Turbo SRM

^1 SOFTWARE REFERENCE MANUAL
^2 Turbo PMAC/PMAC2
^3 Software Reference for Turbo Family
^4 3Ax-01.937-xSxx
^5 November 25, 2008
Single Source Machine Control Power // Flexibility // Ease of Use
21314 Lassen Street Chatsworth, CA 91311 // Tel. (818) 998-2095 Fax. (818) 998-7807 // www.deltatau.com

Copyright Information
2008 Delta Tau Data Systems, Inc. All rights reserved.
This document is furnished for the customers of Delta Tau Data Systems, Inc. Other uses are
unauthorized without written permission of Delta Tau Data Systems, Inc. Information contained
in this manual may be updated from time-to-time due to product improvements, etc., and may not
conform in every respect to former issues.
To report errors or inconsistencies, call or email:
Delta Tau Data Systems, Inc. Technical Support
Phone: (818) 717-5656
Fax: (818) 998-7807
Email: support@deltatau.com
Website: http://www.deltatau.com
Operating Conditions
All Delta Tau Data Systems, Inc. motion controller products, accessories, and amplifiers contain
static sensitive components that can be damaged by incorrect handling. When installing or
handling Delta Tau Data Systems, Inc. products, avoid contact with highly insulated materials.
Only qualified personnel should be allowed to handle this equipment.
In the case of industrial applications, we expect our products to be protected from hazardous or
conductive materials and/or environments that could cause harm to the controller by damaging
components or causing electrical shorts. When our products are used in an industrial
environment, install them into an industrial electrical cabinet or industrial PC to protect them
from excessive or corrosive moisture, abnormal ambient temperatures, and conductive materials.
If Delta Tau Data Systems, Inc. products are exposed to hazardous or conductive materials and/or
environments, we cannot guarantee their operation.

REVISION HISTORY
REV. DESCRIPTION DATE CHG APPVD
1 REVISION TO Ixx97 ERROR DESCRIPTION 08/29/06 CP P. SHANTZ
2 REVISION TO IXX83 VARIABLES, P. 188 10/10/06 CP S. SATTARI
3 REV. IXX25 & IXX42 PMAC2 VARIABLES, P. 149 & 159 04/25/07 CP S. SATTARI
4 LOOKAHEAD WARNING TO ISX21(P.220) & \ (P.308) 05/30/07 CP B. PEDERSEN
5 REV. TO IXX02 PULSE FREQ. SETTINGS, P. 127 10/19/07 CP C. WILSON
6 REV. TO IXX24 BIT 16 SETTINGS, P. 145 12/04/07 CP C. WILSON
M. ESPOSITO
7 CORRECTION TO ISX99 DEFAULT SETTING, P. 227 01/04/08 CP M. ESPOSITO
8 CORRECTED COORDINATE SYSTEM STATUS BITS
FOR CONTINUOUS MOTION REQUEST
M-VARIABLE DEFS., PP. 619-627, 685-692, 751-758
11/25/08 CP R.NADDAF

Turbo PMAC/PMAC2 Software Reference
Table of Contents i
Table of Contents
INTRODUCTION.......................................................................................................................................................1
What is Turbo PMAC?..............................................................................................................................................1
What is New about Turbo PMAC? ...........................................................................................................................1
How do I Convert a PMAC Application? .................................................................................................................2
How do I use this Manual?........................................................................................................................................2
CHANGE SUMMARY: PMAC TO TURBO PMAC .............................................................................................3
Overview Feature Comparison..................................................................................................................................3
I-Variable Changes....................................................................................................................................................4
I-Variable Changes (continued) ................................................................................................................................5
DPRAM Function Changes.......................................................................................................................................5
Compensation Table Changes...................................................................................................................................5
Commutation Changes ..............................................................................................................................................6
Overtravel Limit Changes .........................................................................................................................................6
Cutter Radius Compensation Changes ......................................................................................................................6
Communications Changes.........................................................................................................................................6
Memory and I/O Map Changes .................................................................................................................................7
Jumper Changes ........................................................................................................................................................8
On-line Command Changes ......................................................................................................................................8
Program Command Changes.....................................................................................................................................9
Encoder Conversion Table Changes .........................................................................................................................9
TURBO PMAC/PMAC2 SYSTEM CONFIGURATION AND AUTO-CONFIGURATION............................11
Turbo PMAC2 Clock Source ..................................................................................................................................11
Re-Initialization Actions .........................................................................................................................................11
User Customized Clock-Source Specification ........................................................................................................12
Normal Reset Actions .............................................................................................................................................13
MACRO IC Selection .............................................................................................................................................13
Dual-Ported RAM IC Selection ..............................................................................................................................14
System Configuration Status Reporting..................................................................................................................14
Servo IC Configuration.......................................................................................................................................14
MACRO IC Configuration..................................................................................................................................14
DPRAM IC Configuration ..................................................................................................................................15
CPU Section Configuration ................................................................................................................................15
UBUS Accessory Board Identification................................................................................................................15
Evaluating the Turbo PMACs Computational Load..............................................................................................15
Phase Interrupt Tasks .........................................................................................................................................16
Servo Interrupt Tasks..........................................................................................................................................16
Real-Time Interrupt Tasks ..................................................................................................................................16
Total Interrupt Tasks ..........................................................................................................................................17
Sample Monitoring Program..............................................................................................................................17
Background Cycle Time......................................................................................................................................17
Turbo PMAC Lookahead Function.........................................................................................................................17
Quick Instructions: Setting up Lookahead..........................................................................................................18
Detailed Instructions: Setting up to use Lookahead ...........................................................................................19
Running a Program with Lookahead.......................................................................................................................24
Stopping while in Lookahead..............................................................................................................................26
Reversal while in Lookahead..............................................................................................................................28
Kinematic Calculations ...........................................................................................................................................30
Creating the Kinematic Program Buffers ...........................................................................................................31
Executing the Kinematic Programs ....................................................................................................................37
Cutter Radius Compensation...................................................................................................................................38
Defining the Plane of Compensation ..................................................................................................................39
Defining the Magnitude of Compensation ..........................................................................................................39
Turning On Compensation..................................................................................................................................39
ii Table of Contents
Turning Off Compensation .................................................................................................................................39
How Turbo PMAC Introduces Compensation ....................................................................................................40
Treatment of Inside Corners ...............................................................................................................................41
Treatment of Outside Corners .................................................................................................................................42
Treatment of Full Reversal .................................................................................................................................43
Note on Full Circles............................................................................................................................................44
Speed of Compensated Moves.............................................................................................................................45
Changes in Compensation ..................................................................................................................................45
How Turbo PMAC Removes Compensation .......................................................................................................46
Failures in Cutter Compensation........................................................................................................................47
Block Buffering for Cutter Compensation...........................................................................................................48
Single-Stepping while in Compensation .................................................................................................................49
Three-Dimensional Cutter Radius Compensation...................................................................................................49
Defining the Magnitude of 3D Compensation ....................................................................................................50
Turning on 3D Compensation.............................................................................................................................50
Turning off 3D Compensation ............................................................................................................................50
Declaring the Surface-Normal Vector.....................................................................................................................51
Declaring the Tool-Orientation Vector...............................................................................................................51
How 3D Compensation is Performed .................................................................................................................52
Altered-Destination Moves .....................................................................................................................................52
Altered-Destination Command ...........................................................................................................................53
Use of Altered Destination..................................................................................................................................53
Turbo PMAC Dual-Ported RAM Use .....................................................................................................................54
Physical Configuration and Connection.............................................................................................................54
Host Address Setup.............................................................................................................................................54
Mapping of Memory Addresses ..........................................................................................................................57
DPRAM Automatic Functions.............................................................................................................................58
DPRAM Background Data Reporting Buffer......................................................................................................61
DPRAM ASCII Communications ........................................................................................................................61
TURBO PMAC VARIABLE AND COMMAND SUMMARY.............................................................................71
Notes .......................................................................................................................................................................71
Definitions...............................................................................................................................................................71
On-Line Commands ................................................................................................................................................72
On-line Global Commands .................................................................................................................................72
On-line Coordinate System Commands ..............................................................................................................75
On-line Motor Commands ..................................................................................................................................77
Motion Program Commands ...................................................................................................................................78
PLC Program Commands........................................................................................................................................81
TURBO PMAC GLOBAL I-VARIABLES.............................................................................................................83
General Global Setup I-Variables ...........................................................................................................................83
I0 Serial Card Number ...............................................................................................................................83
I1 Serial Port Mode....................................................................................................................................84
I2 Control Panel Port Activation................................................................................................................84
I3 I/O Handshake Control ..........................................................................................................................85
I4 Communications Integrity Mode...........................................................................................................86
I5 PLC Program Control ............................................................................................................................87
I6 Error Reporting Mode............................................................................................................................87
I7 Phase Cycle Extension...........................................................................................................................88
I8 Real-Time Interrupt Period....................................................................................................................89
I9 Full/Abbreviated Listing Control...........................................................................................................90
I10 Servo Interrupt Time .........................................................................................................................90
I11 Programmed Move Calculation Time ...............................................................................................91
I12 Lookahead Time Spline Enable.........................................................................................................92
I13 Foreground In-Position Check Enable ..............................................................................................92
I14 Temporary Buffer Save Enable .........................................................................................................93
Table of Contents iii
I15 Degree/Radian Control for User Trig Functions ...............................................................................93
I16 Rotary Buffer Request On Point........................................................................................................93
I17 Rotary Buffer Request Off Point .......................................................................................................94
I18 Fixed Buffer Full Warning Point.......................................................................................................94
I19 Clock Source I-Variable Number (Turbo PMAC2 only) .................................................................94
I20 MACRO IC 0 Base Address (Turbo PMAC2 only) ..........................................................................96
I24 Main DPRAM Base Address.............................................................................................................98
I30 Compensation Table Wrap Enable....................................................................................................99
I37 Additional Wait States.......................................................................................................................99
I39 UBUS Accessory ID Variable Display Control ..............................................................................100
I40 Watchdog Timer Reset Value .........................................................................................................101
I41 I-Variable Lockout Control .............................................................................................................101
I42 Spline/PVT Time Control Mode .....................................................................................................102
I43 Auxiliary Serial Port Parser Disable................................................................................................102
I44 PMAC Ladder Program Enable {Special Firmware Only}.............................................................103
I45 Foreground Binary Rotary Buffer Transfer Enable.........................................................................103
I46 P & Q-Variable Storage Location ...................................................................................................103
I47 DPRAM Motor Data Foreground Reporting Period........................................................................104
I48 DPRAM Motor Data Foreground Reporting Enable.......................................................................104
I49 DPRAM Background Data Reporting Enable.................................................................................104
I50 DPRAM Background Data Reporting Period..................................................................................105
I51 Compensation Table Enable............................................................................................................105
I52 CPU Frequency Control ..................................................................................................................105
I53 Auxiliary Serial Port Baud Rate Control .........................................................................................106
I54 Serial Port Baud Rate Control .........................................................................................................106
I55 DPRAM Background Variable Buffers Enable...............................................................................107
I56 DPRAM ASCII Communications Interrupt Enable ........................................................................107
I57 DPRAM Motor Data Background Reporting Enable......................................................................108
I58 DPRAM ASCII Communications Enable .......................................................................................108
I59 Motor/C.S. Group Select .................................................................................................................108
I60 Filtered Velocity Sample Time .......................................................................................................109
I61 Filtered Velocity Shift .....................................................................................................................109
I62 Internal Message Carriage Return Control ......................................................................................110
I63 Control-X Echo Enable ...................................................................................................................110
I64 Internal Response Tag Enable.........................................................................................................111
I68 Coordinate System Activation Control............................................................................................111
MACRO Ring Configuration I-Variables..........................................................................................................112
I70 MACRO IC 0 Node Auxiliary Register Enable ..............................................................................112
I71 MACRO IC 0 Node Protocol Type Control ....................................................................................113
I78 MACRO Type 1 Master/Slave Communications Timeout..............................................................116
I79 MACRO Type 1 Master/Master Communications Timeout ...........................................................116
I80 MACRO Ring Check Period...........................................................................................................117
I81 MACRO Maximum Ring Error Count ............................................................................................117
I82 MACRO Minimum Sync Packet Count ..........................................................................................118
I83 MACRO Parallel Ring Enable Mask...............................................................................................118
I84 MACRO IC # for Master Communications.....................................................................................119
I85 MACRO Ring Order Number .........................................................................................................119
iv Table of Contents
VME/DPRAM Setup I-Variables.......................................................................................................................120
I90 VME Address Modifier...................................................................................................................120
I91 VME Address Modifier Dont Care Bits.........................................................................................120
I92 VME Base Address Bits A31-A24..................................................................................................120
I93 VME Mailbox Base Address Bits A23-A16 ISA DPRAM Base Address Bits A23-A16......................120
I94 VME Mailbox Base Address Bits A15-A08 ISA DPRAM Base Address Bits A15-A14 & Control ...121
I95 VME Interrupt Level .......................................................................................................................122
I96 VME Interrupt Vector .....................................................................................................................122
I97 VME DPRAM Base Address Bits A23-A20...................................................................................123
I98 VME DPRAM Enable.....................................................................................................................123
I99 VME Address Width Control ..........................................................................................................123
Motor Setup I-Variables........................................................................................................................................124
Motor Definition I-Variables ............................................................................................................................124
Ixx00 Motor xx Activation Control.......................................................................................................124
Ixx01 Motor xx Commutation Enable...................................................................................................124
Ixx02 Motor xx Command Output Address..........................................................................................125
Ixx03 Motor xx Position Loop Feedback Address................................................................................128
Ixx04 Motor xx Velocity Loop Feedback Address ...............................................................................129
Ixx05 Motor xx Master Position Address .............................................................................................130
Ixx06 Motor xx Position Following Enable and Mode .........................................................................130
Ixx07 Motor xx Master (Handwheel) Scale Factor ...............................................................................131
Ixx08 Motor xx Position Scale Factor...................................................................................................131
Ixx09 Motor xx Velocity-Loop Scale Factor ........................................................................................131
Ixx10 Motor xx Power-On Servo Position Address..............................................................................132
Motor Safety I-Variables...................................................................................................................................137
Ixx11 Motor xx Fatal Following Error Limit ........................................................................................137
Ixx12 Motor xx Warning Following Error Limit ..................................................................................137
Ixx13 Motor xx Positive Software Position Limit.................................................................................138
Ixx14 Motor xx Negative Software Position Limit ...............................................................................139
Ixx15 Motor xx Abort/Limit Deceleration Rate....................................................................................140
Ixx16 Motor xx Maximum Program Velocity.......................................................................................140
Ixx17 Motor xx Maximum Program Acceleration................................................................................141
Ixx19 Motor xx Maximum Jog/Home Acceleration .............................................................................142
Motor Motion I-Variables.................................................................................................................................143
Ixx20 Motor xx Jog/Home Acceleration Time......................................................................................143
Ixx21 Motor xx Jog/Home S-Curve Time.............................................................................................143
Ixx22 Motor xx Jog Speed ....................................................................................................................144
Ixx23 Motor xx Home Speed and Direction .........................................................................................144
Ixx24 Motor xx Flag Mode Control ......................................................................................................144
Ixx25 Motor xx Flag Address ...............................................................................................................147
Ixx26 Motor xx Home Offset ................................................................................................................150
Ixx27 Motor xx Position Rollover Range .............................................................................................151
Ixx28 Motor xx In-Position Band..........................................................................................................152
Ixx29 Motor xx Output/First Phase Offset ............................................................................................153
Motor xx PID Servo Setup I-Variables .............................................................................................................153
Ixx30 Motor xx PID Proportional Gain.................................................................................................153
Ixx31 Motor xx PID Derivative Gain....................................................................................................154
Ixx32 Motor xx PID Velocity Feedforward Gain .................................................................................155
Ixx33 Motor xx PID Integral Gain........................................................................................................155
Ixx34 Motor xx PID Integration Mode .................................................................................................155
Ixx35 Motor xx PID Acceleration Feedforward Gain...........................................................................156
Ixx36 Motor xx PID Notch Filter Coefficient N1 .................................................................................156
Ixx37 Motor xx PID Notch Filter Coefficient N2 .................................................................................156
Ixx38 Motor xx PID Notch Filter Coefficient D1 .................................................................................157
Ixx39 Motor xx PID Notch Filter Coefficient D2 .................................................................................157
Ixx40 Motor xx Net Desired Position Filter Gain .................................................................................157
Table of Contents v
Ixx41 Motor xx Desired Position Limit Band.......................................................................................158
Ixx42 Motor xx Amplifier Flag Address...............................................................................................158
Ixx43 Motor xx Overtravel-Limit Flag Address ...................................................................................159
Motor Servo and Commutation Modifiers ........................................................................................................161
Ixx55 Motor xx Commutation Table Address Offset............................................................................161
Ixx56 Motor xx Commutation Delay Compensation ............................................................................161
Ixx57 Motor xx Continuous Current Limit ...........................................................................................162
Ixx58 Motor xx Integrated Current Limit..............................................................................................163
Ixx59 Motor xx User-Written Servo/Phase Enable...............................................................................164
Ixx60 Motor xx Servo Cycle Period Extension Period .........................................................................165
Ixx61 Motor xx Current-Loop Integral Gain.........................................................................................165
Ixx62 Motor xx Current-Loop Forward-Path Proportional Gain ..........................................................165
Ixx63 Motor xx Integration Limit .........................................................................................................166
Ixx64 Motor xx Deadband Gain Factor.................................................................................................166
Ixx65 Motor xx Deadband Size.............................................................................................................167
Ixx66 Motor xx PWM Scale Factor ......................................................................................................167
Ixx67 Motor xx Position Error Limit ....................................................................................................168
Ixx68 Motor xx Friction Feedforward...................................................................................................168
Ixx69 Motor xx Output Command Limit ..............................................................................................169
Motor Commutation Setup I-Variables.............................................................................................................170
Ixx70 Motor xx Number of Commutation Cycles (N) ..........................................................................170
Ixx71 Motor xx Counts per N Commutation Cycles.............................................................................171
Ixx72 Motor xx Commutation Phase Angle..........................................................................................172
Ixx73 Motor xx Phase Finding Output Value .......................................................................................173
Ixx74 Motor xx Phase Finding Time.....................................................................................................173
Ixx75 Motor xx Phase Position Offset ..................................................................................................174
Ixx76 Motor xx Current-Loop Back-Path Proportional Gain................................................................175
Ixx77 Motor xx Magnetization Current ................................................................................................176
Ixx78 Motor xx Slip Gain .....................................................................................................................176
Ixx79 Motor xx Second Phase Offset....................................................................................................177
Ixx80 Motor xx Power-Up Mode..........................................................................................................177
Ixx81 Motor xx Power-On Phase Position Address..............................................................................179
Ixx82 Motor xx Current-Loop Feedback Address.................................................................................184
Ixx83 Motor xx Commutation Position Address...................................................................................186
Ixx84 Motor xx Current-Loop Feedback Mask Word..................................................................................188
Further Motor I-Variables................................................................................................................................189
Ixx85 Motor xx Backlash Take-up Rate................................................................................................189
Ixx86 Motor xx Backlash Size ..............................................................................................................189
Ixx87 Motor xx Backlash Hysteresis ....................................................................................................189
Ixx88 Motor xx In-Position Number of Scans ......................................................................................190
Ixx90 Motor xx Rapid Mode Speed Select ...........................................................................................190
Ixx91 Motor xx Power-On Phase Position Format................................................................................190
Ixx92 Motor xx Jog Move Calculation Time ........................................................................................193
Ixx95 Motor xx Power-On Servo Position Format................................................................................193
Ixx96 Motor xx Command Output Mode Control.................................................................................197
Ixx97 Motor xx Position Capture & Trigger Mode...............................................................................197
Ixx98 Motor xx Third-Resolver Gear Ratio..........................................................................................198
Ixx99 Motor xx Second-Resolver Gear Ratio.......................................................................................199
Supplemental Motor Setup I-Variables.............................................................................................................200
Iyy00/50 Motor xx Extended Servo Algorithm Enable .........................................................................200
Iyy10 Iyy39/Iyy60 Iyy89 Motor xx Extended Servo Algorithm Gains ..............................................201
System Configuration Reporting...........................................................................................................................201
I4900 Servo ICs Present ........................................................................................................................201
I4901 Servo IC Type.............................................................................................................................202
I4902 MACRO ICs Present...................................................................................................................203
I4903 MACRO IC Types ......................................................................................................................203
vi Table of Contents
I4904 Dual-Ported RAM ICs Present....................................................................................................204
I4908 End of Open Memory .................................................................................................................205
I4909 Turbo CPU ID Configuration......................................................................................................205
I4910 I4925 Servo IC Card Identification .............................................................................................206
I4926 I4941 MACRO IC Card Identification........................................................................................208
I4942 I4949 DPRAM IC Card Identification ........................................................................................209
I4950 I4965 I/O IC Card Identification .................................................................................................210
Data Gathering I-Variables ...................................................................................................................................211
I5000 Data Gathering Buffer Location and Mode................................................................................211
I5001 I5048 Data Gathering Source 1-48 Address................................................................................211
I5049 Data Gathering Period.................................................................................................................212
I5050 Data Gathering Selection Mask 1 ...............................................................................................212
I5051 Data Gathering Selection Mask 2 ...............................................................................................212
A/D Processing Table I-Variables.........................................................................................................................213
I5060 A/D Processing Ring Size...........................................................................................................213
I5061-I5076 A/D Ring Slot Pointers ........................................................................................................214
I5080 A/D Ring Convert Enable ..........................................................................................................215
I5081-I5096 A/D Ring Convert Codes.....................................................................................................215
Coordinate System I-Variables .............................................................................................................................216
Isx11 Coordinate System x User Countdown Timer 1 .........................................................................217
Isx12 Coordinate System x User Countdown Timer 2 .........................................................................217
Isx13 Coordinate System x Segmentation Time...................................................................................217
Isx20 Coordinate System x Lookahead Length ....................................................................................218
Isx21 Coordinate System x Lookahead State Control ..........................................................................220
Isx50 Coordinate System x Kinematic Calculations Enable.................................................................220
Isx53 Coordinate System x Step Mode Control....................................................................................221
Isx86 Coordinate System x Alternate Feedrate.....................................................................................221
Isx87 Coordinate System x Default Program Acceleration Time.........................................................222
Isx88 Coordinate System x Default Program S-Curve Time................................................................222
Isx89 Coordinate System x Default Program Feedrate/Move Time .....................................................223
Isx90 Coordinate System x Feedrate Time Units..................................................................................223
Isx91 Coordinate System x Default Working Program Number ..........................................................223
Isx92 Coordinate System x Move Blend Disable .................................................................................224
Isx93 Coordinate System x Time Base Control Address......................................................................224
Isx94 Coordinate System x Time Base Slew Rate................................................................................225
Isx95 Coordinate System x Feed Hold Slew Rate ................................................................................225
Isx96 Coordinate System x Circle Error Limit .....................................................................................225
Isx97 Coordinate System x Minimum Arc Length...............................................................................226
Isx98 Coordinate System x Maximum Feedrate...................................................................................227
Isx99 Coordinate System x Cutter-Comp Outside Corner Break Point ................................................227
Turbo PMAC2 MACRO IC I-Variables ...............................................................................................................228
I6800/I6850/I6900/I6950 MACRO IC MaxPhase/PWM Frequency Control ..........................................228
I6801/I6851/I6901/I6951 MACRO IC Phase Clock Frequency Control..................................................230
I6802/I6852/I6902/I6952 MACRO IC Servo Clock Frequency Control..................................................230
I6803/I6853/I6903/I6953 MACRO IC Hardware Clock Control .............................................................232
I6804/I6854/I6904/I6954 MACRO IC PWM Deadtime / PFM Pulse Width Control..............................234
I6805/I6855/I6905/I6955 MACRO IC DAC Strobe Word ......................................................................234
I6806/I6856/I6906/I6956 MACRO IC ADC Strobe Word ......................................................................235
I6807/I6857/I6907/I6957 MACRO IC Clock Direction Control..............................................................235
Channel-Specific MACRO IC I-variables.........................................................................................................236
I68n0/I69n0 MACRO IC Channel n* Encoder/Timer Decode Control ...................................................237
I68n1/I69n1 MACRO IC Channel n* Position Compare Channel Select ................................................238
I68n2/I69n2 MACRO IC Encoder n* Capture Control ............................................................................238
I68n3/I69n3 MACRO IC Channel n* Capture Flag Select Control .........................................................239
I68n4/I69n4 MACRO IC Channel n* Encoder Gated Index Select .........................................................240
I68n5/I69n5 MACRO IC Channel n* Encoder Index Gate State/Demux Control ...................................241
Table of Contents vii
I68n6/I69n6 MACRO IC Channel n* Output Mode Select......................................................................242
I68n7/I69n7 MACRO IC Channel n* Output Invert Control ...................................................................242
I68n8/I69n8 MACRO IC Channel n* PFM Direction Signal Invert Control ...........................................243
I68n9/I69n9 Reserved for Future Use.......................................................................................................243
MACRO IC Ring Setup I-variables...................................................................................................................244
I6840/I6890/I6940/I6990 MACRO IC Ring Configuration/Status ..........................................................244
I6841/I6891/I6941/I6991 MACRO IC Node Activate Control ................................................................245
Servo IC I-Variables..............................................................................................................................................246
PMAC2-Style Multi-Channel Servo IC I-Variables..........................................................................................247
I7m00 Servo IC m MaxPhase/PWM Frequency Control ......................................................................247
I7m01 Servo IC m Phase Clock Frequency Control..............................................................................249
I7m02 Servo IC m Servo Clock Frequency Control..............................................................................249
I7m03 Servo IC m Hardware Clock Control .........................................................................................251
I7m04 Servo IC m PWM Deadtime / PFM Pulse Width Control..........................................................252
I7m05 Servo IC m DAC Strobe Word ..................................................................................................253
I7m06 Servo IC m ADC Strobe Word ..................................................................................................253
I7m07 Servo IC m Phase/Servo Clock Direction..................................................................................254
PMAC2-Style Channel-Specific Servo IC I-Variables ......................................................................................255
I7mn0 Servo IC m Channel n Encoder/Timer Decode Control.............................................................255
I7mn1 Servo IC m Channel n Position Compare Channel Select .........................................................256
I7mn2 Servo IC m Channel n Capture Control .....................................................................................256
I7mn3 Servo IC m Channel n Capture Flag Select Control...................................................................257
I7mn4 Servo IC m Channel n Encoder Gated Index Select...................................................................257
I7mn5 Servo IC m Channel n Encoder Index Gate State/Demux Control ............................................258
I7mn6 Servo IC m Channel n Output Mode Select ...............................................................................259
I7mn7 Servo IC m Channel n Output Invert Control ............................................................................259
I7mn8 Servo IC m Channel n PFM Direction Signal Invert Control ....................................................260
I7mn9 Servo IC m Channel n Hardware-1/T Control ...........................................................................260
PMAC-Style Servo IC Setup I-Variables ..........................................................................................................261
I7mn0 Servo IC m Channel n Encoder/Timer Decode Control.............................................................261
I7mn1 Servo IC m Channel n Encoder Filter Disable...........................................................................262
I7mn2 Servo IC m Channel n Capture Control .....................................................................................262
I7mn3 Servo IC m Channel n Capture Flag Select Control...................................................................263
Conversion Table I-Variables...........................................................................................................................264
I8000 - I8191 Conversion Table Setup Lines ...........................................................................................264
TURBO PMAC ON-LINE COMMAND SPECIFICATION ..............................................................................285
<CONTROL-A> ..........................................................................................................................................285
<CONTROL-B>...........................................................................................................................................285
<CONTROL-C>...........................................................................................................................................286
<CONTROL-D> ..........................................................................................................................................286
<CONTROL-F>...........................................................................................................................................287
<CONTROL-G> ..........................................................................................................................................287
<CONTROL-H> ..........................................................................................................................................288
<CONTROL-I>............................................................................................................................................288
<CONTROL-K> ..........................................................................................................................................288
<CONTROL-M>..........................................................................................................................................289
<CONTROL-N> ..........................................................................................................................................289
<CONTROL-O> ..........................................................................................................................................290
<CONTROL-P>...........................................................................................................................................290
<CONTROL-Q> ..........................................................................................................................................291
<CONTROL-R>...........................................................................................................................................291
<CONTROL-S>...........................................................................................................................................291
<CONTROL-T>...........................................................................................................................................292
<CONTROL-V> ..........................................................................................................................................292
<CONTROL-X> ..........................................................................................................................................293
viii Table of Contents
!{axis}{constant}[{axis}{constant}] .......................................................................................................293
@..................................................................................................................................................................294
@{card}........................................................................................................................................................295
#....................................................................................................................................................................295
#{constant}...................................................................................................................................................296
#{constant}-> ...............................................................................................................................................297
#{constant}->0 .............................................................................................................................................297
#{constant}->{axis definition}.....................................................................................................................298
#{constant}->I..............................................................................................................................................299
##..................................................................................................................................................................300
##{constant}.................................................................................................................................................300
$....................................................................................................................................................................301
$$..................................................................................................................................................................302
$$$................................................................................................................................................................303
$$$***..........................................................................................................................................................303
$$*................................................................................................................................................................304
$*..................................................................................................................................................................304
%..................................................................................................................................................................305
%{constant} .................................................................................................................................................306
&...................................................................................................................................................................306
&{constant}..................................................................................................................................................307
\.....................................................................................................................................................................308
<....................................................................................................................................................................308
>....................................................................................................................................................................309
/.....................................................................................................................................................................309
?....................................................................................................................................................................310
?? ..................................................................................................................................................................315
???.................................................................................................................................................................320
A...................................................................................................................................................................322
ABR[{constant}] ..........................................................................................................................................323
ABS..............................................................................................................................................................323
{axis}={constant} ........................................................................................................................................324
B{constant} ..................................................................................................................................................325
