Reference Manual

PMAC 2 Software Reference
158 PMAC I-Variable Specifiation
The key difference between Type 0 and Type 1 protocols is in which node register is used
for control and status flags. In the Type 0 protocol, the 1
st
register (24 bits) is used for the
flags; in the Type 1 protocol, the 4
th
registers (16 bits) is used for the flags. The bits of
I1002 must be set properly for any node whose auxiliary flag function is enabled by I1000.
The Type 0 protocol is generally used for older single-node MACRO devices, such as the
Performance Controls FLX Drive. The Type 1 protocol is generally used for multi-node
MACRO devices, such as Delta Tau’s MACRO Station (MACRO Stack or UMAC
MACRO). With the Delta Tau MACRO Station, I1002 is generally set to the same value
as I1000.
See Also
I-variables Ix25, I1000
I1003 MACRO Type 1 Master/Slave Communications Timeout
Range
0 .. 255
Units
servo cycles
Default
0
Remarks
I1003 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 I1003 is set
to 0, these communications are disabled. If I1003 is set to a value greater than 0, these
communications are enabled, and the value of I1003 sets the “timeout” value for the
auxiliary response, in PMAC servo cycles.
If PMAC has not received a response to the MACRO auxiliary communications command
within I1003 servo cycles, it will stop waiting and register a “MACRO Auxiliary
Communications Error”, setting Bit 5 of global status register X:$000006. A value of 32
for I1003 is suggested.
Bit 15 of I1000 must be set to 0 to disable Node 15’s Type 0 (node-specific) auxiliary
communications if II1003 is greater than 0. If a value of I1003 greater than 0 has been
saved into PMAC’s non-volatile memory, then at subsequent power-up/resets, bit 15 of
I1000 is automatically forced to 0 by PMAC firmware, regardless of the value saved for
I1000.
See Also
I-Variable I1000
On-line commands MACROSLV, MACROSLVREAD, MACROSLVWRITE
Program commands MACROSLVREAD, MACROSLVWRITE
I1004 MACRO Ring Error Shutdown Count
Range
0 .. 255
Units
MACRO ring errors
Default
2
Remarks
I1004 determines the number of MACRO communications errors detected in one ring
check period that will cause the PMAC to conclude that the ring operation is defective.
This check is only performed if the I1001 MACRO ring check period parameter is set
greater than 0 at power-up/reset. In this case, if PMAC detects I1004 or greater MACRO
communications errors in I1001 servo cycles, it will kill all of its motors.