Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Global I-Variables 59
Serial Port
Command Queue
Command Pointer
Response Queue
Response
Pointer
Response
Transmit Flag
Auxiliary
X:$001C00 …
$001CFF
X:$000034
Y:$001C00 …
$001CFF
Y:$000034
Y:$30,11
Main
X:$003600 …
$0036FF
X:$FFFFE6
Y:$003600 …
$0036FF
X:$FFFFE1
X:$FFFFE0,23
Only the low byte (bits 0 – 7) of each word in the command and response queues is used. The command
pointer contains the location of the next character to be input to the Turbo PMAC. The response pointer
does not need to be used if responses are issued using the SENDA or SENDS commands; only if responses
are “manually” placed in the response queue. If assembling responses manually on the main serial port,
the response must start at Y:$003600, the number of bytes to output must be placed in X:$FFFFE1, and
bit 23 of X:$FFFFE0 must be set to 1 to enable the output . On the auxiliary serial port, the response must
start at Y:$001C00, and bit 23 of the last character to be sent has to be set to 1. Setting bit 11 of Y:$30 to
1 initiates the transmission of data.
I44 PMAC Ladder Program Enable {Special Firmware Only}
Range: 0 - 1
Units: none
Default: 0
I44 controls whether the “PMAC Ladder” graphical PLC programs that can be used with optional
firmware are running or not. If I44 is set to 1, any PMAC ladder programs that have been downloaded
into Turbo PMAC program memory are active. If I44 is set to 0, these programs will not execute, even if
they are present.
If the firmware does not support these PMAC Ladder PLC programs, I44 cannot be changed from 0.
I45 Foreground Binary Rotary Buffer Transfer Enable
Range: 0 - 1
Units: none
Default: 0
I45 controls whether the transfer of binary rotary buffer commands from dual-ported RAM to internal
memory is done as a background task or as a foreground task. If I45 is set to the default value of 0 when
the OPEN BIN ROT command is given, Turbo PMAC checks the DPRAM binary rotary buffer once per
background cycle (if the binary buffer is open) and copies commands received in the last cycle to the
buffer in internal memory. If I45 is set to 1 when the OPEN BIN ROT command is given, Turbo PMAC
checks the DPRAM buffer every real-time interrupt (every I8+1 servo cycles) instead.
Setting I45 to 1 permits a quicker and more predictable reaction to the receipt of binary rotary buffer
commands from the host computer.
I46 P & Q-Variable Storage Location
Range: 0 to 3
Units: None
Default: 0
I46 controls the memory locations that Turbo PMAC uses to store the P and Q-Variables. For each type
of variable, there is a choice between the main flash-backed memory and the optional supplemental
battery-backed memory. Option 16 must be purchased in order to be able to select the battery-backed
memory storage.
I46 can take four values: 0, 1, 2, and 3. The meaning of each is: