User's Manual

PMAC User Manual
Writing a Host Communications Program 251
PMAC PC/PMAC Lite Input Signal Matching
PIC Input PMAC Signal
IR0 IPOS
IR1 BREQ
IR2 EROR
IR3 F1ER
IR4 HREQ
IR5 EQU1 (thru E65)
EQU5 (thru E64)*
AXEXP1 (thru E63)
MI1 (thru E62)
IR6 EQU2 (thru E61)
EQU6 (thru E60)*
AXEXP0 (thru E59)
MI2 (thru E58)
IR7 EQU3 (thru E57)
EQU7 (thru E56)*
EQU4 (thru E55)
EQU8 (thru E54)*
The following table shows which signals match to each input on the PMAC STD:
PMAC STD Input Signal Matching
Input Signal Input Signal
IR0 RESET IR4 BREQ
IR1 RESET/ IR5 EROR
IR2 HREQ IR6 FE1
IR3 IPOS IR7 (Software)
EROR is the coordinate system fatal following error line. If the control panel is enabled (I2=0), it
reflects the panel-selected coordinate system (by FDPn/ lines). If the control panel is disabled (I2=1), it
reflects the host-addressed coordinate system (by &n command). This signal goes high if any motor in
the coordinate system exceeds the Ix11 warning following error limit.
F1ER is the coordinate system warning following error line. If the control panel is enabled (I2=0), it
reflects the panel-selected coordinate system (by FDPn/ lines). If the control panel is disabled (I2=1), it
reflects the host-addressed coordinate system (by &n command). This signal goes high if any motor in
the coordinate system exceeds the Ix12 warning following error limit.
HREQ is the host request line of the PMAC processor. This line can be used to do character-by-
character handshaking on communications with PMAC. This line can mean read-ready and/or write-
ready, depending on the value of the byte that has been written from the PC to the PMAC base address
register, the interrupt control register of the DSP (0 means neither, 1 means host read-ready generates an
interrupt, 2 means host write-ready generates an interrupt, 3 means both generate an interrupt).
EQUn is the compare-equals bit for PMAC encoder n. It goes true when the encoder position matches
the pre-loaded position- compare register value. If not using the position-compare feature for an encoder,
have the PMAC command this bit from a motion program or PLC program using an M-variable (by
changing its polarity with the EQU out invert enable bit, bit 13 of the DSPGATE status/control word,
Mx13 in the suggested M- variable definitions), thus allowing PMAC software to generate an interrupt
for the PC.
AXEXP0 and AXEXP1 bring in EQUn inputs from the PMAC Accessory-24 Axis Expansion Board.
Jumpers on the Acc-24 control which EQUn line is brought in on the line. These also may be set in
PMAC software.