User's Manual

Geo MACRO Drive User and Reference Manual
Geo Macro Drive MI-Variable Reference 135
MS{node},MI6 Status Word Control
Range: 0 – $F
Units: none
Default: 1
MI6 controls what information is returned when the Geo MACRO drive status word (MI4) is queried
with
Value Function
MS{node},MI6 0 Ring Status Word
MS{node},MI6 1 Bus Voltage value
MS{node},MI7 Geo MACRO Error Counter
Range: $000000 - $FFFFFF
Units: Error Count
This variable, when queried, reports the total number of any errors detected by the Geo MACRO Station
since the most recent power-up/reset (MS$$${node}) or value reset by the user, at any time.
MS{node},MI8 Geo MACRO Ring Check Period
Range: 0 - 255
Units: Station phase cycles
Default: 2
MI8 determines the period, in phase cycles, for the Geo MACRO Station to evaluate whether there has
been a Geo MACRO ring failure or not. Every phase cycle, the Station checks the ring communications
status. In MI8 phase cycles (or Geo 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 MS{node},MI13, and report a ring fault.
If MI8 is set to 0 at power-on/reset, the Geo MACRO Station will automatically set it to 8.
MS{node},MI9 Geo MACRO Ring Error Shutdown Count
Range: 0 - 255
Units: none
Default: 2
MI9 determines the number of Geo MACRO communications errors detected that will cause a shutdown
fault of the Geo MACRO Station. If the Station detects MI9 or greater Geo MACRO communications
errors in MI8 phase (Geo MACRO Ring) cycles, it will shut down on a Geo MACRO communications
fault, turning off all outputs.
The Station can detect one ring communications error per phase cycle (even if more than one error has
occurred). Setting MI9 greater than MI8 means that the Station will never shut down for ring
communications error.