CHECKSUM................................................................................................................................................325
CID...............................................................................................................................................................326
CLEAR.........................................................................................................................................................326
CLEAR ALL................................................................................................................................................327
CLEAR ALL PLCS......................................................................................................................................327
CLOSE.........................................................................................................................................................327
CLOSE ALL.................................................................................................................................................328
{constant}.....................................................................................................................................................329
CPU..............................................................................................................................................................329
DATE...........................................................................................................................................................330
DEFINE BLCOMP ......................................................................................................................................330
DEFINE CCBUF..........................................................................................................................................331
DEFINE COMP (one-dimensional) .............................................................................................................332
DEFINE COMP (two-dimensional) .............................................................................................................333
DEFINE GATHER.......................................................................................................................................336
DEFINE LOOKAHEAD..............................................................................................................................337
DEFINE ROTARY ......................................................................................................................................339
DEFINE TBUF.............................................................................................................................................339
DEFINE TCOMP.........................................................................................................................................340
DEFINE UBUFFER [modified description] ...........................................................................................341
DELETE ALL..............................................................................................................................................342
DELETE ALL TEMPS ................................................................................................................................342
DELETE BLCOMP......................................................................................................................................343
Table of Contents ix
DELETE CCUBUF......................................................................................................................................343
DELETE COMP...........................................................................................................................................344
DELETE LOOKAHEAD.............................................................................................................................344
DELETE GATHER......................................................................................................................................345
DELETE PLCC............................................................................................................................................345
DELETE ROTARY......................................................................................................................................346
DELETE TBUF............................................................................................................................................346
DELETE TCOMP........................................................................................................................................347
DISABLE PLC.............................................................................................................................................347
DISABLE PLCC..........................................................................................................................................348
EAVERSION...............................................................................................................................................348
ENABLE PLC..............................................................................................................................................349
ENABLE PLCC...........................................................................................................................................350
ENDGATHER..............................................................................................................................................350
F....................................................................................................................................................................351
FRAX...........................................................................................................................................................351
GATHER......................................................................................................................................................352
H...................................................................................................................................................................353
HOME..........................................................................................................................................................353
HOMEZ........................................................................................................................................................354
I{constant} ...................................................................................................................................................355
I{data}={expression}...................................................................................................................................356
I{constant}=* ...............................................................................................................................................357
I{constant}=@I{constant} ...........................................................................................................................357
IDC...............................................................................................................................................................358
IDNUMBER.................................................................................................................................................358
INC...............................................................................................................................................................359
J! ...................................................................................................................................................................359
J+..................................................................................................................................................................360
J- ...................................................................................................................................................................360
J/ ...................................................................................................................................................................361
J:{constant} ..................................................................................................................................................361
J:* .................................................................................................................................................................362
J=..................................................................................................................................................................362
J={constant}.................................................................................................................................................363
J=*................................................................................................................................................................363
J=={constant}...............................................................................................................................................364
J^{constant} .................................................................................................................................................365
J^* ................................................................................................................................................................365
{jog command}^{constant} .........................................................................................................................366
K...................................................................................................................................................................367
LEARN.........................................................................................................................................................368
LIST .............................................................................................................................................................369
LIST BLCOMP............................................................................................................................................369
LIST BLCOMP DEF....................................................................................................................................370
LIST COMP.................................................................................................................................................370
LIST COMP DEF.........................................................................................................................................370
LIST FORWARD.........................................................................................................................................371
LIST GATHER ............................................................................................................................................372
LIST INVERSE............................................................................................................................................372
LIST LDS.....................................................................................................................................................373
LIST LINK...................................................................................................................................................373
LIST PC........................................................................................................................................................373
LIST PE........................................................................................................................................................374
LIST PLC.....................................................................................................................................................375
LIST PROGRAM.........................................................................................................................................376
x Table of Contents
LIST ROTARY............................................................................................................................................377
LIST TCOMP...............................................................................................................................................377
LIST TCOMP DEF ......................................................................................................................................378
LOCK{constant},P{constant}......................................................................................................................378
M{constant} .................................................................................................................................................379
M{data}={expression}.................................................................................................................................380
M{constant}->..............................................................................................................................................381
M{constant}->*............................................................................................................................................381
M{constant}->D:{address}..........................................................................................................................382
M{constant}->DP:{address}........................................................................................................................382
M{constant}->F:{address}...........................................................................................................................383
M{constant}->L:{address} ..........................................................................................................................384
M{constant}->TWB:{address}....................................................................................................................384
M{constant}->TWD:{address}....................................................................................................................385
M{constant}->TWR:{address}....................................................................................................................386
M{constant}->TWS:{address} ....................................................................................................................387
M{constant}->X/Y:{address}......................................................................................................................388
MACROASCII{master #} [replaced].....................................................................................................389
MACROAUX{node #},{param #} ..............................................................................................................389
MACROAUX{node #},{param #}={constant} ...........................................................................................390
MACROAUXREAD....................................................................................................................................391
MACROAUXWRITE..................................................................................................................................392
MACROMST{master#},{master variable}..................................................................................................393
MACROMST{master#},{master variable}={constant} ..............................................................................394
MACROMSTASCII{master #} ...................................................................................................................394
MACROMSTREAD....................................................................................................................................396
MACROMSTWRITE...................................................................................................................................397
MACROSLV{command} {node#}..............................................................................................................398
MACROSLV{node#},{slave variable}........................................................................................................399
MACROSLV{node#},{slave variable}={constant} ....................................................................................400
MACROSLVREAD.....................................................................................................................................401
MACROSLVWRITE...................................................................................................................................402
MACROSTASCII {station #}......................................................................................................................403
MFLUSH......................................................................................................................................................404
MOVETIME ................................................................................................................................................404
NOFRAX .....................................................................................................................................................404
NORMAL.....................................................................................................................................................405
O{constant}..................................................................................................................................................405
OPEN BINARY ROTARY..........................................................................................................................406
OPEN FORWARD.......................................................................................................................................407
OPEN INVERSE..........................................................................................................................................407
OPEN PLC...................................................................................................................................................408
OPEN PROGRAM.......................................................................................................................................409
OPEN ROTARY..........................................................................................................................................410
P....................................................................................................................................................................410
P{constant}...................................................................................................................................................411
P{data}={expression} ..................................................................................................................................411
PASSWORD={string}.................................................................................................................................412
PAUSE PLC.................................................................................................................................................414
PC.................................................................................................................................................................414
PE.................................................................................................................................................................415
PMATCH.....................................................................................................................................................415
PR.................................................................................................................................................................416
Q...................................................................................................................................................................416
Q{constant}..................................................................................................................................................417
Q{data}={expression} .................................................................................................................................418
Table of Contents xi
R...................................................................................................................................................................419
R[H]{address}..............................................................................................................................................419
RESUME PLC .............................................................................................................................................420
S....................................................................................................................................................................421
SAVE ...........................................................................................................................................................422
SETPHASE..................................................................................................................................................423
SID ...............................................................................................................................................................423
SIZE .............................................................................................................................................................424
STN..............................................................................................................................................................424
STN={constant}...........................................................................................................................................424
TIME............................................................................................................................................................425
TIME={time}...............................................................................................................................................425
TODAY........................................................................................................................................................426
TODAY={date} ...........................................................................................................................................426
TYPE............................................................................................................................................................427
UNDEFINE..................................................................................................................................................428
UNDEFINE ALL .........................................................................................................................................428
UNLOCK{constant} ....................................................................................................................................429
UPDATE......................................................................................................................................................429
V...................................................................................................................................................................429
VERSION.....................................................................................................................................................430
VID...............................................................................................................................................................430
W{address} ..................................................................................................................................................430
Z ...................................................................................................................................................................431
TURBO PMAC PROGRAM COMMAND SPECIFICATION ..........................................................................432
{axis}{data}[{axis}{data}]......................................................................................................................432
{axis}{data}:{data} [{axis}{data}:{data}] ..............................................................................................432
{axis}{data}^{data}[{axis}{data}^{data}...] ..............................................................................................433
{axis}{data}[{axis}{data}] {vector}{data} [{vector}{data}] .............................................................434
A{data}.........................................................................................................................................................436
ABS..............................................................................................................................................................436
ADDRESS....................................................................................................................................................437
ADDRESS#P{constant}...............................................................................................................................437
ADDRESS&P{constant} .............................................................................................................................438
ADIS{constant}............................................................................................................................................439
AND ({condition}).......................................................................................................................................439
AROT{constant}..........................................................................................................................................440
B{data}.........................................................................................................................................................441
BLOCKSTART............................................................................................................................................441
BLOCKSTOP...............................................................................................................................................442
C{data}.........................................................................................................................................................442
CALL ...........................................................................................................................................................442
CC0...............................................................................................................................................................444
CC1...............................................................................................................................................................444
CC2...............................................................................................................................................................445
CC3...............................................................................................................................................................445
CCR{data} ...................................................................................................................................................446
CIRCLE1......................................................................................................................................................446
CIRCLE2......................................................................................................................................................447
COMMANDx"{command}"........................................................................................................................448
COMMANDx^{letter}.................................................................................................................................449
D{data}.........................................................................................................................................................451
DELAY{data}..............................................................................................................................................451
DISABLE PLC {constant}[,{constant}...] ...................................................................................................452
DISABLE PLCC {constant}[,{constant}...] ................................................................................................453
xii Table of Contents
DISPLAY [{constant}] "{message}"...........................................................................................................453
DISPLAY ... {variable} ...............................................................................................................................454
DWELL........................................................................................................................................................454
ELSE ............................................................................................................................................................455
ENABLE PLC..............................................................................................................................................456
ENABLE PLCC...........................................................................................................................................457
