Delta Tau GEO BRICK LV User Manual
Turbo PMAC User Manual
388
Writing a Host Communications Program
PCI Bus
On the PCI bus, the operating system selects the interrupt line used by the controller automatically on the
power-up/reset of the PC. Consult the operating system documentation for details of how the operating
system determines which interrupt is selected. If using Delta Tau’s PCOMM32PRO library for Microsoft
Windows operating systems, consult the documentation for PCOMM32PRO for instructions for handling
interrupts in this environment.
On the PCI bus, the operating system selects the interrupt line used by the controller automatically on the
power-up/reset of the PC. Consult the operating system documentation for details of how the operating
system determines which interrupt is selected. If using Delta Tau’s PCOMM32PRO library for Microsoft
Windows operating systems, consult the documentation for PCOMM32PRO for instructions for handling
interrupts in this environment.
Interrupt Source Signals
The following table shows which Turbo PMAC signals are available to produce interrupts on various ISA
and PCI Turbo PMAC boards. The signal that goes into line IRn of the PIC is used in bit n of the PIC
registers. Each signal has a brief explanation below.
and PCI Turbo PMAC boards. The signal that goes into line IRn of the PIC is used in bit n of the PIC
registers. Each signal has a brief explanation below.
PIC Input Line
IR0
IR1
IR2
IR3
IR4
IR5
IR6
IR7
Turbo PMAC-
PC, Turbo
PMAC-PCI
PC, Turbo
PMAC-PCI
IPOS BREQ EROR F1ER HREQ EQU1*/
EQU5/
AXEXP1
MI1**
EQU2/
EQU6/
EQU6/
AXEXP0/
MI2**
EQU3/
EQU7/
EQU4/
EQU7/
EQU4/
EQU8**
Turbo PMAC-
PCI Lite
PCI Lite
IPOS BREQ EROR F1ER HREQ EQU1*/
AXEXP1
MI1**
EQU2/
AXEXP0/
MI2**
EQU3/
EQU4**
Turbo PMAC2-
PC, Turbo
PMAC2-PCI
PC, Turbo
PMAC2-PCI
IPOS BREQ EROR F1ER HREQ EQU1* EQU5 WDO
Turbo PMAC2-
PCI Lite
PCI Lite
IPOS BREQ EROR F1ER HREQ EQU1* EQU2 WDO
Turbo PMAC2-
PC Ultralite,
Turbo PMAC2-
PCI Ultralite
PC Ultralite,
Turbo PMAC2-
PCI Ultralite
IPOS BREQ EROR F1ER HREQ CTRL0* CTRL1 WDO
* This signal can be used by the firmware for the DPRAM ASCII communications interrupt.
** One of these is chosen by jumper on the Turbo PMAC board.
** One of these is chosen by jumper on the Turbo PMAC board.
IPOS (In-Position): The in-position signal goes true if Turbo PMAC determines that all motors in the
addressed coordinate system are in position. For a motor to be in-position, the following conditions must
be met: the servo loop must be closed, the desired velocity must be zero, and the move timer must be off
(it must be in some kind of indefinite wait, not in a move, dwell, or delay), and the following error
magnitude must be smaller than Ixx28. These conditions must be true for (I7+1) consecutive background
scans.
BREQ (Buffer-Request): The buffer-request signal goes true when an open motion program buffer,
particularly a rotary buffer, is ready to accept another line from the PC. For the fixed motion program
buffers (PROG), the ready state is controlled by I18; for the rotary program buffers (ROT), the ready state
is controlled by I16 and I17. Refer to Rotary Motion Program Buffers in the Writing and Executing
Motion Programs section for more details.
EROR (Fatal Following Error): The fatal following error signal goes true when any axis in the
addressed coordinate system exceeds its fatal following error limit as set by Ixx11.
F1ER (Warning Following Error): The warning following error signal goes true when any axis in the
addressed coordinate system exceeds its warning following error limit as set by Ixx12.
HREQ (Host Request): The host-request signal goes true when the Turbo PMAC is ready to read or
write another character over the ISA or PCI bus. Write to the base address of the Turbo PMAC to select,
whether the host request signal reflects write-ready only, read-ready only, or both. Writing a byte value
of 0 to the Turbo PMAC base address disables generation of the host-request signal; writing a 1 enables
the signal for host read-ready only; writing a 2 enables the signal for host write-ready only; writing a 3
enables the signal for both.
addressed coordinate system are in position. For a motor to be in-position, the following conditions must
be met: the servo loop must be closed, the desired velocity must be zero, and the move timer must be off
(it must be in some kind of indefinite wait, not in a move, dwell, or delay), and the following error
magnitude must be smaller than Ixx28. These conditions must be true for (I7+1) consecutive background
scans.
BREQ (Buffer-Request): The buffer-request signal goes true when an open motion program buffer,
particularly a rotary buffer, is ready to accept another line from the PC. For the fixed motion program
buffers (PROG), the ready state is controlled by I18; for the rotary program buffers (ROT), the ready state
is controlled by I16 and I17. Refer to Rotary Motion Program Buffers in the Writing and Executing
Motion Programs section for more details.
EROR (Fatal Following Error): The fatal following error signal goes true when any axis in the
addressed coordinate system exceeds its fatal following error limit as set by Ixx11.
F1ER (Warning Following Error): The warning following error signal goes true when any axis in the
addressed coordinate system exceeds its warning following error limit as set by Ixx12.
HREQ (Host Request): The host-request signal goes true when the Turbo PMAC is ready to read or
write another character over the ISA or PCI bus. Write to the base address of the Turbo PMAC to select,
whether the host request signal reflects write-ready only, read-ready only, or both. Writing a byte value
of 0 to the Turbo PMAC base address disables generation of the host-request signal; writing a 1 enables
the signal for host read-ready only; writing a 2 enables the signal for host write-ready only; writing a 3
enables the signal for both.