Reference Manual

PMAC 2 Software Reference
266 PMAC On-Line Command Specification
Remarks
This command causes PMAC to issue the specified command to a MACRO slave station
using the Type 1 auxiliary master-to-slave protocol. If {node #} is set to 15, the action
automatically applies to all slave stations commanded from the PMAC.
The MS CONFIG command allows the user to set and report a user-specified configuration
value. This provides any easy way for the user to see if the MACRO station has already been
configured to the user’s specifications. The factory default configuration value is 0. It is
recommended that after the user finishes the software configuration of the station, a special
number be given to the configuration value with the
MS CONFIG{node #}={constant} command. This number will be saved to the non-
volatile memory with the MS SAVE command.
Subsequently, when the system is powered up, the station can be polled with the MS
CONFIG {node #} command. If the expected value is returned, the station can be
assumed to have the proper software setup. If the expected value is not returned (for
instance, when a replacement station has just been installed) then the setup will have to be
transmitted to the station.
In order for the PMAC to be able to execute this command, the following conditions must be
true:
• The PMAC must be set up as a master or the synchronizing ring master (I995= $xx90 or
$xx30);
• The node 15 auxiliary register copy function must be disabled (I1000 bit 15 = 0);
• Node 15 must not be used for any other function.
If the slave node returns an error message or it does not respond within I1003 servo cycles,
PMAC will report ERR008. Bit 5 of global status register X:$0003 is set to report such a
MACRO auxiliary communications error. Register X:$0798 holds the error value. It is set to
$010000 for a timeout error, or $xxxxFE if the slave node reports an error, where xxxx is the
16-bit error code reported by the slave node.
Example
MS $$$0 ; Resets MACRO station which has active node 0
MS $$$***4 ; Reinitializes MACRO station which has active node 4
MS CLRF8 ; Clears fault on Node 8 of MACRO station
MS CONFIG12 ; Causes MACRO station to report its configuration #
37 ; PMAC reports MACRO station configuration # to host
MS CONFIG12=37 ; Sets MACRO station configuration number
MS DATE 0 ; Causes MACRO station to report its firmware date
08/12/1999 ; PMAC reports MACRO station firmware date to host
MS SAVE 4 ; Causes MACRO station to save setup variables
MS VER 8 ; Causes MACRO station to report its firmware version
1.104 ; PMAC reports MACRO station firmware version to host
MACROSLV{node#},{slave variable}
Function
Report Type 1 MACRO auxiliary parameter value
Scope
Global
Syntax
MACROSLAVE{node #},{slave variable}
MS{node #},{slave variable}
where:
• {node #} is a constant in the range 0 to 15 representing the number of the node on the
PMAC matching the slave node to be accessed
• {slave variable} is the name of the variable on the slave station whose value is to
be reported