ENDIF..........................................................................................................................................................458
ENDWHILE.................................................................................................................................................458
F{data} .........................................................................................................................................................459
FRAX...........................................................................................................................................................460
G{data}.........................................................................................................................................................461
GOSUB ........................................................................................................................................................462
GOTO...........................................................................................................................................................462
HOME..........................................................................................................................................................463
HOMEZ........................................................................................................................................................464
I{data}..........................................................................................................................................................465
I{data}={expression}...................................................................................................................................465
IDIS{constant}.............................................................................................................................................466
IF ({condition})............................................................................................................................................466
INC...............................................................................................................................................................467
IROT{constant}............................................................................................................................................468
J{data}..........................................................................................................................................................469
K{data}.........................................................................................................................................................469
LINEAR.......................................................................................................................................................470
LOCK{constant},P{constant}......................................................................................................................470
M{data}........................................................................................................................................................471
M{data}={expression}.................................................................................................................................471
M{data}=={expression}...............................................................................................................................472
M{data}&={expression}..............................................................................................................................473
M{data}|={expression}................................................................................................................................473
M{data}^={expression}...............................................................................................................................474
MACROAUXREAD....................................................................................................................................475
MACROAUXWRITE..................................................................................................................................476
MACROMSTREAD....................................................................................................................................477
MACROMSTWRITE...................................................................................................................................478
MACROSLVREAD.....................................................................................................................................479
MACROSLVWRITE...................................................................................................................................480
N{constant}..................................................................................................................................................481
NOFRAX .....................................................................................................................................................481
NORMAL.....................................................................................................................................................481
NX{data}......................................................................................................................................................482
NY{data}......................................................................................................................................................483
NZ{data}......................................................................................................................................................483
O{constant}..................................................................................................................................................484
OR({condition})...........................................................................................................................................485
P{data}={expression} ..................................................................................................................................485
PAUSE PLC.................................................................................................................................................486
PRELUDE....................................................................................................................................................487
PSET.............................................................................................................................................................488
PVT{data}....................................................................................................................................................489
Q{data}={expression} .................................................................................................................................489
R{data}.........................................................................................................................................................490
RAPID..........................................................................................................................................................491
READ...........................................................................................................................................................492
RESUME PLC .............................................................................................................................................493
RETURN......................................................................................................................................................494
Table of Contents xiii
S{data} .........................................................................................................................................................494
SENDx .........................................................................................................................................................495
SENDx^{letter}............................................................................................................................................496
SETPHASE..................................................................................................................................................497
SPLINE1 ......................................................................................................................................................498
SPLINE2 ......................................................................................................................................................499
STOP............................................................................................................................................................499
T{data}.........................................................................................................................................................499
TA{data}......................................................................................................................................................500
TINIT ...........................................................................................................................................................501
TM{data} .....................................................................................................................................................501
TR{data} ......................................................................................................................................................502
TS{data}.......................................................................................................................................................503
TSELECT{constant}....................................................................................................................................504
TX{data}......................................................................................................................................................504
TY{data}......................................................................................................................................................505
TZ{data}.......................................................................................................................................................505
U{data}.........................................................................................................................................................506
UNLOCK{constant} ....................................................................................................................................506
V{data}.........................................................................................................................................................507
W{data}........................................................................................................................................................507
WAIT ...........................................................................................................................................................508
WHILE({condition})....................................................................................................................................508
X{data}.........................................................................................................................................................510
Y{data}.........................................................................................................................................................510
Z{data}.........................................................................................................................................................511
TURBO PMAC MEMORY AND I/O MAP..........................................................................................................512
Program (Machine Code) Memory .......................................................................................................................512
Global Servo Registers..........................................................................................................................................512
Temporary Stack Registers ...................................................................................................................................514
Motor Registers.....................................................................................................................................................514
Global Registers ....................................................................................................................................................520
Communication Buffers ........................................................................................................................................521
Coordinate System Registers.................................................................................................................................521
Program and Buffer Pointers.................................................................................................................................525
Processed A/D Registers .......................................................................................................................................526
MACRO Flag Registers ........................................................................................................................................526
Encoder Conversion Table Registers ....................................................................................................................527
Buffer Pointers ......................................................................................................................................................527
Commutation Sine Table.......................................................................................................................................527
User Variable Registers.........................................................................................................................................527
User Program and Buffer Storage .........................................................................................................................527
Battery-Backed RAM Registers (Option 16x required) ........................................................................................527
Dual Ported RAM Registers (Option 2x required)................................................................................................528
Motor Data Reporting Buffer Control (used if I48=1 or I57=1)......................................................................528
Motor Data Reporting Buffer (Used if I48 = 1 or I57 = 1) ..............................................................................528
Background Data Reporting Buffer Control (used if I49 = 1 or I57 = 1) ........................................................533
Global Background Data Reporting Buffer (used if I49 = 1) ...........................................................................533
Coordinate System Background Data Reporting Buffer ...................................................................................533
(used if I49 = 1) ................................................................................................................................................533
DPRAM ASCII Buffers (used if I58 = 1)...........................................................................................................537
Background Variable Read and Write Buffer Control (used if I55 = 1)...........................................................538
Binary Rotary Program Buffer Control (used after OPEN BIN ROT) .............................................................538
Data Gathering Control (used if I5000 = 2 or 3) .............................................................................................539
Variable-Sized Buffers/Open-Use Space ..........................................................................................................539
xiv Table of Contents
VME Bus/DPRAM Interface Registers.................................................................................................................539
Turbo PMAC2 I/O Control Registers ...................................................................................................................540
PMAC-Style Servo ASIC Registers......................................................................................................................541
PMAC2-Style Servo ASIC Registers....................................................................................................................544
Turbo PMAC2 MACRO and I/O ASIC Registers ................................................................................................553
I/O Control and Data Registers (MACRO IC 0 only).......................................................................................553
MACRO Ring Control Registers.......................................................................................................................557
Supplemental Servo Channel Registers (MACRO IC 0 only) ...........................................................................558
Turbo PMAC2 MACRO Node Registers...........................................................................................................560
Turbo PMAC I/O Registers...................................................................................................................................563
Turbo PMAC2 Option 12 A/D Register................................................................................................................564
3U Turbo PMAC2 Stack I/O Registers.................................................................................................................564
JEXP Expansion Port I/O Registers ......................................................................................................................566
UMAC UBUS Expansion Port I/O Registers........................................................................................................566
TURBO PMAC MATHEMATICAL FEATURES...............................................................................................568
Mathematical Operators ........................................................................................................................................568
+....................................................................................................................................................................568
- ....................................................................................................................................................................568
*....................................................................................................................................................................568
/.....................................................................................................................................................................568
%..................................................................................................................................................................569
&...................................................................................................................................................................570
| .....................................................................................................................................................................570
^....................................................................................................................................................................571
Mathematical Functions ........................................................................................................................................571
ABS..............................................................................................................................................................571
ACOS ...........................................................................................................................................................571
ASIN.............................................................................................................................................................572
ATAN...........................................................................................................................................................572
ATAN2.........................................................................................................................................................573
COS..............................................................................................................................................................574
EXP ..............................................................................................................................................................574
INT...............................................................................................................................................................574
LN.................................................................................................................................................................575
SIN ...............................................................................................................................................................575
SQRT............................................................................................................................................................576
TAN..............................................................................................................................................................576
TURBO PMAC SUGGESTED M-VARIABLE DEFINITIONS ........................................................................578
TURBO PMAC2 SUGGESTED M-VARIABLE DEFINITIONS ......................................................................630
UMAC TURBO SUGGESTED M-VARIABLE DEFINITIONS........................................................................696
FIRMWARE UPDATE LISTING.........................................................................................................................762
V1.933 Updates (July 1999)..................................................................................................................................762
V1.934 Updates (September 1999) .......................................................................................................................762
V1.935 Updates (February 2000)..........................................................................................................................764
V1.936 Updates (April 2000)................................................................................................................................764
V1.937 Updates (November, 2000) ......................................................................................................................765
V1.938 Updates (June, 2001) ................................................................................................................................767
V1.939 Updates (March, 2002).............................................................................................................................767
V1.940 Updates (June, 2003) ................................................................................................................................768

Introduction 1
INTRODUCTION
What is Turbo PMAC?
The Turbo PMAC is the newest addition to the renowned PMAC family of motion controllers. The
Turbo refers to a new high-performance CPU section that can be used with existing PMAC or PMAC2
interface circuitry to turbo-charge the application.
The Turbo PMAC is currently available in six versions:
Turbo PMAC PC: PMAC servo interface circuitry, PC (ISA) bus interface
Turbo PMAC VME PMAC servo interface circuitry, VME bus interface
Turbo PMAC2 PC PMAC2 servo interface circuitry, PC (ISA) bus interface
Turbo PMAC2 VME PMAC2 servo interface circuitry, VME bus interface
Turbo PMAC2 PC Ultralite MACRO servo interface circuitry, PC(ISA) bus interface
Turbo PMAC2 3U (UMAC Turbo and 3U Turbo Stack)
PMAC2 servo interface circuitry, PC/104 bus interface
Each of these versions has its own Hardware Reference manual.
More versions will be available in the near future.
What is New about Turbo PMAC?
The Turbo PMAC uses the increased speed and memory of the newest generation of digital signal
processing (DSP) ICs to enhance the capabilities of the PMAC family. The Turbo PMAC has the
software capability to control 32 axes in 16 independent coordinate systems, up from eight axes in eight
coordinate systems for the standard PMAC.
Many users will find the Turbo PMAC a very powerful and cost-effective solution when controlling large
numbers of axes. Remember that a PMAC board itself has at most eight servo interface channels; the
actual control of more than eight physical axes will require the use of either Acc-24 family axis expansion
boards, or remote interface circuitry on the MACRO ring.
The extra software axis capability can be useful for virtual axes which do not require (full) physical
hardware interface circuitry. Virtual axes have many important uses, including:
Phantom coordinate systems in tool tip coordinates for inverse kinematics
Virtual masters to replace mechanical line-shaft masters
Redundant axes for error checking and recovery purposes
Cascaded servo loops for hybrid control techniques (e.g. force and position)
Many other users will find the Turbo PMAC valuable even if less than eight axes are used, just because of
the additional computational speed. The DSP of the base version of the Turbo PMAC runs at 80 MHz,
but because operations on internal registers (about half of all operations) run in one clock cycle instead of
the two clock cycles required for the standard PMAC, performance is equivalent to that of a 120 MHz
standard PMAC.
The additional memory addressing capability of the Turbo PMAC permits the use of more axes and
coordinate systems, and more features for it. It also supports more variables, and (optionally) much larger
user buffer spaces.
2 Introduction
With the additional speed and memory, new features are possible on the Turbo PMAC. The most
important of these are:
Multi-block lookahead for acceleration control
Built-in inverse-kinematic and forward-kinematic capability
Three-dimensional cutter-radius compensation
Altered destination of moves on the fly
Simultaneous communications over multiple ports
Individual custom commutation sine tables for each motor
Individual selection by motor of PID or extended servo algorithm
Significantly enlarged synchronous M-variable buffer
2 dedicated user servo-rate timers per coordinate system
Trajectory reversal capability
How do I Convert a PMAC Application?
Converting a PMAC application to run on the Turbo PMAC will involve some change in the setup, but
virtually no change in the applications programs, except as desired to take advantage of new Turbo
features.
The key setup differences are the new I-variable numbering scheme and the new memory and I/O map,
which affects the M-variable definitions. Most I-variables, particularly the motor I-variables, have not
changed. Other I-variables have been moved in banks to new numbers, in what most users will consider a
logical fashion.
The memory and I/O map is completely changed. This software reference manual contains a detailed
memory and I/O map, plus an extensive list of suggested M-variables for both PMAC and PMAC2
versions of the Turbo PMAC.
How do I use this Manual?
The Turbo PMAC Software Reference manual provides detailed information on all of the variables,
commands, and registers of the Turbo PMAC family. Variables and registers are presented in numerical
order; commands are presented in alphabetical order.
This manual is designed to be used in conjunction with the User Manual for the entire PMAC/PMAC2
family of controllers, which explains the features and capabilities of the board in conceptual fashion. The
Users Manual was written before the introduction of the Turbo PMAC boards, so it does not recognize
some specifics of the Turbo PMACs. Chapter 2 of this manual presents the differences between Turbo
and non-Turbo boards in tabular form for easy reference; Chapter 3 describes the significant new features
of Turbo PMACs.
The hardware reference manuals for each particular version of the Turbo PMAC describe the hardware
configuration, jumpers, and pinouts for the particular boards.

Change Summary: PMAC to Turbo PMAC 3
CHANGE SUMMARY: PMAC TO TURBO PMAC
Overview Feature Comparison
Feature PMAC Turbo PMAC
Maximum Number of Axes 8 32
Maximum Number of Servo Interface Channels 16 (8 off-board) 40 (32 off-board)
Maximum Number of MACRO Nodes 16 64 (Turbo Ultralite)
Maximum Number of Coordinate Systems 8 16
CPU Frequencies (MHz) 20, 40, 60, 80 80, 100
Instructions per CPU Clock Cycle 0.5 0.75
Effective CPU Frequencies (MHz) 20, 40, 60, 80 120, 150
Number of I-Variables 1024 8192
Number of M-Variables 1024 8192
Number of P-Variables 1024 8192
Number of Q-Variables 1024 8192
Commutation Sine Table Size 256 2048
Individual Custom Sine Table for each motor? No Yes
Individual Choice by Motor Between PID and
Extended Servo Algorithm?
No Yes
Firmware Memory Capacity 32k x 24 64k x 24
Compiled PLC Memory Capacity 15k x 24 48k x 24, 432k x 24
User Buffer Memory Capacity 32k x 48 26k x 48, 212k x 48
DPRAM Capacity 8k x 16 8k x 16, 32k x 16
Supplemental Battery-Backed Memory Capacity 7k x 48 16k x 48, 64k x 48
Maximum Number of Motion Programs 256 224
Built-In Kinematics Algorithm Capability? No Yes
Multi-Block Lookahead for Acceleration Control? Optional (Opt 6L) Standard
Number of Serial Ports 1 2 (2
nd
optional)
Simultaneous Use of Multiple Communications
Ports?
No Yes
Ability to Disable Automatic Serial-Port
Command Parser?
