Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Global I-Variables 42
Note:
A large PLC 0 with a small value of I8 can cause severe problems, because Turbo
PMAC will attempt to execute the PLC program every I8 cycle. This can starve
background tasks, including communications, background PLCs, and even
updating of the watchdog timer, for time, leading to erratic performance or
possibly even shutdown.
In multiple-card Turbo PMAC applications where it is very important that motion programs on the two
cards start as closely together as possible, I8 should be set to 0. In this case, no PLC 0 should be running
when the cards are awaiting a Run command. At other times, I8 may be set greater than 0 and PLC 0 re-
enabled.
I9 Full/Abbreviated Listing Control
Range: 0 to 3
Units: None
Default: 2
I9 controls how Turbo PMAC reports program listings and variable values. I9 is a 2-bit value. Bit 0
whether short-form or long-form reporting is used; bit 1 controls whether address I-variable values are
reported in decimal or hexadecimal form. The following table summarizes:
Setting
Meaning
0
Short form, decimal address I-variable return
1
Long form, decimal address I-variable return
2
Short form, hex address I-variable return
3
Long form, hex address I-variable return
When this parameter is 0 or 2 (bit 0 = 0), programs are sent back in abbreviated form for maximum
compactness, and when I-variable values or M-variable definitions are requested, only the values or
definitions are returned, not the full statements. When this parameter is 1 or 3 (bit 0 = 1), programs are
sent back in full form for maximum readability. Also, I-variable values and M-variable definitions are
returned as full command statements, which is useful for archiving and later downloading.
When this parameter is 0 or 1 (bit 1 = 0), I-variable values that specify PMAC addresses are returned in
decimal form. When it is 2 or 3 (bit 1 = 1), these values are returned in hexadecimal form (with the '$'
prefix). Any I-variable values cdan be sent to PMAC either in hex or decimal, regardless of the I9 setting.
This does not affect how I-variable assignment statements inside Turbo PMAC motion and PLC
programs are reported when the program is listed.
I10 Servo Interrupt Time
Range: 0 to 8,388,607
Units: 1 / 8,388,608 msec
Default: 3,713,707 [Turbo PMAC: 442.71 sec]
3,713,991 [Turbo PMAC2: 442.74 sec]
This parameter tells Turbo PMAC how much time there is between servo interrupts (which is controlled
by hardware circuitry), so that the interpolation software knows how much time to increment each servo
interrupt.
The fundamental equation for I10 is:
sec)m(ServoTime*608,388,8
)kHz(encyServoFrequ
608,388,8
10I 