Reference Manual

PMAC 2 Software Reference
196 PMAC On-Line Command Specification
The states of bits 4, 1, and 0 in the different move modes are summarized in the following
table:
Mode Bit 4 Bit 1 Bit 0
Linear 0 0 0
Rapid 0 1 0
Spline 1 0 1
Circle1 0 0 1
Circle2 0 1 1
PVT 1 1 0
Example
?? ...................... ; Request coordinate system status words
A8002A020010 ; PMAC responds; the following bits are true:
........................... ; Word 1 Bit 23: Z-axis used in feedrate calcs
........................... ; Bit 21: Y-axis used in feedrate calcs
........................... ; Bit 19: X-axis used in feedrate calcs
........................... ; Bit 5: Radius vector incremental mode
........................... ; Bit 3: Move specified by time
........................... ; Bit 1: Single-step mode
........................... ; Word 2 Bit 17: In-position
; Bit 4: PVT/Spline mode
See Also
On-line commands <CONTROL-C>, ?, ???
Memory-map registers X:$0818, X:$08D8, etc.; Y:$0817, Y:$08D7, etc.
Suggested M-variable definitions Mx80-Mx90
???
Function
Report global status words.
Scope
Global
Syntax
???
Remarks
This command causes PMAC to return the global status bits in ASCII hexadecimal form.
PMAC returns twelve characters, representing two status words. Each character represents
four status bits. The first character represents Bits 20-23 of the first word, the second shows
Bits 16-19; and so on, to the sixth character representing Bits 0-3. The seventh character
represents Bits 20-23 of the second word; the twelfth character represents Bits 0-3 of the
second word.
A bit has a value of 1 when the condition is true; 0 when false. The meaning of the
individual status bits is:
FIRST WORD RETURNED (X:$0003):
First character returned
:
Bit 23 Real-Time Interrupt Active: This bit is 1 if PMAC is currently executing a
real-time interrupt task (PLC 0 or motion program move planning). It is 0 if PMAC is
executing some other task. Note: Communications can only happen outside of the real-time
interrupt, so polling this bit will always return a value of 0. This bit is for internal use.
Bit 22 Real-Time Interrupt Re-entry: This bit is 1 if a real-time interrupt task has