No Yes
Maximum Simultaneous Data Gathering Sources 24 48
Maximum Number of Lines in Conversion Table 32 192
Maximum Number of Synchronous M-Variable
Assignments per Move
3 63 (1 Coordinate)
System), user-set with
lookahead
Direct Array Writing Capability (e.g. P(P1)=2)? No Yes

4 Change Summary: PMAC to Turbo PMAC
I-Variable Changes
PMAC/PMAC2 Turbo PMAC/PMAC2
Ix00 Ix86 (x = 1 to 8) Motor I-Variables Ixx00 Ixx99 (xx = 1 to 32) Motor I-Variables
Ix30 Ix58 (x = 1 to 8) Option 6 Extended Servo
Algorithm Gains
Iyy10 Iyy39 (xx = 2*[yy-32]-1) for odd-numbered
motors;
Iyy60 Iyy89 (xx = 2*[yy-32]) for even-numbered
motors:
Extended Servo Algorithm Gains (Standard)
Ix87 Ix99 (x = 1 to 8) Coordinate System I-
Variables
I5x00 I5x99 (x = 1 to 9) Coordinate System I-
Variables
I6y00 I6y99 (y = x 10; x = 10 to 16) C.S. I-
Variables
I900 I904, I905 I909, I975 I979 PMAC
Encoder Setup I-Variables
I7mn0 I7mn4 (m = 0 to 9, n = 1 to 4) PMAC
Servo IC m Channel n Encoder Setup I-Variables
I900 I909 PMAC2 Multi-Channel Hardware
Setup I-Variables
I7m00 I7m05 (m = 0 to 9) Servo IC m Multi-
Channel Hardware Setup I-Variables
I9n0 I9n9 (n = 1 to 8) PMAC2 Channel n
Hardware Setup I-Variables
I7mn0 I7mn9 (m = 0 to 9, n = 1 to 4) PMAC2
Servo IC m Channel n Hardware Setup I-Variables
I990 I999 MACRO & Supplemental Channel
Hardware Setup I-Variables
I6800 I6849 MACRO IC 0 Hardware Setup I-
Variables
I1000 I1005 MACRO Software Setup I-Variables I70 I82 MACRO Software Setup I-Variables
X/Y:$0700 - $0701 User Countdown Timers Isx11, Isx12 Coordinate System Countdown Timers
Y:$0720 Y:$073F Encoder Conversion Table
Setup
I8000 I8191 Encoder Conversion Table Setup
X:$0783 X:$078C VME/DPRAM Setup I90 I99 VME/DPRAM Setup
I7 In-Position Number of Cycles (Global) Ixx88 Motor xx In-Position Number of Cycles
I12 Jog Calculation Time (Global) Ixx92 Motor xx Jog Calculation Time
I13 Move Segmentation Time (Global) Isx13 Coord. Sys. x Move Segmentation Time
I14 Auto Position Match on Run (Global) No I-variable function always active
I19 Data Gathering Period I47 DPRAM Servo Data Reporting Period
I5049 Data Gathering Period
I20 Data Gathering Mask I5050, I5051 Data Gathering Masks
I21-I44 Data Gathering Source Addresses I5001-I5048 Data Gathering Source Addresses
I45 Data Gathering Buffer Location and Mode I5000 Data Gathering Buffer Location and Mode
I47 Pointer Address for <CTRL-W> Command No I-variable function not used
I50 Rapid Speed Select (Global) Ixx90 Motor xx Rapid Speed Select
I52 \ Program Hold Slew Rate (Global) No program hold: \ is quick stop within
lookahead, using Ixx17; feed hold out of
lookahead, using Ix95
I53 Single Step Mode (Global) Isx53 Coord. Sys. x Single Step Move
I57 DPRAM Binary Rotary Buffer Enable On-line command OPEN BIN ROT
I59 DPRAM Buffer Max. Motor/C.S. Number DPRAM Motor Enable Mask Word
DPRAM Maximum C.S. Transfer Number
I60, I61 [PMAC] or X:$0708 X:$070F [PMAC2]
A/D Processing Table Setup
I5060 I5096 A/D Processing Table Setup
I8x Motor x third Resolver Gear Ratio Ixx98 Motor xx third Resolver Gear Ratio
I89 Cutter Comp Outside Corner Break Angle
(Global)
Isx99 Coordinate System x Cutter Comp Outside
Corner Break Angle
I90 Minimum Arc Length (Global) Isx97 Coordinate System x Minimum Arc Length
I9x Motor x second Resolver Gear Ratio / Yaskawa
Absolute Encoder Ratio
Ixx99 Motor xx second Resolver Gear Ratio /
Yaskawa Absolute Encoder Ratio
I99 Backlash Hysteresis (Global) Ixx87 Motor xx Backlash Hysteresis
I-Variable Changes (continued)
Ix02 Motor x Command Output Address & Mode Ixx02 Motor xx Command Output Address
Ixx01 Motor xx Commutation Enable (& Address
Type)
Ixx96 Motor xx Command Output Mode
Ix03 Motor x Position-Loop Feedback Address &
Mode
Ixx03 Motor xx Position-Loop Feedback Address
Ixx97 Motor xx Position Capture & Trigger Mode
Ix05 Motor x Master Position Address & Mode
Ix06 Motor x Master Position Following Enable
Ixx05 Motor xx Master Position Address
Ixx06 Motor xx Position Following Enable & Mode
Ix10 Motor x Power-On Position Address & Format Ixx10 Motor xx Power-On Position Address
Ixx95 Motor xx Power-On Position Format
Ix25 Motor x Flag Address & Mode Ixx25 Motor xx Flag Address
Ixx24 Motor xx Flag Mode
Ix72 Motor x Commutation Phase Angle
Units of 1/256 cycle
Ixx72 Motor xx Commutation Phase Angle
Units of 1/2048 cycle
Ix81 Motor x Power-On Phase Position Address &
Format
Ixx81 Motor xx Power-On Phase Position Address
Ixx91 Motor xx Power-On Phase Position Format
Ix83 Motor x Commutation Feedback Address &
Type
Ixx83 Motor xx Commutation Feedback Address
Ixx01 Motor xx Commutation Enable (& Address
Type)
DPRAM Function Changes
Servo Data Reporting Buffer contains only motor
data that is updated at servo rates;
Background Data Reporting Buffer contains lower
frequency motor data, coordinate system data, and
global data.
Motor Data Reporting Buffer contains all motor
data that is reported;
Background Data Reporting Buffer contains
coordinate system data and global data
Servo Data Reporting Buffer must be reported as
foreground task
Motor Data Reporting Buffer can be reported as
foreground or background task
Servo Data Reporting Buffer reports raw
(uncombined) motor position registers
Motor Data Reporting Buffer reports net
(combined) motor position values
On-line ASCII commands prohibited while
DPRAM binary rotary buffers open.
On-line ASCII commands permitted while DPRAM
binary rotary buffers open.
Off-board Option 2 DPRAM board for PMAC ISA
bus boards can connect to all 50 pins of PMACs
JEXP connector
Off-board Option 2 DPRAM for Turbo PMAC ISA
bus boards cannot connect to pins 41 and 42 of
PMACs JEXP connector. These pins must be cut
on the DPRAM board, or on strands of the cable to
the DPRAM board
Compensation Table Changes
Table correction at motor position zero is 0 by
definition; last entry in table must be 0 for seamless
rollover.
Last entry in table sets correction at motor position
zero as well as other end of table; seamless rollover
is automatic.

Commutation Changes
Commutation lookup table has 256 entries; direct
microstepping yields 64 microsteps per step
Commutation lookup table has 2048 entries; direct
microstepping yields 512 microsteps per step
Phase reference error bit only set on unsuccessful
phasing search or read. Loop is not closed then, but
may be subsequently closed.
For any synchronous motor commutated by Turbo
PMAC, phase reference error bit set automatically
on power-up/reset. Cleared only on successful
phasing search or read. Loop cannot be closed if bit
is set.
Phasing search move on $ command is exclusive
background task. No other background task can
execute until phasing search move is complete.
Command acknowledgment to host is not given
until move is complete.
Phasing search move on $ command is non-
exclusive background task. Other background tasks
can execute while phasing search move is in
progress. Command acknowledgment to host is
given when move starts.
Overtravel Limit Changes
If hardware or software overtravel limit is hit while
in open-loop mode, motor loop is closed (zero-
velocity)
If hardware or software overtravel limit is hit while
in open-loop mode, motor is killed (amp disabled,
zero command).
Cutter Radius Compensation Changes
Two-dimensional compensation only Two-dimensional or three-dimensional
compensation
2D compensation cannot see through out-of-plane
move to maintain compensation properly in all
cases.
Special CCBUF can be defined to store out-of-plane
moves in 2D compensation to maintain proper
compensation through these moves.
Communications Changes
Characters received on any communications port are
loaded into a common command queue, so
simultaneous commands from multiple ports are
intermixed and garbled.
Characters received on each communications port
are loaded into a separate command queue for that
port, so that simultaneous commands from multiple
ports can be accepted properly.
When a program buffer is open, it can accept
commands from any port into the buffer, so another
port cannot give on-line commands (in general).
A program buffer is opened for a particular port
only; only commands from that port can be entered
into the buffer; other ports can only give on-line
commands.

Memory and I/O Map Changes
$0000 - $001F Global Servo Registers $000000 - $00007F Global Servo Registers
$0020 - $01FF Motor Servo Registers $000080 - $00107F Motor Servo & Background
Registers
$0400 - $04FF Commutation Sine Table $003800 - $003FFF Commutation Sine Table
$0700 - $0701 User Countdown Timers $002x13 Coordinate System User Countdown
Timers
(Addressable as Isx11 and Isx12)
$0708 - $070F Processed A/D Table $003400 - $00341F Processed A/D Table
$0720 - $073F Conversion Table Registers $003501 - $0035C0 Conversion Table Registers
$0770 - $077F Open registers set to 0 on power-
up/reset
$0010F0 - $0010FF Open registers set to 0 on
power-up/reset
$0800 - $0DFF Motor Background & Coordinate
System Registers
$000080 - $00107F Motor Servo & Background
Registers
$008000 - $008FFF Coordinate System Registers
$0F70 - $0F7F MACRO Flag Registers $003440 - $00347F MACRO Flag Registers
$1000 - $13FF P-Variable Registers $006000 - $007FFF P-Variable Registers
$050000 - $051FFF Alternate P-Variable Registers
$1400 - $17FF Q-Variable Registers $008000 - $009FFF Q-Variable Registers
$052000 - $053FFF Alternate Q-Variable Registers
$1800 - $9FFF User Program & Buffer Space $00A000 - $0107FF Standard User Program &
Buffer Space
$00A000 - $03FFFF Extended User Program &
Buffer Space
$A000 - $BBFF Opt. 16 Battery-Backed Memory $050000 - $053FFF Opt. 16A Standard Battery-
Backed Memory
$050000 - $05FFFF Opt. 16B Extended Battery-
Backed Memory
$BC00 - $BFFF M-Variable Definitions $004000 - $005FFF M-Variable Definitions
$C000 - $C01F On-board PMAC Servo IC
Registers
$078000 - $07810F On-board PMAC Servo IC
Registers
$C020 - $C03F Off-board PMAC Servo IC
Registers
$078200 -$07B30F Off-board PMAC Servo IC
Registers
$C000 - $C03F On-board PMAC2 Servo IC
Registers
$078000 - $07811F On-board PMAC2 Servo IC
Registers
$C040 - $C07F Off-board PMAC2 Servo IC
Registers
$078200 - $07B31F Off-board PMAC2 Servo IC
Registers
$C080 - $C0BF On-board PMAC2 MACRO IC
Registers
$078400 - $07843F On-board PMAC2 MACRO IC
0 Registers
$D000 - $DFFF DPRAM Registers $060000 - $060FFF Standard DPRAM Registers
$060000 - $063FFF Extended DPRAM Registers
$E000 - $E1FF VME Interface Registers $070000 - $0701FF VME Interface Registers
$FFC0 - $FFC3 PMAC On-board I/O Registers $078800 - $078803 PMAC On-board I/O Registers
$FFC0 - $FFC1 PMAC2 Opt. 12 ADC Registers $078800 - $078801 PMAC2 Opt. 12 ADC Registers
$FFD0 - $FFFB Expansion Port I/O Registers $078A00 - $078F03 Expansion Port I/O Registers

Jumper Changes
PMAC E40 E43 Card Number/Clock Direction Turbo PMAC E40 E43 Clock Direction
I0 Serial Card Number
PMAC E44 E47 Serial Baud Rate Turbo PMAC E44 E47 (not used)
I54 Serial Baud Rate
PMAC E48 Wait State Control Turbo PMAC E48 (not used)
PMAC1.5 E48 CPU Frequency Control Turbo PMAC E48 (not used)
I52 CPU Frequency Multiplier
PMAC2 E2, E4 CPU Frequency Control I52 CPU Frequency Multiplier
PMAC E50 Save Enable Control Turbo PMAC E50 (not used)
On-line Command Changes
<CTRL-Z>: Change Active Response Port to
Serial Port
{none} {no Active Response Port all ports are
independent, responding to commands from
that port}
<CTRL-B>, <CTRL-P>, <CTRL-V>,
<CTRL-F> always report for all PMAC
motors (1-8)
<CTRL-B>, <CTRL-P>, <CTRL-V>,
<CTRL-F> report for the eight motors
selected by ## command
<CTRL-E> command causes single-shot binary
reporting of data gathering registers
{none} {This function does not exist on Turbo
PMAC}
<CTRL-T> command toggles half/full duplex
serial communications
<CTRL-T> command ends MACRO ASCII pass-
through mode
<CTRL-W> command causes PMAC to execute
command at DPRAM address specified by I47
{none} {This function does not exist on Turbo
PMAC}
V, <CTRL-V> report raw (unfiltered) velocity
values
V, <CTRL-V> report filtered velocities as
controlled by I60 and I61
P, <CTRL-P> report position values rounded to
nearest 1/10 count
P, <CTRL-P> report position values to 1/32
count
H, <CTRL-O> feedhold commands do not permit
jog moves while in feedhold mode
H, <CTRL-O> feedhold commands do permit jog
moves while in feedhold mode
\ command is feedhold that permits jog; if not in
segmentation mode, acts as H command
\ command is fastest legal stop in lookahead; if not
in lookahead, acts as H command
?? returns 12-digit (48-bit) response ?? returns 18-digit (72-bit) response
I{constant}={expression}
M{constant}={expression}
P{constant}={expression}
Q{constant}={expression}
Require constant to specify variable number
I{data}={expression}
M{data}={expression}
P{data}={expression}
Q{data}={expression}
Can use expression to specify variable number
<CTRL-U> and <CTRL-L> open and close rotary
buffer, respectively.
{none} Use OPEN ROT and CLOSE text
commands.
<CTRL-Y> brings back last text command, ready
to execute on <CR>
{none}{This function does not exist on Turbo
PMAC}

Program Command Changes
SEND: Send message to Active Response Port
SENDS: Send message to Serial Port
SENDP: Send message to Parallel Bus Port (not
VME)
SEND: {not a legal command}
SENDS: Send message to Main Serial Port
SENDP: Send message to Parallel Bus Port (incl.
VME)
SENDR: Send message to DPRAM ASCII Port
SENDA: Send message to Auxiliary Serial Port
CMD: Issue command; any response to Active
Response Port
CMD: Issue command; no response possible
CMDS: Issue command; any response to Main Serial
Port
CMDP: Issue command; any response to Parallel Bus
Port
CMDR: Issue command; any response to DPRAM
ASCII Port
CMDA: Issue command; any response to Auxiliary
Serial Port
SPLINE, PVT mode move times specified by
TA, range to 8,388,607 msec, resolution of 1 msec
SPLINE, PVT mode move times specified by
TM, range to 4096 msec, resolution of 1/4096 msec
Q{constant}={expression}
Require constant to specify variable number
Can use expression to specify variable number
Encoder Conversion Table Changes
Setup entries accessible by memory location only
(Y:$0720 Y:$073F)
Setup entries accessible by I-variable (I8000-I8191)
or by memory location (Y:$003501 Y:$0035C0)
Source addresses are 16-bit values Source addresses are 19-bit values
Addition of two entries accomplished by setting bit
20 of second entry to 1
Addition (or subtraction) of two entries
accomplished by using a special $E format third
entry
Sources for $2, $3 parallel entries limited to single
Y-word
Sources for $2, $3 parallel entries extensible to any
24 bits of consecutive Y-words
Sources for $6, $7 parallel entries limited to single
X-word
Sources for $6, $7 parallel entries extensible to any
24 bits of X/Y double word
Width of parallel sources specified by bit mask in
second setup line
Width of parallel sources specified by number of
bits in second setup line
Offset of parallel sources specified by 2 bits in first
setup line
Offset of parallel sources specified by number of
bits in second setup line
Triggered time base entry estimates frequency to
1/32 count per servo cycle; time-base scale factor is
2
17
/(real-time input frequency)
Triggered time base entry estimates frequency to
1/256 count per servo cycle; time-base scale factor
is 2
14
/(real-time input frequency)
$F entry is only high-resolution interpolator
conversion
$F entry is extended entry; if first digit of second
line is $0, it is high-resolution interpolator
conversion


Turbo PMAC/PMAC2 System Configuration and Auto-Configuration 11
TURBO PMAC/PMAC2 SYSTEM CONFIGURATION AND
AUTO-CONFIGURATION
Turbo PMAC, and especially Turbo PMAC2, boards have extensive capabilities for automatically
identifying and self-configuring their systems. This is particularly important for UMAC Turbo systems,
with their wide variety of configurations. These capabilities provide the user with ease of use and
flexibility in getting started with a particular configuration.
