Reference Manual

Turbo PMAC/PMAC2 Software Reference

Turbo PMAC Global I-Variables 58

I42 Spline/PVT Time Control Mode

Range: 0 – 1

Units: none

Default: 0

I42 controls whether TM or TA is used to define the time for SPLINE and PVT-mode moves. For PVT-

mode moves, the PVT{data} command can be used to set the move time regardless of the setting of I42.

If I42 is set to 0, the TM{data} command must be used to define the time for SPLINE-mode moves, and

can be used to define the time for PVT-mode moves, once a PVT{data} command has been used to

establish that move mode.

If I42 is set to 1, the TA{data} command must be used to define the time for SPLINE-mode moves, and

can be used to define the time for PVT-mode moves, once a PVT{data} command has been used to

establish that move mode.

In both modes, the time has units of milliseconds, with a range of 0 – 4095.9998 milliseconds, and a

resolution of ¼-microsecond.

See Also:

Spline Moves, PVT Moves

Program commands PVT{data}, TA{data}, TM{data}

I43 Auxiliary/Main Serial Port Parser Disable

Range: 0 – 3

Units: none

Default: 0

I43 controls whether Turbo PMAC firmware automatically parses the data received on the main serial

port and/or the Option 9T auxiliary serial port as commands or not. I43 is a 2-bit value; bit 0 controls the

auxiliary serial port, and bit 1 controls the main serial port. If the bit of I43 is set to the default value of 0,

Turbo PMAC automatically tries to interpret the data received on the port as Turbo PMAC commands.

However, if the bit of I43 is set to 1, it will not try to interpret this data as commands, permitting the

user’s application software to interpret this data as required for the application.

With the parser for the port disabled, the CMDA (for the auxiliary serial port) or the CMDS (for the main

serial port) statement for issuing commands as if they came from the port cannot be used. However, the

SENDS or SENDA statement for sending messages out the port can still be used with the parser for the

port disabled.

The following table shows the possible values of I43 and their effects:

I43

Main Serial Port Parser

Auxiliary Serial Port Parser

Enabled

Disabled

Enabled

Disabled

This ability to disable the automatic command parser permits the auxiliary port to be interfaced to other

devices such as vision systems, which send out data on their serial ports, and not have the Turbo PMAC

try to interpret this data as commands. The user can then interpret the input string in application software

using M-variable pointers, typically with indirect addressing techniques.