Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Global I-Variables 73
Note:
MACRO IC 3 can only be present on Turbo PMAC2 Ultralite boards with Option
1U3 ordered, or on a 3U Turbo PMAC2 with some configurations of its Acc-5E.
I76 is a 16-bit variable. Bits 0 to 15 control the enabling of this copying function for MACRO nodes 0 to
15, respectively. A bit value of 1 means the copying function is enabled; a bit value of 0 means the
copying function is disabled.
If the copying function is enabled for Node n (where n = 0 to F hex or 0 to 15 decimal), during each
background housekeeping software cycle, PMAC copies the contents of Y:$000347n to the Node n
auxiliary write register, and copies the contents of the Node n auxiliary read register into X:$00347n.
The copying function enabled by I76 permits the use of the auxiliary registers for command and status
flags plus Type 0 auxiliary read and write functions in PLC programs and on-line commands.
For each node whose auxiliary functions are enabled by I76, I77 must correctly specify for the node
whether the Type 0 or Type 1 MACRO protocol is used.
If a value of I78 greater than 0 has been saved into PMAC’s non-volatile memory to enable Type 1
MACRO auxiliary communications with Node 15, then at subsequent power-up/resets, bit 15 of I76 is
automatically forced to 0 by PMAC firmware, regardless of the value saved for I76. This reserves Node
15 for the Type 1 auxiliary communications alone.
I77 MACRO IC 3 Node Protocol Type Control
Range: 0 .. $FFFF (0 .. 65,535)
Units: none
Default: 0
I77 controls for each node (0 - 15) on MACRO IC 3 whether the matching slave node is expected to be
another Turbo PMAC or a slave-only “MACRO Station” for purposes of the protocol of exchanging non-
cyclic information. I77 is a 16-bit value; each bit 0 – 15 controls the protocol type for the MACRO node
of the same number. A value of 0 in the bit selects the “Turbo PMAC” protocol for the matching
MACRO node (using MX commands); a value of 1 in the bit selects the Type 1 protocol for the node
(using MS commands). The selection of the proper protocol is essential for the correct operation of
homing-search moves and other “move-until-trigger” functions, which require an MS or MX command to
obtain the trigger-captured position across the ring.
“MACRO Stations” include UMAC MACRO racks with 8 or 16-axis CPUs, Geo MACRO drives,
MACRO Peripheral modules, and 3
rd
-party MACRO devices. To use a Turbo PMAC as a slave on a
MACRO ring, V1.945 or newer firmware is required.
Prior to V1.945 firmware, a value of 0 in a bit selected the now-obsolete “Type 0” slave-only protocol for
the matching node.
I78 MACRO Type 1 Master/Slave Communications Timeout
Range: 0 .. 255
Units: Servo Cycles
Default: 0
I78 permits the enabling of MACRO Type 1 master-slave auxiliary communications using Node 15,
which are executed with the MS, MSR, and MSW commands. If I78 is set to 0, these communications are
disabled. If I78 is set to a value greater than 0, these communications are enabled, and the value of I78
sets the “timeout” value for the auxiliary response, in Turbo PMAC servo cycles.