Delta Tau GEO BRICK LV Reference Manual
Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Global I-Variables
72
I74 controls which nodes of MACRO IC 2 for which Turbo PMAC performs automatic copying into and
out of the auxiliary registers. Enabling this function for a node is required to use the auxiliary register as
the flag register for a motor.
out of the auxiliary registers. Enabling this function for a node is required to use the auxiliary register as
the flag register for a motor.
Note:
MACRO IC 2 can only be present on Turbo PMAC2 Ultralite boards with Option
1U2 ordered, or on a 3U Turbo PMAC2 with some configurations of its Acc-5E.
1U2 ordered, or on a 3U Turbo PMAC2 with some configurations of its Acc-5E.
I74 is a 16-bit variable. Bits 0 to 15 control the enabling of this copying function for MACRO nodes 0 to
15, respectively. A bit value of 1 means the copying function is enabled; a bit value of 0 means the
copying function is disabled.
15, respectively. A bit value of 1 means the copying function is enabled; a bit value of 0 means the
copying function is disabled.
If the copying function is enabled for Node n (where n = 0 to F hex or 0 to 15 decimal), during each
background “housekeeping” software cycle, PMAC copies the contents of Y:$000346n to the Node n
auxiliary write register, and copies the contents of the Node n auxiliary read register into X:$00346n.
background “housekeeping” software cycle, PMAC copies the contents of Y:$000346n to the Node n
auxiliary write register, and copies the contents of the Node n auxiliary read register into X:$00346n.
The copying function enabled by I74 permits the use of the auxiliary registers for command and status
flags plus Type 0 auxiliary read and write functions in PLC programs and on-line commands.
flags plus Type 0 auxiliary read and write functions in PLC programs and on-line commands.
For each node whose auxiliary functions are enabled by I74, I75 must correctly specify for the node
whether the Type 0 or Type 1 MACRO protocol is used.
whether the Type 0 or Type 1 MACRO protocol is used.
If a value of I78 greater than 0 has been saved into PMAC’s non-volatile memory to enable Type 1
MACRO auxiliary communications with Node 15, then at subsequent power-up/resets, bit 15 of I74 is
automatically forced to 0 by PMAC firmware, regardless of the value saved for I74. This reserves Node
15 for the Type 1 auxiliary communications alone.
MACRO auxiliary communications with Node 15, then at subsequent power-up/resets, bit 15 of I74 is
automatically forced to 0 by PMAC firmware, regardless of the value saved for I74. This reserves Node
15 for the Type 1 auxiliary communications alone.
I75
MACRO IC 2 Node Protocol Type Control
Range:
0 .. $FFFF (0 .. 65,535)
Units:
none
Default:
0
I75 controls for each node (0 - 15) on MACRO IC 2 whether the matching slave node is expected to be
another Turbo PMAC or a slave-only “MACRO Station” for purposes of the protocol of exchanging non-
cyclic information. I75 is a 16-bit value; each bit 0 – 15 controls the protocol type for the MACRO node
of the same number. A value of 0 in the bit selects the “Turbo PMAC” protocol for the matching
MACRO node (using MX commands); a value of 1 in the bit selects the Type 1 protocol for the node
(using MS commands). The selection of the proper protocol is essential for the correct operation of
homing-search moves and other “move-until-trigger” functions, which require an MS or MX command to
obtain the trigger-captured position across the ring.
another Turbo PMAC or a slave-only “MACRO Station” for purposes of the protocol of exchanging non-
cyclic information. I75 is a 16-bit value; each bit 0 – 15 controls the protocol type for the MACRO node
of the same number. A value of 0 in the bit selects the “Turbo PMAC” protocol for the matching
MACRO node (using MX commands); a value of 1 in the bit selects the Type 1 protocol for the node
(using MS commands). The selection of the proper protocol is essential for the correct operation of
homing-search moves and other “move-until-trigger” functions, which require an MS or MX command to
obtain the trigger-captured position across the ring.
“MACRO Stations” include UMAC MACRO racks with 8 or 16-axis CPUs, Geo MACRO drives,
MACRO Peripheral modules, and 3
MACRO Peripheral modules, and 3
rd
-party MACRO devices. To use a Turbo PMAC as a slave on a
MACRO ring, V1.945 or newer firmware is required.
Prior to V1.945 firmware, a value of 0 in a bit selected the now-obsolete “Type 0” slave-only protocol for
the matching node.
the matching node.
I76
MACRO IC 3 Node Auxiliary Register Enable
Range:
0 .. $FFFF (0 .. 65,535)
Units:
none
Default:
0
I76 controls which nodes of MACRO IC 3 for which Turbo PMAC performs automatic copying into and
out of the auxiliary registers. Enabling this function for a node is required to use the auxiliary register as
the flag register for a motor.
out of the auxiliary registers. Enabling this function for a node is required to use the auxiliary register as
the flag register for a motor.