Reference Manual

PMAC 2 Software Reference
PMAC On-Line Command Specification 197
taken long enough so that it was still executing when the next real-time interrupt came (I8+1
servo cycles later). It stays at 1 until the card is reset, or until this bit is manually changed to
0. If motion program calculations cause this, it is not a serious problem. If PLC 0 causes this
(no motion programs running), it could be serious.
Bit 21 Servo Active: This bit is 1 if PMAC is currently executing servo update
operations. It is 0 if PMAC is executing other operations. Note that communications can
only happen outside of the servo update, so polling this bit will always return a value of 0.
This bit is for internal use.
Bit 20 Servo Error: This bit is 1 if PMAC could not properly complete its servo
routines. This is a serious error condition. It is 0 if the servo operations have been
completing properly.
Second character returned
:
Bit 19 Data Gathering Function On: This bit is 1 when the data gathering function
is active; it is 0 when the function is not active.
Bit 18 Data Gather to Start on Servo: This bit is 1 when the data gathering
function is set up to start on the next servo cycle. It is 0 otherwise. It changes from 1 to 0 as
soon as the gathering function actually starts.
Bit 17 Data Gather to Start on Trigger: This bit is 1 when the data gathering
function is set up to start on the rising edge of Machine Input 2. It is 0 otherwise. It changes
from 1 to 0 as soon as the gathering function actually starts.
Bit 16 (Reserved for future use)
Third character returned
:
Bit 15 (Reserved for future use)
Bit 14 Leadscrew Compensation On: This bit is 1 if leadscrew compensation is
currently active in PMAC. It is 0 if the compensation is not active
Bit13 Any Memory Checksum Error: This bit is 1 if a checksum error has been
detected for either the PMAC firmware or the user program buffer space. Bit 12 of this word
distinguishes between the two cases.
Bit12 PROM Checksum Error: This bit is 1 if a firmware checksum error has been
detected in PMAC’s memory. It is 0 if a user program checksum error has been detected, or
if no memory checksum error has been detected. Bit 13 distinguishes between these two
cases.
Fourth character returned
:
Bit 11 DPRAM Error: This bit is 1 if PMAC has detected an error in DPRAM
communications. It is 0 otherwise.
Bit 10 EAROM Error: This bit is 1 if PMAC detected a checksum error in reading
saved data from the EAROM (in which case it replaces this with factory defaults). It is 0
otherwise.
Bits 8-9 (for internal use)
fifth character returned
:
Bit 7 (for internal use)
Bit 6 TWS Variable Parity Error: This bit is 1 if the most recent TWS-format M-