Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Global I-Variables 69
I68
Value
Highest
Numbered
Coordinate
System Activated
Sync. M-Var.
Stack per C.S.
Max. Sync M-Var.
Assignments per
move, no cutter comp
Max. Sync M-Var.
Assignments per
move, cutter comp on
0
C.S. 1
256 words
63
42
1
C.S. 2
128 words
31
20
2 - 3
C.S. 3 - 4
64 words
15
10
4 - 7
C.S. 5 - 8
32 words
7
4
8 - 15
C.S. 9 - 16
16 words
3
2
The default I68 value of 15 (all coordinate systems activated) will always work, even if fewer coordinate
systems are actually being used. Lowering I68 from this default if fewer coordinate systems will be used
brings two advantages. First, there is a slight improvement in computational efficiency because de-
activated coordinate systems do not have to be checked periodically.
Second, each remaining active coordinate system has a bigger piece of the synchronous M-variable
assignment stack, so more synchronous M-variable assignments can be executed per move. Each
synchronous M-variable assignment requires two words of the stack; one additional word is required per
move. The above table lists how many synchronous M-variables assignments can be performed per move
in each active coordinate system.
If the special lookahead function is enabled, synchronous M-variable assignments made during lookahead
are stored in the area reserved in the lookahead buffer, and the number of assignments that can be
buffered is limited by the space reserved with the DEFINE LOOKAHEAD command.
I68 is actually used at power-on/reset only, so to make a change in the number of activated coordinate
systems, change the value of I68, store this new value to non-volatile flash memory with the SAVE
command, and reset the card with the $$$ command.
I69 Modbus TCP Software Control Panel Start Address
Range: $0 – $03FFFF
Units: Turbo PMAC addresses
Default: 0
I69 enables and specifies the address of the start of the Modbus TCP software control panel in Turbo
PMAC. I69 permits a software control panel to be commanded over the Modbus TCP link, typically from
a PLC, using part of the user buffer created with the DEFINE UBUFFER command and reserved for
Modbus TCP use with I67. If I69 is set to a value greater than 0, this software control panel is enabled.
Typically, I69 is set to a value 112 ($70) greater than the value of I67, so this control panel starts at an
address 112 higher than the beginning of the entire Modbus TCP buffer in an unused configuration
portion of the buffer. For example, if the beginning of the Modbus buffer were at $010700, I69 could be
set to $010770.
The software control panel occupies 16 long words of Turbo PMAC memory. The structure functions of
the Modbus panel are equivalent to those for the DPRAM software control panel, which are documented
in the Memory and I/O Map chapter of the Software Reference Manual at their default addresses of
$060000 - $06000F.
The operation of the Modbus control panel is independent of that for the DPRAM control panel (which is
controlled by I2). One, neither, or both of these control panels may be active at one time.
MACRO Ring Configuration I-Variables
I70 MACRO IC 0 Node Auxiliary Register Enable
Range: 0 .. $FFFF (0 .. 65,535)