Reference Manual

Turbo PMAC/PMAC2 Software Reference
Change Summary: PMAC to Turbo PMAC 748
Program Command Changes
PMAC/PMAC2
Turbo PMAC/PMAC2
SEND: Send message to Active Response Port
SENDS: Send message to Serial Port
SENDP: Send message to Parallel Bus Port (not
VME)
SEND: {not a legal command}
SENDS: Send message to Main Serial Port
SENDP: Send message to Parallel Bus Port (incl.
VME)
SENDR: Send message to DPRAM ASCII Port
SENDA: Send message to Auxiliary Serial Port
CMD: Issue command; any response to Active
Response Port
CMD: Issue command; no response possible
CMDS: Issue command; any response to Main Serial
Port
CMDP: Issue command; any response to Parallel Bus
Port
CMDR: Issue command; any response to DPRAM
ASCII Port
CMDA: Issue command; any response to Auxiliary
Serial Port
SPLINE, PVT mode move times specified by
TA, range to 8,388,607 msec, resolution of 1 msec
SPLINE, PVT mode move times specified by
TM, range to 4096 msec, resolution of 1/4096 msec
I{constant}={expression}
M{constant}={expression}
P{constant}={expression}
Q{constant}={expression}
Require constant to specify variable number
I{data}={expression}
M{data}={expression}
P{data}={expression}
Q{data}={expression}
Can use expression to specify variable number
Encoder Conversion Table Changes
PMAC/PMAC2
Turbo PMAC/PMAC2
Setup entries accessible by memory location only
(Y:$0720 – Y:$073F)
Setup entries accessible by I-variable (I8000-I8191)
or by memory location (Y:$003501 – Y:$0035C0)
Source addresses are 16-bit values
Source addresses are 19-bit values
Addition of two entries accomplished by setting bit
20 of second entry to 1
Addition (or subtraction) of two entries
accomplished by using a special $E format third
entry
Sources for $2, $3 parallel entries limited to single
Y-word
Sources for $2, $3 parallel entries extensible to any
24 bits of consecutive Y-words
Sources for $6, $7 parallel entries limited to single
X-word
Sources for $6, $7 parallel entries extensible to any
24 bits of X/Y double word
Width of parallel sources specified by bit mask in
second setup line
Width of parallel sources specified by number of
bits in second setup line
Offset of parallel sources specified by 2 bits in first
setup line
Offset of parallel sources specified by number of
bits in second setup line
Triggered time base entry estimates frequency to
1/32 count per servo cycle; time-base scale factor is
2
17
/(real-time input frequency)
Triggered time base entry estimates frequency to
1/256 count per servo cycle; time-base scale factor
is 2
14
/(real-time input frequency)
$F entry is only high-resolution interpolator
conversion
$F entry is extended entry; if first digit of second
line is $0, it is high-resolution interpolator
conversion