Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC On-line Command Specification 290
Bit 9 Real-Time Interrupt Warning: This bit is 1 if a real-time interrupt task (motion program or PLC
0) has taken more than one interrupt period – a possible sign of CPU loading problems. It is 0 otherwise.
Bit 8 Illegal L-Variable Definition: This bit is 1 if a compiled PLC has failed because it used an L-
variable pointer that accessed an illegal M-variable definition. It is 0 otherwise.
Fifth character returned:
Bit 7 Configuration Error: This bit is 1 if the Turbo PMAC detects a change in the configuration of
Servo and MACRO ICs since the last re-initialization, or if the MACRO ring reports a conflict in the
node configuration (multiple active nodes at the same ring address). It is 0 otherwise. If this bit is set to 1,
no motors can be enabled.
Bit 6 TWS Variable Parity Error: This bit is 1 if the most recent TWS-format M-variable read or
write operation with a device supporting parity had a parity error; it is 0 if the operation with such a
device had no parity error. The bit status is indeterminate if the operation was with a device that does not
support parity.
Bit 5 MACRO Auxiliary Communications Error: This bit is 1 if the most recent MACRO auxiliary
read or write command has failed. It is set to 0 at the beginning of each MACRO auxiliary read or write
command.
Bit 4 MACRO Ring Check Error: This bit is 1 if the MACRO ring check function is enabled (I80 > 0)
and Turbo PMAC has either detected at least I81 ring communication errors in an I80-servo-cycle period,
or has failed to detect the receipt of I82 ring sync packets.
Sixth character returned:
Bit 3 Phase Clock Missing: This bit is set to 1 if the CPU received no hardware-generated phase clock
from a source external to it (Servo IC, MACRO IC, or through serial port). If this bit is set, no motor may
be enabled (starting in V1.940). This bit is 0 otherwise.
Bit 2 (Reserved for future use)
Bit 1 All Cards Addressed: This bit is set to 1 if all cards on a serial daisychain have been addressed
simultaneously with the @@ command. It is 0 otherwise.
Bit 0 This Card Addressed: This bit is set to 1 if this card is on a serial daisychain and has been
addressed with the @n command. It is 0 otherwise.
Second Word Returned (Y:$000006)
Seventh character returned:
Bit 23 Turbo Ultralite: This bit is 1 if Turbo PMAC has detected that it is an Ultralite PMAC2 with no
Servo ICs on board. It is 0 if Turbo PMAC has detected that it has Servo ICs on board.
Bit 22 Turbo VME: This bit is 1 if Turbo PMAC has detected that it has a VME bus interface on board.
It is 0 otherwise.
Bit 21 CPU Type Bit 0: This bit is 1 if the Turbo PMAC has an Option 5Dx DSP56309 or an Option 5Fx
DSP56321 processor. It is 0 if it has an Option 5Cx DSP56303 or an Option 5Dx DSP56311 processor. In
both cases, bit 21 in the first word returned (X:$000006) distinguishes between processor types.
Bit 20 Binary Rotary Buffers Open: This bit is 1 if the rotary motion program buffers on Turbo PMAC
are open for binary-format entry through the DPRAM. It is 0 otherwise.
Eighth character returned:
Bit 19 Motion Buffer Open: This bit is 1 if any motion program buffer (PROG or ROT) is open for
entry. It is 0 if none of these buffers is open.
Bit 18 ASCII Rotary Buffer Open: This bit is 1 if the rotary motion program buffers on Turbo PMAC
are open for ASCII-format entry. It is 0 otherwise.
Bit 17 PLC Buffer Open: This bit is 1 if a PLC program buffer is open for entry. It is 0 if none of these
buffers is open.
Bit 16 UMAC System: This bit is 1 if the Turbo PMAC is a 3U Turbo system (UMAC or Stack). It is 0
otherwise.