Turbo PMAC2 Clock Source
In a Turbo PMAC2 system, the system phase and servo clocks, which interrupt the processor and latch
key input and output data for the servos, come from one (and only one) of the Servo ICs or MACRO ICs
in the system, or possibly from an external source. There must be a unique source of the phase and servo
clocks for an entire Turbo PMAC2 system.
(A Turbo PMAC1 board uses fixed, discrete logic to generate its phase and servo clocks. If accessory
boards with Servo ICs or MACRO ICs that can generate their own clock signals are added to a Turbo
PMAC1, they must be set up to use the Turbo PMAC1s clock signals.)
Each PMAC2-style Servo IC (DSPGATE1 IC) and DSPGATE2-type MACRO IC has the capability for
generating its own phase and servo clock signals, or for accepting external phase and servo clock signals.
(Note: MACROGATE-type MACRO ICs can generate their own phase clock, but not servo clock.
Therefore, they cannot be used to generate clocks for the entire system.) At most one of these ICs in a
system may generate its own clock signals none if the signals come from an external source.
Variables I7m07 and I7m57 control the clock direction for Servo ICs m and m*, respectively.
Variables I6807, I6857, I6907, and I6957 control the clock direction for MACRO ICs 0, 1, 2, and 3,
respectively. If the variable value is 0, the IC generates its own clock signals and outputs them. If the
variable value is 3, the IC accepts the clock signals from a source external to it. At most one of these ICs
can have this variable at a value of 0; the rest must be set to 3.
Note:
If more than one of these ICs is set up to use its own clock signals and to output
them, the processor will be interrupted by multiple sources and will not operate
normally it is possible that the watchdog timer will trip. (Because the outputs are
open-collector types, there will be no hardware damage from signal contention, but
system software operation will be compromised.)
Re-Initialization Actions
On re-initialization of a Turbo PMAC2 ($$$*** command, or power-on/reset with re-initialization
jumper E3 ON), the CPU searches all possible locations of Servo ICs and MACRO ICs to see which are
present. It then makes a decision as to which of these ICs it will use to generate the systems phase and
servo clocks, using the first IC that it finds in the following list:
1. Servo IC 0 (On-board or 3U Stack) (I19=7007)
2. MACRO IC 0 (On-board or Acc-5E) (I19=6807)
4. Servo IC 2 (Acc-24E2, 51E) (I19=7207)

11. Servo IC 9 (Acc-24E2, 51E) (I19=7907)
12. Servo IC 2* (Acc-24E2, 51E) (I19=7257)

19. Servo IC 9* (Acc-24E2, 51E) (I19=7957)
12 Turbo PMAC/PMAC2 System Configuration and Auto-Configuration
(MACRO ICs must be DSPGATE2 ICs to be used as a clock source.)
Next, it sets I19 automatically to the number of the clock-direction I-variable for the first of these ICs it
finds. For example, if it finds Servo IC 0, it will set I19 to 7007. Finally, it will set this clock-direction I-
variable to 0, and the clock-direction I-variable for all of the other Servo and MACRO ICs that it finds to 3.
However, if it finds on re-initialization that the E1 jumper is ON, specifying that the Turbo PMAC2
system is to use external phase and servo clocks, I19 is set to 0 and all of the clock-direction I-variables
are set to 3.
Note:
Once the system has been set up to take external phase and servo clock signals,
these signals must always be present while the system is powered, or the watchdog
timer will trip immediately.
To change a system set up for external clocks back to internal clocks, it is necessary to power it up with
the E3 re-initialization jumper ON, the E1 external-clock jumper OFF, and with the external clock signals
present. Once the new configuration for internal-clock source is established, either by the automatic re-
initialization actions, or user-set configuration (see below), these settings must be stored to flash memory
with the SAVE command. Then the system can be powered down, the E3 re-initialization jumper
removed, and the external clock signals removed. Finally, the system can be powered up again normally.
Note:
If a Turbo PMAC2 is on a MACRO ring, but it is not the ring controller
synchronizing master, it must be set up to have its phase clock adjusted by receipt
of the sync packet over the MACRO ring. This is done by setting bit 7 of I6840
to 1, and bits 16 19 of I6841 to the node number of the sync packet (usually $F
[=15]). In this case, the phase and servo clocks are still generated internally,
although they are locked to receipt of this sync packet. Systems of this type should
have I6807 set to 0 (I19 set to 6807) to use MACRO IC 0 as the source of the
phase and servo clocks. If re-initialization does not cause this to happen
automatically, it must be done manually (see below).
User Customized Clock-Source Specification
The user does not have to accept Turbo PMAC2s default configurations for clock sources. The
procedure to change the clock source is slightly different for 3U-format Turbo PMAC2 systems and other
Turbo PMAC2 systems.
In a 3U-format Turbo PMAC2 system (UMAC Turbo or 3U Turbo Stack), to change the clock source,
simply follow the following 3-step procedure:
1. Set I19 to the number of the clock-source I-variable of the IC that will be the source.
2. Store this value to non-volatile flash memory with the SAVE command.
3. Reset the system normally (not re-initialization).
Do not try to set the clock-direction I-variables directly.
In other Turbo PMAC2 systems, change the clock-direction I-variables themselves in a single command
(e.g. I6807=0 I7007=3). It is best to change I19 to the number of the I-variable that was just set to 0
(I19=6807 in this example), but this is not necessary. Store these new values to non-volatile flash
memory with the SAVE command. They will then be used automatically on every subsequent power-
up/reset.
Servo and phase clock lines are bi-directional on the UBUS backplane expansion port in UMAC Turbo
systems, so these signals can go either from or to the CPU board. However, on the JEXP flat-cable
expansion port, these clock lines are uni-directional, and can only be output from the main PMAC board
or CPU board.
If I19 is set to an improper value, the watchdog timer will trip immediately on reset. To recover, power
down, install the E3 re-initialization jumper, and power up again.
The most common reason to change from the default setting is tying a Turbo PMAC2 that has Servo IC 0
and/or 1 to a MACRO ring where it is not the ring controller. In this case, MACRO IC 0 should be the
clock source, but the re-initialization procedure will decide on Servo IC 0. In this case, change I19 from
7007 to 6807, SAVE, and reset.
Normal Reset Actions
On a normal power-up or reset sequence, the Turbo PMAC2 CPU reads the value of I19 that was
previously saved to flash memory and sets the I-variable whose number it finds there to 0, specifying that
this IC uses its own phase and servo clocks and outputs them to the system. For example, if I19 were
6807, I6807 would be set to 0. It would then set the clock-direction I-variables for all of the other Servo
and MACRO ICs that it finds at power-up/reset to 3 automatically, so these ICs accept servo and phase
clock signals as inputs.
MACRO IC Selection
Starting in Turbo PMAC firmware version 1.936, I-variables I20 I23 must be set to specify the addresses
of the MACRO ICs used for automatic firmware functions. This is not compatible with older firmware
versions. If updating an application from an older version, after loading the old I-variable file, the
I20..23=* command should be issued, followed by a SAVE command, followed by a $$$ reset
command.
Some Turbo PMAC2 systems (presently UMAC Turbo) can address up to 16 MACRO ICs. However,
there is automatic firmware support for only 4 of these ICs at any given time. These ICs are referred to as
MACRO ICs 0, 1, 2, and 3. Variables I20 through I23 specify the base addresses of MACRO ICs 0
through 3, respectively. These variables must be set properly to use the desired ICs for any automatic
firmware functions.
MACRO IC 0, specified by I20, has several functions which require automatic firmware support:
Display port functions (can be changed dynamically)
Multiplexer port functions (can be changed dynamically)
I-variables I6800 I6849 (values automatically assigned only at power-up/reset)
MACRO nodes 0 15 (can be changed dynamically)
MACRO Type 1 auxiliary communications if I84=0
On re-initialization, Turbo PMAC2 searches for the MACRO ICs with the lowest base addresses. I20 is
assigned the lowest base address (if one is found); I21 is assigned the next (if found), and so on. Also, the
same action is taken when assigning the default value to one of these variables (e.g. I20=* ).
Dual-Ported RAM IC Selection
Starting in Turbo PMAC firmware version 1.936, it is possible to specify the base address of the dual-
ported RAM IC used for automatic firmware communications functions. This permits support for new
accessories such as the Acc-54E USB/Ethernet communications board. In firmware versions V1.935 and
older, the base address was fixed at $060000 for the on-board DPRAM.
New variable I24 specifies the base address of the DPRAM IC used for the automatic firmware
communications functions. For backward compatibility, if I24 is set to 0, the DPRAM will be assumed to
have a base address of $060000.
I24 is used only at power-up/reset. To use other than the on-board DPRAM IC, follow the instructions of
the accessory such as the Acc-54E to set the value of I24 to match the hardware settings on the accessory.
Then issue the SAVE command and the $$$ command so the accessory can be used for communications.
On re-initialization, I24 is set to the lowest base address of any DPRAM IC found.
System Configuration Status Reporting
Turbo PMAC systems can detect and report significant information about their configuration
automatically. They do this by having the processor query possible address locations for interface ICs
Servo ICs, MACRO ICs, DPRAM ICs, and I/O ICs. This information can be very useful in the initial
setup of a Turbo PMAC system and subsequently to verify that the configuration has not changed.
Servo IC Configuration
On power-up/reset, the Turbo PMAC CPU automatically tests for the presence and type of all possible
Servo ICs and reports the results in I4900 and I4901. I4900 is a collection of 20 independent bits, in
which bits 0 9 report the presence of Servo ICs 0 9, respectively, and bits 10 19 report the presence
of Servo ICs 0* to 9*, respectively. A bit value of 1 indicates the IC is present; a bit value of 0 indicates
the IC is absent.
I4901 is also a collection of 20 independent bits, in which bits 0 9 report the type of Servo ICs 0 9,
respectively, and bits 10 19 report the type of Servo ICs 0* to 9*, respectively. A bit value of 1
indicates a PMAC2-style DSPGATE1 IC; a bit value of 0 indicates a PMAC1-style DSPGATE IC (or no
IC present if the corresponding bit of I4900 is 0).
MACRO IC Configuration
On power-up/reset, the Turbo PMAC CPU automatically tests for the presence and type of all possible
MACRO ICs and reports the results in I4902 and I4903. I4902 is a collection of 16 independent bits,
each reporting the presence of a MACRO IC at one of the 16 possible locations. A bit value of 1
indicates the IC is present; a bit value of 0 indicates the IC is absent.
I4903 is also a collection of 16 independent bits, each reporting the type of MACRO IC at one of the 16
possible locations. A bit value of 1 indicates a DSPGATE2 IC; a bit value of 0 indicates a
MACROGATE IC (or no IC present if the corresponding bit of I4900 is 0).
While it is possible for up to 16 MACRO ICs to be installed in a Turbo PMAC system, only four of these
can be supported at any time by automatic firmware functions. I20 I23 contain the base addresses of
these four ICs. When the system is re-initialized, these variables are set to values for the four ICs found
with the lowest base addresses.
DPRAM IC Configuration
On power-up/reset, the Turbo PMAC CPU automatically tests for the presence of all possible dual-ported
RAM ICs and reports the results in I4904. I4904 is a collection of eight independent bits, each reporting
the presence of a DPRAM IC at one of the eight possible locations. Only one of these ICs can be
supported at any time by automatic firmware functions. I24 contains the base address of this IC.
CPU Section Configuration
On power-up/reset, the Turbo PMAC automatically tests for the configuration of its own CPU section and
reports the results in I4908. I4908 is a 36-bit value reporting the CPU type, active memory size, DPRAM
size, battery-backed RAM size, flash memory size, presence of auxiliary serial port, part number, and
vendor ID.
UBUS Accessory Board Identification
The Turbo PMAC can report detailed information about accessory boards installed on the UBUS
expansion port in UMAC Turbo systems. This information is reported in variable I4910 I4965. Each is
a 36-bit variable with the following contents:
Vendor ID: 8 bits
Options present: 10 bits
Revision number: 4 bits
Card ID (part number): 14 bits
Each variable can report one part or all parts of this information, depending on the setting of I39. If I39 is
set to 5, the variable reports the base address of the accessory board instead.
I4910 I4925 report this information for the 16 possible accessory boards with Servo ICs, such as the
Acc-24E2, 24E2A, 24E2S, and 51E.
I4926 I4941 report this information for the 16 possible accessory boards with MACRO ICs, such as the
Acc-5E.
I4942 I4949 report this information for the 8 possible accessory boards with DPRAM ICs, such as the
Acc-54E USB/Ethernet interface.
I4950 I4965 report this information for the 16 possible accessory boards with I/O ICs, such as the Acc-
14E, 28E, 36E, 53E, and 59E. (The Acc-9E, 10E, 11E, and 12E I/O boards currently cannot provide this
information.)
Evaluating the Turbo PMACs Computational Load
Starting with firmware version V1.936, Turbo PMAC controllers offer facilities that permit easy
calculatation of the computational loads being put on the processor. There are several key timer registers
to use in calculating these loads. These registers are scaled so that one increment of the timer is two clock
cycles of the DSP. So if the DSP were running at a clock frequency of exactly 80 MHz a clock period
of 12.5 nsec one increment of the timer would be 25 nsec.
