

24-bit

16-bit

24-bit

16-bit

9 810

24-bit

16-bit

24-bit

16-bit

13 12

A given MACRO Station can be populated with either a MACRO8 or MACRO16 CPU:

 MACRO8 supports only 1 MACRO IC (IC#0).

 MACRO16 supports 2 MACRO ICs (IC#0 and IC#1).

The I/O node addresses ($C0XX) for each of the Station MACRO ICs are:

Station MACRO IC #0 Node Registers

Node

24-bit

X:$C0A0

X:$C0A4

X:$C0A8

X:$C0AC

X:$C0B0

X:$C0B4

16-bit

X:$C0A1

X:$C0A5

X:$C0A9

X:$C0AD

X:$C0B1

X:$C0B5

16-bit

X:$C0A2

X:$C0A6

X:$C0AA

X:$C0AE

X:$C0B2

X:$C0B6

16-bit

X:$C0A3

X:$C0A7

X:$C0AB

X:$C0AF

X:$C0B3

X:$C0B7

Station MACRO IC #1 Node Registers

Node

24-bit

X:$C0E0

X:$C0E4

X:$C0E8

X:$C0EC

X:$C0F0

X:$C0F4

16-bit

X:$C0E1

X:$C0E5

X:$C0E9

X:$C0ED

X:$C0F1

X:$C0F5

16-bit

X:$C0E2

X:$C0E6

X:$C0EA

X:$C0EE

X:$C0F2

X:$C0F6

16-bit

X:$C0E3

X:$C0E7

X:$C0EB

X:$C0EF

X:$C0F3

X:$C0F7

Non-Turbo PMAC2 Ultralite (legacy) I/O node addresses are the same

as Station MACRO IC#0 node registers.

1 2 ... 37 38 39 40 41 42 43 44 45 46 47 ... 83 84

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Delta 36-R31 User Manual Page 42

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