Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Global I-Variables 40
When I6 is set to 1 or 3, an error number message can be reported along with the <BELL> character. The
message comes in the form of ERRnnn<CR>, where nnn represents the three-digit error number. If I3 is
set to 1 or 3, there is a <LF> character in front of the message.
When I6 is set to 1, the form of the error message is <BELL>{error message}. This setting is the
best for interfacing with host-computer driver routines. When I6 is set to 3, the form of the error message
is <BELL><CR>{error message}. This setting is appropriate for use with the PMAC Executive
Program in terminal mode.
Currently, the following error messages can be reported:
Error
Problem
Solution
ERR001
Command not allowed during program execution
(should halt program execution before issuing
command)
ERR002
Password error
(should enter the proper password)
ERR003
Data error or unrecognized command
(should correct syntax of command)
ERR004
Illegal character: bad value (>127 ASCII) or serial
parity/framing error
(should correct the character and or check for
noise on the serial cable)
ERR005
Command not allowed unless buffer is open
(should open a buffer first)
ERR006
No room in buffer for command
(should allow more room for buffer --
DELETE or CLEAR other buffers)
ERR007
Buffer already in use
(should CLOSE currently open buffer first)
ERR008
MACRO auxiliary communications error
(should check MACRO ring hardware and
software setup)
ERR009
Program structural error (e.g. ENDIF without IF)
(should correct structure of program)
ERR010
Both overtravel limits set for a motor in the C. S.
(should correct or disable limits)
ERR011
Previous move not completed
(should Abort it or allow it to complete)
ERR012
A motor in the coordinate system is open-loop
(should close the loop on the motor)
ERR013
A motor in the coordinate system is not activated
(should set Ix00 to 1 or remove motor from
C.S.)
ERR014
No motors in the coordinate system
(should define at least one motor in C.S.)
ERR015
Not pointing to valid program buffer
(should use B command first, or clear out
scrambled buffers)
ERR016
Running improperly structured program (e.g.
missing ENDWHILE)
(should correct structure of program)
ERR017
Trying to resume after H or Q with motors out of
stopped position
(should use J= to return motor[s] to stopped
position)
ERR018
Attempt to perform phase reference during move,
move during phase reference., or enabling with
phase clock error.
(should finish move before phase reference,
finish phase reference before move, or fix
phase clock source problem)
ERR019
Illegal position-change command while moves
stored in CCBUFFER
(should pass through section of Program
requiring storage of moves in CCBUFFER, or
abort)
I7 Phase Cycle Extension
Range: 0 to 15
Units: Phase Clock Cycles
Default: 0
I7 permits the extension of the software phase update period to multiple Phase clock interrupt periods.
The software phase update algorithms, which do the commutation and current loop calculations for
motors, are executed every (I7+1) Phase clock cycles. In other words, the phase update cycle is extended
by I7 phase clock cycles.