The DSPs clock frequency is multiplied up from the crystal clock frequency of 19.66 MHz, using the
saved value of I52, according to the formula:
) 1 52 I ( *
2
MHz 66 . 19
cy DSPfrequen + =
In terms of period, the timer increment 2 DSP cycles can be calculated as:
1 52 I
4 . 203
sec) n ( ment TimerIncre
+
=
Phase Interrupt Tasks
There are two key timer registers for evaluating the computational load of the phase-interrupt tasks such
as commutation, current-loop closure, and ADC de-multiplexing. The first is a hardware timer in the
DSP, at address X:$FFFF8C. This register holds the number of timer increments between the last two
phase interrupts, establishing the period of the phase interrupt. This can be used to verify the phase
period thought to have, and with other registers, computational duty cycles.
The second register, located at X:$000037, holds the number of timer increments from the beginning to
the end of the phase-interrupt tasks for the last interrupt. When divided by the time between phase
interrupts, this will give the duty cycle of the phase-interrupt tasks.
Servo Interrupt Tasks
Another timer register can be used to evaluate the computation load of the servo-interrupt tasks such as
the conversion table, interpolation, position/velocity-loop closure, and data gathering. This register,
located at Y:$000037, holds the number of timer increments elapsed from the beginning to the end of the
servo-interrupt tasks for the last interrupt.
If this time is less than the time between phase interrupts (Y:$37 < X:$FFFF8C), then this is the actual
time the servo tasks took. However, if this time is greater than one phase cycle (Y:$37 > X:$FFFF8C),
then the servo tasks were interrupted (at least once) by phase tasks, and the time for the interrupting phase
tasks must be subtracted out (see example below).
When the net time for the servo tasks is divided by the product of the phase-interrupt period and the
number of phase-interrupts per servo-interrupt, the result is the duty cycle of the servo-interrupt tasks.
Note that certain servo tasks, such as data gathering, foreground motor data reporting, and even servo-
loop closure if Ixx60 > 0, do not have to be executed every servo cycle, so the duty cycle can vary.
Real-Time Interrupt Tasks
Two timer registers provide information on the loading of real-time interrupt (RTI) tasks such as PLC 0,
PLCC0, and motion-program calculations. The first register, at X:$00000B, holds the number of timer
increments from the beginning to the end of the RTI tasks for the last interrupt. The second register, at
Y:$00000B, holds the largest number of timer increments from the beginning to the end of a set of RTI
tasks since the last power-up/reset.
If these times are less than the time between phase interrupts (X/Y:$0B < X:$FFFF8C), then these are the
actual times the RTI tasks took. However, if these times are greater than one phase cycle (X/Y:$0B >
X:$FFFF8C), then the RTI tasks were interrupted (at least once) by phase tasks, and the time for the
interrupting phase tasks must be subtracted out. Also, if the these times are greater than one servo cycle,
then the RTI tasks were also interrupted by servo tasks (see example below).
Dividing the latest net time for the RTI tasks by the product of the phase interrupt period, the number of
phase interrupts per servo interrupt, and the number of servo interrupts per RTI yields the duty cycle of
the RTI tasks. The duty cycle for real-time interrupt tasks can vary widely within an application, so it is
advisable to compute a running average to compute general loading.
Note:
In Turbo PMAC firmware versions V1.936 and older, these RTI timer registers are
in units of servo cycles, which does not give very fine time resolution. In firmware
versions V1.937 and newer, these registers have the same units as the phase and
servo timer registers.)
Total Interrupt Tasks
The total duty cycle for Turbo PMAC interrupt tasks can be calculated by summing the duty cycles for
the three types of interrupt tasks.
Sample Monitoring Program
The following sample code can be used to monitor the total interrupt-task duty cycle
M70->X:$FFFF8C,0,24 ; Time between phase interrupts
M71->X:$000037,0,24 ; Time for phase tasks
M72->Y:$000037,0,24 ; Time for servo tasks
M73->X:$00000B,0,24 ; Time for RTI tasks
P70=4 ; 4 phase interrupts per servo interrupt
P76=16 ; Length of filter for averaging duty cycle
OPEN PLC 17 CLEAR
P71=M71/M70 ; Phase task duty cycle
P69=INT(M72/M70) ; # of times phase interrupted servo
P72=(M72-P69*M71)/(M70*P70) ; Servo task duty cycle
P68=INT(M73/M70) ; # of times phase interrupted RTI
P67=INT(M73/(M70*P70)) ; # of times servo interrupted RTI
P73=(M73-P68*M71-P67*(M72-P69*M71))/(M70*P70*(I8+1))
; RTI task duty cycle
P74=P71+P72+P73 ; Latest total foreground duty cycle
P75=P75*(P74-P75)/P76 ; Averaged total foreground duty cycle
CLOSE
Note:
In V1.936, set P73 to 0 and just calculate servo and phase duty cycle.
Background Cycle Time
There are two timer registers important to evaluate the time required to execute a background cycle.
These registers are involved in the operation of the watchdog timer. The register at address Y:$000025 is
set to the value of I40 at the end of every background cycle. (If I40 is 0, the register is set to 4095.) Until
the next background cycle is completed, this register is decremented every servo cycle. The data
gathering function is useful to establish how long background cycles take.
The register at X:$000025 contains the lowest value reached by Y:$000025 since the last power-up/reset
of the Turbo PMAC. If this is close to 0, the Turbo PMAC has come close to tripping its watchdog timer,
and background tasks such as PLC program execution, communications response, and safety checks have
been slow.
Turbo PMAC Lookahead Function
Turbo PMAC can perform highly sophisticated lookahead calculations on programmed trajectories to
ensure that the trajectories do not violate specified maximum quantities for the axes involved in the
moves. This permits the user to write the motion program simply to describe the commanded path.
Vector feedrate becomes a constraint instead of a command; programmed acceleration times are used
only to define corner sizes and minimum move block times. Turbo PMAC will automatically control the
speed along the path (but without changing the path) to ensure that axis limits are not violated.
Lookahead calculations are appropriate for any execution of a programmed path where throughput has
been limited by the need to keep execution slow throughout the path because of the inability to anticipate
the few sections where slow execution is required. The lookahead functions ability to anticipate these
problem areas permits much faster execution through most of the path, dramatically increasing
throughput.
Because of the nature of the lookahead calculations trajectory calculations are done well in advance of
the actual move execution, and moves are kept within machine limits by the automatic adjustment of
move speeds and times they are not appropriate for some applications. Any application requiring quick
reaction to external conditions should not use lookahead. Also, also any application requiring precise
synchronization to external motion, such as those using PMACs external time base feature, should not
use lookahead.
When the lookahead function is enabled, Turbo PMAC will scan ahead in the programmed trajectories,
looking for potential violations of its position, velocity, and acceleration limits. If it sees a violation, it
will then work backward through the pre-computed buffered trajectories, slowing down the parts of these
trajectories necessary to keep the moves within limits. These calculations are completed before these
sections of the trajectory are actually executed.
Turbo PMAC can perform these lookahead calculations on LINEAR and CIRCLE mode moves. The
coordinate system must be put in segmentation mode (Isx13 > 0) to enable lookahead calculations, even if
only LINEAR mode moves are used. (The coordinate system must be in segmentation mode anyway to
execute CIRCLE mode moves or cutter radius compensation.) In segmentation mode, Turbo PMAC
automatically splits the moves into small segments, which are executed as a series of smooth splines to re-
create the programmed moves.
Turbo PMAC stores data on these segments in a specially defined lookahead buffer for the coordinate
system. Each segment takes Isx13 milliseconds when it is put into the buffer, but this time can be
extended if it or some other segment in the buffer violates a velocity or acceleration limit.
This technique permits Turbo PMAC to create deceleration slopes in the middle of programmed moves, at
the boundaries of programmed move, or over multiple programmed moves, whichever is required to
create the fastest possible move that does not violate constraints. All of this is done automatically and
invisibly inside the Turbo PMAC; the part programmer and operator do not need to understand the
workings of the algorithm.
If Turbo PMACs inverse kinematic calculations are used, the conversion from tip coordinates to joint
coordinates takes place before lookahead calculations, segment by segment for LINEAR and CIRCLE
mode moves. Therefore, Turbo PMAC can execute the lookahead calculations in joint space, motor by
motor, even if the system has been programmed in tip coordinates.
Once the lookahead function has been set up, the lookahead function operates transparently to the
programmer and the operator. No changes need to be made to a motion program to use the lookahead
function, although the programmer may choose to make some changes to take advantage of the increased
performance capabilities that lookahead provides.
Quick Instructions: Setting up Lookahead
The following list quickly explains the steps required for setting up and using the lookahead function on
the Turbo PMAC. Greater detail and context are given in the subsequent section.
1. Assign all desired motors to the coordinate system with axis definition statements.
2. Set Ixx13 and Ixx14 positive and negative position limits, plus Ixx41 desired position-limit band, in
counts for each motor in coordinate system. Set bit 15 of Ixx24 to 1 to enable desired position limits.
3. Set Ixx16 maximum velocity in counts/msec for each motor in coordinate system.
4. Set Ixx17 maximum acceleration in counts/msec
2
for each motor in coordinate system.
5. Set Isx13 segmentation time in msec for the coordinate system to minimum programmed move block
time or 10 msec, whichever is less.
6. Compute maximum stopping time for each motor as Ixx16/Ixx17.
7. Select motor with longest stopping time.
8. Compute number of segments needed to look ahead as this stopping time divided by (2 * Isx13).
9. Multiply the segments needed by 4/3 (round up if necessary) and set the Isx20 lookahead length
parameter to this value.
10. If the application involves high block rates, set the Isx87 default acceleration time to the minimum
block time in msec; the Isx88 default S-curve time to 0.
11. If the application does not involve high block rates, set the Isx87 default acceleration time and the
Isx88 default S-curve time parameters to values that give the desired blending corner size and shape
at the programmed speeds.
12. Store these parameters to non-volatile memory with the SAVE command if they are to be an
automatic part of the machine state.
13. After each power-up/reset, send the card a DEFINE LOOKAHEAD {# of segments},{# of
outputs} command for the coordinate system, where {# of segments} is equal to Isx20 plus
any segments for which backup capability is desired, and {# of outputs} is at least equal to the
number of synchronous M-variable assignments that may need to be buffered over the lookahead
length.
14. Load the motion program into the Turbo PMAC. Nothing special needs to be done to the motion
program. The motion program defines the path to be followed; the lookahead algorithm may reduce
the speed along the path, but it will not change the path.
15. Run the motion program, and let the lookahead algorithm do its work!
Detailed Instructions: Setting up to use Lookahead
A few steps are required to calculate and set up the lookahead function. Typically, the calculations only
have to be done once in the initial configuration of the machine. Once configured, the lookahead function
operates automatically and invisibly.
Defining the Coordinate System: The lookahead function checks the programmed moves against all
motors in the coordinate system. The first step is therefore to define the coordinate system by assigning
motors to axes in the coordinate system with axis definition statements. This action is covered in the
Setting Up the Coordinate System section of the User Guide.
Lookahead Constraints: Turbo PMACs lookahead algorithm forces the coordinate system to observe
four constraints for each motor. These constraints are defined in I-variables for each motor representing
maximum position extents, velocities, and accelerations. These I-variables must be set up properly in
order for the lookahead algorithm to work properly.
Position Limits: Variables Ixx13 and Ixx14 for each Motor xx define the maximum positive and
negative position values, respectively, that are permitted for the motor (software overtravel limits). These
variables are defined in counts, and are referenced to the motor zero, or home, position (often called
machine zero). Even if the origin of the axis for programming purposes has been offset (often called
program zero), the physical position of these position limits does not change; they maintain their
reference to the machine zero point. Turbo PMAC checks the actual position for each motor as the
trajectory is being executed against these limits; if a limit is exceeded, the program is aborted and the
motors are decelerated at the rate set by Ixx15.
Variable Ixx41 for each Motor xx defines the distance between the actual position limits explained above,
and the desired position limit that can be checked at move calculation time, even in lookahead. That is, if
the calculated desired move position is greater than (Ixx13 Ixx41), or less than (Ixx14 + Ixx41), this
will constitute a desired position limit violation. Desired position limits are only checked if bit 15 of
Ixx24 is set to 1.
In this mode, if the lookahead algorithm, while scanning ahead in the programmed trajectory, determines
that any motor in the coordinate system would exceed one of its desired position limits, it will suspend the
program and force a stop right at that limit. It will then work backwards through the buffered trajectory
segments to bring the motors to a stop along the path at that point in the minimum time that does not
violate any motors Ixx17 acceleration constraint.
Note:
If bit 14 of Ixx24 is also set to 1, the program does not stop at the limit. Instead, it
will continue, with the offending motor saturating at the limit value.
When stopped on a desired position limit within lookahead, the program is only suspended, not aborted.
The action is effectively equivalent to issuing a \ quick-stop command. It is possible to retrace the path
coming into the limit, or even to resume forward execution after changing the limit value. An abort
command must be issued before another program can be started.
Note:
If an actual position limit is also tripped during the deceleration to a stop at the
desired position limit, the program is aborted, so retracing and resuming are not
possible. For this reason, if the possibility of retracing and resuming is important,
Ixx41 should be set to a large enough value so that the actual position limit is never
tripped during a desired position limit stop.
This technique permits these software position limits to be placed just within the hard stops of the
machine. Without the desired position limits, the software position limits cannot be detected until the
actual trajectory actually passes the limit. This requires that these limits be placed far enough within the
hard stops so that the motors have enough distance to stop after they pass the limits. (When a motor hits a
software position limit without lookahead, the deceleration of motors is controlled by Ixx15, not Ixx17,
and deceleration is not necessarily along the programmed path.)
Velocity Limits: Variable Ixx16 for each Motor xx defines the magnitude of the maximum velocity
permitted for the motor. These variables are defined in the raw PMAC units of counts per millisecond, so
a quick conversion must be calculated from the user units (e.g. millimeters per minute).
If the algorithm, while looking ahead in the programmed trajectory, determines that any motor in the
coordinate system is being asked to violate its velocity limit, it will slow down the trajectory at that point
just enough so that no limit is violated. It will then work backwards through the buffered trajectory
segments to create a controlled deceleration along the path to this limited speed in the minimum time that
does not violate any motors Ixx17 acceleration constraint.
