User's Manual

PMAC User Manual
146 Computational Features
Comm - Communications Line Processing
- Servo Interrupt
RTI - Real Time Interrupt Task
* - Start of RTI
CT #1 #2 #3 #4
PLC 0 PLC 1...
Servo RTI Background
CT #1 #2 #3 #4
PLC 1 (cont.) PLC 2...
Servo Background
CT #1 #2 #3 #4
PLC 2 (cont.) PLC 3...
Servo
CT #1 #2 #3 #4 PLC 0 Move Planning ...
Servo RTI
CT #1 #2 #3 #4 Move Planning (cont) PLC 3 (cont) ...
Servo RTI Background
CT #1 #2 #3 #4
PLC 3 (cont) PLC 1 ...
Servo Background
CT #1 #2 #3 #4
PLC 0 PLC 1 (cont) ...
Servo RTI
CT #1 #2 #3 #4
Servo Background
HK
HK
Comm
HK
PLC 1 (cont) CommHK
*
*
*
CT - Conversion Table
# n - Motor n Servo Update
HK - Housekeeping
Background
Figure 24 PMAC Multitasking Example
Examples
1234
3
03 (leading zeros OK)
-27.656
0.001
.001 (leading zero not required)
$ff00 (interpreted as hexadecimal)
Reporting Values
PMAC reports numerical values to the host computer as part of response lines in decimal ASCII text form
(although address values can be reported in hexadecimal ASCII form if I9=2 or 3 — see the Addresses
section below). The value reporter is limited to passing values in the range of +
2
+47
, or +1.41 x 10
+14
.
Values outside of this range are truncated to the maximum or minimum values of the range.