Accessory 51E is a
4096X encoder interpolator board used at the UMAC
MACRO station.
Input signals ±1 V.
OPEN PLC2 CLEAR
; Add Acc-51E to the encoder conversion table
P1=$F0A000 MSW0,MI128,P1 ;$18
P1=$A005 MSW0,MI129,P1 ;$19
P1=$0 MSW0,MI130,P1 ;$1a
P1=$F0A008 MSW0,MI131,P1 ;$1b
P1=$A00D MSW0,MI132,P1 ;$1c
P1=$0 MSW0,MI133,P1 ;$1d
P1=$F0A010 MSW0,MI134,P1 ;$1e
P1=$A015 MSW0,MI135,P1 ;$1f
P1=$0 MSW0,MI136,P1 ;$20
P1=$F0A018 MSW0,MI137,P1 ;$21
P1=$A01D MSW0,MI138,P1 ;$22
P1=$0 MSW0,MI139,P1 ;$23
; substitute 1-4 motor feedback
P1=$1a MSW0,I101,P1
;P1=$1d MSW0,I102,P1
;P1=$20 MSW0,I103,P1
;P1=$23 MSW0,I104,P1
P1=$E8A004 MSW0,MI198,P1 ;Point to Global Clock Control Register.
P2=$0038D2 MSW0,MI199,P2 ;Put $38D2 into the register.
P1=$E8A005 MSW0,MI198,P1 ;Point to control word for channel 1.
P2=$000003 MSW0,MI199,P2 ;Put P2 into the register.
P1=$E8A00D MSW0,MI198,P1 ;Point to control word for channel 2.
MSW0,MI199,P2 ;Put P2 into the register.
P1=$E8A015 MSW0,MI198,P1 ;Point to control word for channel 3.
MSW0,MI199,P2 ;Put P2 into the register.
P1=$E8A01D MSW0,MI198,P1 ;Point to control word for channel 4.
MSW0,MI199,P2 ;Put P2 into the register.
P1=$E80018 MSW0,MI198,P1 ;Point to 1st 3-line entry in encoder
conversion table (X side).
P2=$000003 MSW0,MI199,P2 ;Place control word here (must be the same as
#1 above)
P1=$E8001B MSW0,MI198,P1 ;Point to 2nd 3-line entry in encoder
conversion table (X side).
MSW0,MI199,P2 ;Place control word here (must be the same as #2 above)
P1=$E8001E MSW0,MI198,P1 ;Point to 3rd 3-line entry in encoder
conversion table (X side).
MSW0,MI199,P2 ;Place control word here (must be the same as #3 above)
P1=$E80021,MSW0,MI198,P1 ;Point to 4th 3-line entry in encoder
conversion table (X side).
MSW0,MI199,P2 ;Place control word here (must be the same as #4 above)
DISPLC2 ;Run this PLC only once at startup or MACRO Station reset.
CLOSE