Reference Manual

PMAC 2 Software Reference
PMAC I/0 and Memory Map 443
Variable Address Buffer Format for each Data Structure (6x16-bit)
DPRAM
Address
X:Mem Y:Mem X:Mem
Bit Definitions
$D240 Bits 13 - 15: Special type PMAC address 0 = PLCC Function Block
1-7 = Reserved for future use
to
$DFFD
Bits 8 - 12: Offset PMAC address Offset = 0..23. -- This is the
starting offset for the read.
Bits 3 - 7: Width PMAC address Width = 0, 1, 4, 8, 12, 16, 20 --
0 is a 24-bit width.
Bits 0 - 2: Variable type
to write
PLCC Function Block
Number
0 = Y register
1 = L register
2 = X register
4 = Special Y register
6 = Special X register
Upper 16-bits of data 1 Lower 16-bits of data 1 Data to send to PMAC
Upper 16-bits of data 2 Lower 16-bits of data 2 Data to send to PMAC
Binary Rotary Motion Program Transfer Buffers
Buffer. #
1 2 3 4 5 6 7 8
Host Address
0x07DC 0x07F0 0x07FC 0x0808 0x0814 0x0820 0x082C 0x0838
PMAC Addr.
Y:$D1F7 Y:$D1FC Y:$D1FF Y:$D202 Y:$D205 Y:$D208 Y:$D20B Y:$D20E
PMAC to Host Binary Rotary Buffer Status Word
Bit 15 = 1 represents error; PMAC stops processing commands
Bit 14 = 1 represents PMAC internal rotary buffer full (busy flag)
PMAC Index stops updating.
Bits 7 – 0 represent error code
Code = 1: Internal rotary buffer size = 0 or
DPRAM rotary buffer size =0
These flags are set and reset by the PMAC. The busy flag is set when the PMAC internal rotary buffer is
full. This, however, does not necessarily mean that the DPRAM binary rotary buffer is full (see rules).
The Busy flag is reset when the PMAC internal rotary buffer is not full or the DPRAM binary rotary
buffer is empty.
Buffer. #
1 2 3 4 5 6 7 8
Host Address
0x07DE 0x07F2 0x07FE 0x080A 0x0816 0x0822 0x082EC 0x083A
PMAC Addr.
X:$D1F7 X:$D1FC X:$D1FF X:$D202 X:$D205 X:$D208 X:$D20B X:$D20E
Coordinate System Number and Enable Control
• Bits 0-3 represent Coordinate System #
• Buffer enabled if 0 < (Bits 0-3 value) < 9
• Binary Rotary Buffers; Host to PMAC Transfer
Buffer. #
1 2 3 4 5 6 7 8
Host Address
0x07E0 0x07F4 0x0800 0x080C 0x0818 0x0824 0x0830 0x083C
PMAC Addr.
Y:$D1F7 Y:$D1FD Y:$D200 Y:$D203 Y:$D206 Y:$D209 Y:$D20C Y:$D20F
Host Computer Binary Rotary Buffer Index
(In PMAC addresses from start of buffer; each increment is 32-bit word, 4 addresses on host side.)
Host computer updates after loading in program lines