User's Manual

PMAC VME Hardware Reference Manual
PMAC Basic Specifications 35
Display Outputs
Connector to standard 2x24 or 2x40 character alpha-numeric liquid-crystal or
vacuum fluorescent display.
Expansion Digital I/O
JEXP connector provides access to up to six Accessory 14 I/O Expansion cards with
48 bits each of digital I/O, configurable to inputs or outputs by byte, configurable to
high-voltage level by 24-bit word; sinking or sourcing available with +5 to +24V
high levels, totem-pole +5V outputs available.
Software Specifications
Constants
Specifiable in hexadecimal (with $ prefix) or decimal (without prefix); range depends
on use, but can be up to full range of 48-bit floating-point range (36-bit mantissa, 12-
bit exponent).
Variables
1024 I-Variables of pre-defined meaning for initialization and setup (gains, limits,
modes, etc.).
1024 P-Variables: general-purpose user variables; 48-bit floating-point (36-bit
mantissa, 12-bit exponent) format, global meaning.
1024 Q-Variables: general-purpose user variables; 48-bit floating-point (36-bit
mantissa, 12-bit exponent) format, local to a coordinate system.
1024 M-Variables: pointers to locations in PMAC’s memory and I/O space; user-
defined address, offset, bit-width, decode. 1-48 bit, fixed and floating point.
For compiled PLC programs only: 1024 L-Variables pointers to locations in PMAC's
memory and I/O space, 1-24 bit integer values only.
Operators
For use in user programs:
+ (add), - (subtract), * (multiply), / (divide),
% (modulo), & (bit-by-bit AND), | (bit-by-bit OR),
^ (bit-by-bit XOR).
Comparators
For use in conditional statements in programs:
= (equal to), != (not equal to), > (greater than), !> (not greater than), < (less than), !<
(not less than), ~ (approximately equal to), !~ (not approximately equal to).
Functions
For use in user programs:
SIN, COS, TAN, ASIN, ACOS, ATAN, ATAN2, LN, EXP, ABS, SQRT, INT
Motion Program
Language
Custom language; incorporates features of BASIC-type high-level languages
(computation, IF, WHILE, GOTO, GOSUB, CALL) and machine tool languages
(RS-274 G-Codes). User-definable G-, M-, T-, and D-codes. 256 separate motion
programs may be stored at once.
PLC Program
Language
Custom language for constantly re-circulating background program; much like
BASIC-type high-level languages. 32 separate interpreted PLC programs and 32
separate compiled PLC programs may be stored at once.