Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Global I-Variables 64
time it loads a line into the DPRAM ASCII buffer for the host to read. When I56=0, it will not generate
this interrupt.
For the Turbo PMAC PC, the interrupt line used is the EQU4 interrupt. For this to reach the host, jumper
E55 must be ON, and jumpers, E54, E56, and E57 must be OFF. When using this feature, do not use the
EQU4 line for any other purpose, including position compare.
For the Turbo PMAC2 PC the interrupt line used is the EQU1 interrupt. When using this feature, do not
use the EQU1 line for any other purpose, including position compare.
For the VME-bus versions of Turbo PMAC (Turbo PMAC VME, Turbo PMAC2 VME and Turbo
PMAC2 VME Ultralite), the interrupt line used is the normal communications interrupt (the only interrupt
available). This line -- IRQn on the VME bus, is determined by the VME setup variable I95. The
interrupt vector provided to the host is one greater than the value in VME setup variable I96. For
example, if I96 is set to the default value of $A1, this interrupt will provide an interrupt vector of $A2.
For the Turbo PMAC2 PC Ultralite, this feature is not presently supported with the standard hardware.
I57 DPRAM Motor Data Background Reporting Enable
Range: 0 to 1
Units: None
Default: 0
I57 enables or disables the dual-ported RAM (DPRAM) motor data reporting as a background function.
When I57=1, Turbo PMAC copies key data from internal motor system and global data registers to fixed
registers in the DPRAM as a background task approximately every I50 servo cycles (or on demand if
I50=0) for easy access by the host computer. The data is reported for those motors specified by a mask
word in DPRAM at Turbo PMAC address $06001C.
If I57 is set to 1, then Turbo PMAC automatically sets I48 to 0, disabling the foreground reporting of the
same data.
When I57=0, the DPRAM background motor data reporting function is disabled. In this setting, I48 can
be set to 1 to enable foreground reporting of the motor data.
For most purposes, background reporting of the motor data will provide the data at a high enough rate,
and it will not degrade the performance of motion programs. Only if the data is required at a guaranteed
high frequency should the foreground reporting be used.
Refer to the description of DPRAM functions for more information.
I58 DPRAM ASCII Communications Enable
Range: 0 to 1
Units: None
Default: 0 (disabled) if no DPRAM present
1 (enabled) if DPRAM present
I58 enables or disables the dual-ported RAM (DPRAM) ASCII communications function. When I58=1,
this function is enabled and the host computer can send ASCII command lines to the Turbo PMAC
through the DPRAM and receive ASCII responses from Turbo PMAC through the DPRAM. When
I58=0, this function is disabled.
At power-up/reset, if Turbo PMAC finds a DPRAM IC present in the system, I58 is automatically set to
1, immediately enabling this communications. If no DPRAM IC is found in the system at this time, I58 is
automatically set to 0.
I3 does not affect the handshaking characters used in DPRAM ASCII communications.
If I56 is also equal to 1, PMAC will provide an interrupt to the host computer when it provides a response
string.