Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC On-line Command Specification 288
Bit 13 Lookahead Buffer Flush: This bit is 1 if the lookahead buffer is executing segments but not
adding any new segments. It is 0 otherwise.
Bit 12 Lookahead Buffer Last Move: This bit is 1 if the last programmed move in the buffer has
reached speed. It is 0 otherwise.
Sixteenth character returned:
(Bits 8 – 11 form variable Isx21.)
Bit 11 Lookahead Buffer Single-Segment Request: This bit can be set to 1 by the user as part of a
request to change the state of the lookahead buffer. It should be set to 1 to request the buffer to move
only a single segment from a stopped state (in either direction). It should be set to 0 otherwise. Turbo
PMAC leaves this bit in the state of the last request, even after the request has been processed.
Bit 10 Lookahead Buffer Change Request: This bit can be set to 1 by the user to request a change in
the state of the lookahead buffer. It remains at 1 until the Turbo PMAC processes the change, at which
time Turbo PMAC changes it to 0.
Bit 9 Lookahead Buffer Movement Request: This bit can be set by the user as part of a request to
change the state of the lookahead buffer. It should be set to 1 to request the buffer to operate (in either the
forward or reverse direction); it should be set to 0 to request the buffer to execute a quick stop. Turbo
PMAC leaves this bit in the state of the last request, even after the request has been processed.
Bit 8 Lookahead Buffer Direction Request: This bit can be set by the user as part of a request to
change the state of the lookahead buffer. It should be set to 1 to request operation in the reverse direction;
it should be set to 0 to request operation in the forward direction. Its state does not matter in a request to
execute a quick stop. Turbo PMAC leaves this bit in the state of the last request, even after the request
has been processed.
Seventeenth character returned:
Bits 4 – 7 (Reserved for future use)
Eighteenth character returned:
Bit 3 Radius Error: This bit is 1 when a motion program has been stopped because it was asked to do
an arc move whose distance was more than twice the radius (by an amount greater than Ixx96).
Bit 2 Program Resume Error: This bit is 1 when the user has tried to resume program operation after
a feed-hold or quick-stop, but one or more of the motors in the coordinate system are not at the location of
the feed-hold or quick-stop. It is 0 otherwise.
Bit 1 Desired Position Limit Stop: This bit is 1 if the motion program in the coordinate system has
stopped due to the desired position of a motor exceeding a limit.
Bit 0 In-Program PMATCH: This bit is 1 if Turbo PMAC is executing the PMATCH function
automatically, as at the end of a move-until-trigger. It is 0 otherwise. This bit is primarily for internal use.
Example:
?? ; Request coordinate system status words
A8002A020010000000
; Turbo PMAC responds; the following bits are true:
; Word 1 Bit 23: Z-axis used in feedrate calcs
; Bit 21: Y-axis used in feedrate calcs
; Bit 19: X-axis used in feedrate calcs
; Bit 5: Radius vector incremental mode
; Bit 3: Move specified by time
; Bit 1: Single-step mode
; Word 2 Bit 17: In-position
; Bit 4: PVT/Spline mode
; Word 3 no bits set – no lookahead active
See Also:
On-line commands <CONTROL-C>, ?, ???
Memory-map registers X/Y:$002040, X/Y:$0020C0, etc., Y:$00203F, Y:$0020BF, etc.;
Suggested M-variable definitions Msx80-Msx90.