Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC On-line Command Specification 289
???
Function: Report global status words
Scope: Global
Syntax: ???
This command causes Turbo PMAC to return the global status bits in ASCII hexadecimal form. Turbo
PMAC returns twelve characters, representing two status words. Each character represents four status
bits. The first character represents Bits 20-23 of the first word, the second shows Bits 16-19; and so on,
to the sixth character representing Bits 0-3. The seventh character represents Bits 20-23 of the second
word; the twelfth character represents Bits 0-3 of the second word.
If the Turbo PMAC is in “bootstrap mode” (suitable for the downloading of new firmware) instead of the
normal operational mode, its response to this command will simply be BOOTSTRAP PROM.
A bit has a value of 1 when the condition is true; 0 when false. The meaning of the individual status bits is:
First Word Returned (X:$000006):
First character returned:
Bit 23 (Reserved for future use)
Bit 22 Real-Time Interrupt Re-entry: This bit is 1 if a real-time interrupt task has taken long enough so
that it was still executing when the next real-time interrupt came (I8+1 servo cycles later). It stays at 1
until the card is reset, or until this bit is manually changed to 0. If motion program calculations cause this
it is not a serious problem. If PLC 0 causes this (no motion programs running) it could be serious.
Bit 21 CPU Type Bit 1: This bit is 1 if the Turbo PMAC has an Option 5Ex DSP56311 or an Option
5Fx DSP56321 processor. It is 0 if it has an Option 5Cx DSP56303 or an Option 5Dx DSP56309
processor. In both cases, bit 21 in the second word returned (Y:$000006) distinguishes between
processor types.
Bit 20 Servo Error: This bit is 1 if Turbo PMAC could not properly complete its servo routines. This is
a serious error condition. It is 0 if the servo operations have been completing properly.
Second character returned:
Bit 19 Data Gathering Function On: This bit is 1 when the data gathering function is active; it is 0
when the function is not active.
Bit 18 (Reserved for future use)
Bit 17 Data Gather to Start on Trigger: This bit is 1 when the data gathering function is set up to start
on the rising edge of Machine Input 2. It is 0 otherwise. It changes from 1 to 0 as soon as the gathering
function actually starts.
Bit 16 Servo Request: (Internal use).
Third character returned:
Bit 15 Watchdog Timer: (Internal use)
Bit 14 Leadscrew Compensation On: This bit is 1 if leadscrew compensation is currently active in
Turbo PMAC. It is 0 if the compensation is not active.
Bit 13 Any Memory Checksum Error: This bit is 1 if a checksum error has been detected for either the
Turbo PMAC firmware or the user program buffer space. Bit 12 of this word distinguishes between the
two cases.
Bit 12 PROM Checksum Active: This bit is 1 if Turbo PMAC is currently evaluating a firmware
checksum (Bit 13 = 0), or has found a firmware checksum error (Bit 13 = 1). It is 0 if Turbo PMAC is
evaluating a user program checksum (Bit 13 = 0), or has found a user program checksum error (Bit 13 = 1).
Fourth character returned:
Bit 11 DPRAM Error: This bit is 1 if Turbo PMAC detected an error in its automatic DPRAM check
function at power-up/reset due to missing or defective DPRAM. It is 0 otherwise.
Bit 10 Flash Error: This bit is 1 if Turbo PMAC detected a checksum error in reading saved data from
the flash memory on board reset. It is 0 otherwise.