Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC On-line Command Specification 366
MACRO IC 0 node 14 normally must be disabled (I6841 bit 14 = 0);
MACRO IC 0 node 14 must be in broadcast mode (I6840 bit 14 = 1);
MACRO IC 0 node 14 auxiliary register copy function must be disabled (I70 bit 14 = 0);
MACRO IC 0 node 14 must not be used for any other function.
If the remote master returns an error message or it does not respond within I79 servo cycles, Turbo
PMAC will report ERR008. Bit 5 of global status register X:$000006 is set to report such a MACRO
auxiliary communications error. Register X:$0031EE holds the error value. It is set to $010000 for a
timeout error, or $xxxxFE if the slave node reports an error, where xxxx is the 16-bit error code reported
by the slave node.
Examples:
MM4,I10=3713707 ; Causes remote master 4 to set value of variable I10 to 3,713,707
MM1,P1=3.14159 ; Causes remote master 1 to set value of variable P1 to 3.14159
MACROMSTASCII{master #}
Function: Set port in MACRO pass-through mode
Scope: Global (MACRO Ring Master only)
Syntax: MACROMSTASCII{master #}
MACMA{master #}
where:
{master #} is a constant in the range 1 to 15 representing the master number of the Turbo PMAC
to whom the communications will be passed
This command causes Turbo PMAC to put the port on which it receives this command in a MACRO
master-to-master pass-through mode. In this mode, commands received over this port are not acted on by
this Turbo PMAC. Instead, they are passed on over the MACRO ring to the Turbo PMAC with the
specified master number. Responses are received from the other Turbo PMAC over the MACRO ring
and passed back to the host computer over this port.
This mode of communications, which uses the Type 1 auxiliary communications protocol, requires
V1.936 or newer firmware on all Turbo PMACs on the ring. It permits the host computer to
communicate with remote Turbo PMACs as if they were directly connected to the host. Non-Turbo
PMACs on the ring will not respond to commands passed over the ring in this protocol.
If used to set up broadcast to multiple masters on the ring (MACROMSTACII0), no handshaking between
boards is possible on broadcast commands. In this mode, it is strongly suggested that only commands of
6 ASCII characters or less (including the terminating <CR> character) be used. This mode is intended
mainly to start or stop programs together on multiple cards.
This command can only be given to a Turbo PMAC that is the synchronizing ring master (ring controller)
set up for Type 1 auxiliary communications with Node 14 in broadcast mode. This requires that:
I79 > 0 (enable master-to-master, recommended I79 = 32)
I6840 = $4030 (ring controller with Node 14 in broadcast mode)*
I6841 bit 14 set to 1 (enable Node 14 communications)*
These values be saved, and the card reset, before this mode can be enabled
* These I-variables are used if MACRO IC 0 is used for this communications, the most common
configuration. If MACRO IC 1 is used, I6890 and I6891 must take these values; for MACRO IC 2, I6940
and I6941; for MACRO IC 3, I6990 and I6991.
On this Turbo PMAC, the commands will be sent out over the MACRO ring through the MACRO IC (0
3) whose number is specified by I84. The base address of MACRO IC n is specified by variable I2n.
Only one communications port of this ring controller Turbo PMAC may be in pass-through mode at any
time. The other ports are not in pass-through mode and may be used simultaneously for communications
with the ring controller Turbo PMAC itself.