Note:
During the initial move-block calculations, before move data is sent to the
lookahead function, a couple of factors can result in commanded velocities lower
than what is programmed. First, if the vector feedrate commanded in the motion
program with the F command exceeds the maximum feedrate parameter Isx85,
then Isx85 is used instead. Second, if the move-block time, either specified
directly with the TM command, or calculated as vector-distance divided by vector-
feedrate, is less than the programmed acceleration time (the larger of TA or 2 *
TS), the programmed acceleration time is used instead. This results in a speed less
than what was programmed. The lookahead function can further slow these
moves, but it cannot speed them up.
Acceleration Limits: Variable Ixx17 for each Motor xx defines the magnitude of the maximum
acceleration permitted for the motor. These variables are defined in the raw PMAC units of counts per
(millisecond-squared), so a quick conversion must be calculated from the user units (e.g. in/sec
2
, or gs).
If the algorithm, while looking ahead in the programmed trajectory, determines that any motor in the
coordinate system is being asked to violate its acceleration limit, it will slow down the trajectory at that
point just enough so that no limit is violated. It will then work backwards through the buffered trajectory
segments to create a controlled deceleration along the path to this limited speed in the minimum time that
does not violate any motors Ixx17 acceleration constraint.
Calculating the Segmentation Time: Turbo PMACs lookahead function operates on intermediate
motion segments calculated from the programmed trajectory. An intermediate point for each motor is
computed once per segment from the programmed path, and then a fine interpolation using a cubic spline
to join these segments is executed at the servo update rate. The user settable segmentation time is
therefore an important parameter for optimization of the lookahead function.
Variable Isx13 for each Coordinate System x defines the time for each intermediate segment in the
programmed trajectory, in milliseconds, before it is possibly extended by the lookahead function. Isx13
is an integer value; if a non-integer value is sent, Turbo PMAC will round to the next integer. If Isx13 is
set to 0, the coordinate system is not in segmentation mode; no intermediate segments are calculated,
and the lookahead function cannot be enabled.
Several issues must be addressed in setting the Isx13 segmentation time. These include its relationship to
the maximum block rate, the small interpolation errors it introduces, and its effect on the calculation load
of the Turbo PMAC. Each of these is addressed in turn, below.
Block rate relationship: In most applications, the Isx13 segmentation time will be set so that it is less
than or equal to the minimum block (programmed move) time. Put another way, usually the
segmentation rate defined by Isx13 is set greater than or equal to the maximum block rate. For example,
if a maximum block rate of 500 blocks per second is desired, the minimum block time is 2 milliseconds,
and Isx13 is set to a value no greater than 2.
This relationship holds because blocks of a smaller time than the segmentation time are skipped over as
Turbo PMAC looks for the next segment point. While this does not cause any errors, there is no real point
in putting these programmed points in the motion program if the controller is going to skip over them.
However, some people inherit old motion programs with points closer together than is actually required;
these users may have reason to set their segmentation time larger than their minimum block time.
Note:
The programmed acceleration time sets a limit on the maximum block rate. The
move time for a programmed block, even before lookahead, is not permitted to be
less than the programmed acceleration time. The programmed acceleration time is
the larger of the TA time (TA = Isx87 by default) and twice the TS time (TS =
Isx88 by default). In high-block-rate lookahead applications, the TA time is
typically set equal to the minimum desired block time, and the TS time is typically
set to (because it squares up corners).
Interpolation errors: The cubic-spline interpolation technique that Turbo PMAC uses to connect the
intermediate segment points is very accurate, but it does create small errors. These errors can be
calculated as:
R 6
2
T
2
V
Error =
where V is the vector velocity along the path, T is the segmentation time (watch the units!), and R is the
local radius of curvature of the path. For example, if the speed is 100 mm/sec (~4 in/sec), the
segmentation time is 0.01 sec (Isx13 = 10 msec), and the minimum radius at this speed is 50 mm (~2 in),
then the worst-case interpolation error can be calculated as:
m 3 mm 003 . 0
mm 50 * 6
2
sec
2
01 . 0 *
2
sec
2
mm
2
100
Error = = =
If the programmed path itself introduces path error, such as the chordal error of linear interpolation, this
must be added to the error budget as well. In addition, if the servo-loop execution adds servo errors, these
must also be included.
Calculation Implications: While smaller Isx13 segmentation times permit higher real maximum block
rates and permit more accurate interpolation, they increase the Turbo PMAC computational requirements,
particularly when lookahead is active. The following table shows the result of benchmarking tests on the
Turbo PMAC that shows the minimum segmentation times that can be used for a given number of axes
executing lookahead calculations.
Number of Axes Maximum Block Rate (blocks/sec) Minimum Segmentation Time (msec)
2 2000 1 @ 200%
3 1000 1
4 500 2
5 500 2
6 500 2
8 333 3
12 250 4
16 200 5
Notes:
1. Tests performed on 80 MHz Turbo PMAC
2. Tests performed at default 2.25 kHz servo update rate
3. Tests performed with no PMAC motor commutation or current-loop closure
4. Higher block rates can be done, but segmentation will smooth out features
Note:
Subject to these constraints, the length of the lookahead is subject only to memory
limitations in the Turbo PMAC.
In general, the Isx13 segmentation time is set to the largest value that meets user requirements in each of
the above three concerns. However, it is seldom set larger than 10 msec.
Calculating the Required Lookahead Length: In order for the coordinate system to reach maximum
performance, it must be looking ahead for the time and distance required for each motor to come to a full
stop from maximum speed. Because the lookahead buffer stores motion segments, this lookahead length
must be expressed in segments.
To calculate this value, first compute the worst-case time required to stop for each motor in the coordinate
system. This value can be obtained by dividing the maximum motor velocity by the maximum motor
acceleration. In terms of Turbo PMAC parameters:
17 Ixx
16 Ixx
sec) m ( StopTime =
Now take the motor with the longest stop time, and divide this time by 2 (because the segments will come
in at maximum speed, which takes half the time of ramping down to zero speed). Next, convert this value
to a number of segments by dividing by the coordinate system segmentation time:
13 Isx * 17 Ixx * 2
16 Ixx
) seg / s sec m ( 13 Isx * 2
sec) m ( StopTime
) segs ( ength LookaheadL = =
This is the number of segments in the lookahead buffer that must always be properly computed ahead of
time. Because the Turbo PMAC does not fully recalculate the lookahead buffer every segment, it must
actually look further ahead than this number of required segments
Lookahead Length Parameter: Variable Isx20 for the coordinate system tells the algorithm how many
segments ahead in the program to look. This value is a function of the number of segments that must
always be correct in the lookahead buffer (SegmentsNeeded). The formula is:
eded SegmentsNe *
3
4
20 Isx =
Setting Isx20 to a value larger than needed does not increase the computational load (although it does
increase the time of heaviest computational load while the buffer is filling). However, it does require
more memory storage, and it does increase the delay in having the program react to any external
conditions.
Setting Isx20 to a value smaller than needed does not cause the limits to be violated. However, it may
cause Turbo PMAC to limit speeds more severely than the Ixx16 limits require in order to ensure that
acceleration limits are not violated. In addition, a saw-tooth velocity profile may be observed.
Note:
Preliminary versions of the Turbo PMAC firmware had three additional parameters
controlling the dynamics of the lookahead operation: Isx21, Isx22, and Isx23. In
the current versions of the firmware, these values are fixed at 3, 6, and 7,
respectively, and the variables have been removed. Isx21 now permits direct
control of the lookahead state of operation (see below).
Defining the lookahead buffer: In order to use the lookahead function in a Turbo PMAC coordinate
system, a lookahead buffer must be defined for that coordinate system, reserving memory for the buffer.
This is done with the on-line coordinate-system-specific DEFINE LOOKAHEAD command. Because
lookahead buffers are not retained through a power down or reset, this command must be issued after
every power-up or board reset.
There are two values associated with the DEFINE LOOKAHEAD command. The first determines the
number of motion segments for each motor in the coordinate system that can be stored in the lookahead
buffer. At a minimum, this must be set equal to Isx20.
If this value is set greater than Isx20, the lookahead buffer stores historical data. This data can be used to
reverse through the already executed trajectory. If reversal is desired, the buffer should be sized to store
enough back segments to cover the desired backup distance. There is no penalty for reserving more
memory for these synchronous M-variable assignments than is needed, other than the loss of this memory
for other uses.
The room reserved for the segment data in the lookahead buffer is dependent on the number of motors
assigned to the coordinate system at the time of the DEFINE LOOKAHEAD command. If the number of
motors assigned to the coordinate system then changes, the organization of the lookahead buffer will be
wrong, and the program will abort with a run-time error on the next move after the coordinate system is
changed.
If the coordinate system must be changed during an application that uses lookahead, the lookahead buffer
must first be deleted, then defined again after the change. The following motion program code shows
how this could be done:
DWELL 10 ; Stop lookahead execution
CMD &1 DELETE LOOKAHEAD ; Delete buffer
CMD &1 #4->100C ; Assign new motor to C. S. 1
CMD &1 DEFINE LOOKAHEAD 1000,100 ; Redefine buffer
DWELL 10 ; Make sure commands execute
The second value associated with the DEFINE LOOKAHEAD command determines the number of
synchronous M-variable assignments (e.g. M1==1) for the coordinate system that can be stored in the
lookahead buffer. Synchronous M-variable assignments in the motion program delay the actual
assignment of the value to the M-variable until the start of actual execution of the next move in the
motion program. Therefore, these actions must be held in a buffer pending execution.
This size of the buffer for these assignments must be at least as great as the largest number of assignments
expected during the time for lookahead. There is no penalty for reserving more memory for these
synchronous M-variable assignments than is needed, other than the loss of this memory for other uses.
Note:
The buffer reserved in this manner for synchronous M-variables under lookahead
is distinct from the fixed-size buffer used for synchronous M-variables without
lookahead.
For example, the command &1 DEFINE LOOKAHEAD 500,50 creates a lookahead buffer for
Coordinate System 1 that can store 500 segments for each motor assigned to the coordinate system at that
time, plus 50 synchronous M-variable assignments.
Running a Program with Lookahead
The lookahead function is automatically active when a motion program is run in a coordinate system
provided the following conditions are true:
1. The coordinate system is in segmentation mode (Isx13 > 0).
2. The coordinate system is told to look ahead (Isx20 > 0).
3. A lookahead buffer has been defined for the coordinate system since the last board power-up/reset, or
if the lookahead buffer structure has been saved with I14 = 1.
4. The motion program is executing LINEAR or CIRCLE-mode moves.
The lookahead function is active under these conditions even when Turbo PMAC is performing inverse-
kinematic calculations every segment to convert tip positions to joint positions. This permits the user to
write a motion program in convenient tip coordinates, yet still automatically observe all joint-motor
limits. This is particularly important if the tip path passes near a singularity, requesting very high joint
velocities and accelerations.
Other move modes RAPID, SPLINE, and PVT can be executed with the lookahead buffer defined, but
the lookahead function is not active when these moves are being executed.
Absolutely no change is required to the motion program to utilize the lookahead function.
It is important to realize the implications of the lookahead function on several aspects of the motion
program. Each of these areas is covered below.
Vector Feedrate: Without lookahead, the vector feedrate value (Fxxx) is a command for each
programmed move block in the motion program. That is, each move is calculated so that it is traversed at
the programmed vector feedrate (speed). With lookahead active, the feedrate value is only a constraint.
The move will never be executed at a higher speed, but it may be executed at slower speeds during some
or all of the move as necessary to meet the motor constraints.
If the move is programmed by move time instead of feedrate, the programmed move time becomes a
(minimum) constraint; the move will never be executed in less time, but it may be executed in greater
time.
Acceleration Time: The programmed acceleration times Isx87 and Isx88 by default, or TA and TS in
the motion program, are the times before lookahead. The lookahead function will control the actual
acceleration times that are executed, but the programmed acceleration times are still important for two
reasons.
First, the programmed acceleration time, which is the larger of TA or 2*TS, is the minimum move-block
time. If PMAC initially computes a smaller move time, typically as (vector-distance divided by vector-
feedrate), it will increase the time to be equal to the acceleration time, slowing the move. This check
occurs even before lookahead (which can only slow the move further), and it is an important protection
against computational overload. The acceleration time must be set low enough not to limit valid moves.
Note:
The acceleration time may be set to 0; in this case, Turbo PMAC sets a minimum
move time of 0.5 milliseconds.
Second, as longer moves are blended together, the programmed acceleration time and feedrate control the
corner size for the blending. The blended corner begins a distance of F*Ta/2 before the programmed
corner point, where F is the programmed feedrate, and Ta is either the specified acceleration time (TA) or
two times the specified S-curve time (2*TS), which ever is greater. The blended corner ends an equal
distance past the programmed corner point.
If the lookahead algorithm determines that the blended corner violates the acceleration limit on one or
more motors, it will automatically slow the speed of the path in the corner. This will make the time for
the blended corner bigger than what was specified in the program. The lookahead will also automatically
create a controlled deceleration ramp going into the blended corner, and a controlled acceleration ramp
coming out of the corner. In this manner, the size of the rounding at a corner can be kept small without
violating acceleration constraints and without limiting speeds far away from the corners.
In general, the acceleration time should be set as large as it can be without either making the minimum
move time too large, or the corners too large. In high block-rate applications, the TA time is generally set
to the minimum block time, and the TS time is set to 0. In low block-rate applications, the TA and TS
times are generally set to get the desired corner size and shape.
Trajectory Filter: In high block-rate applications, rough motion can result from quantization errors in
the programmed path. This can produce machine vibration, audible noise, and high surface roughness on
cut parts. These errors can stem from the limited numerical resolution of the programmed points, from
measuring errors if the programmed points were scanned, or both.
This behavior can be compensated with a simple filtering of the interpolated motor trajectory, using
variable Ixx40 for each Motor xx. If Ixx40 is set to a value greater than zero, the desired trajectory is
passed through a simple first-order digital low-pass filter for smoothing purposes. (If Ixx40 is set to 0.0,
this filtering is disabled.) The higher the value of Ixx40, the greater the time constant of the filter.
The equation for the time constant T
f
of the filter as a function of the servo update time T
s
and Ixx40 is:
40 Ixx 1
s
T * 40 Ixx
f
T
=
Generally, time constants of a few milliseconds are selected when the filter is used. Note that only the
desired trajectory is filtered, so servo-loop stability is not affected. However, the filtering does introduce
a very slight path error (only noticeable for very large time constants) that can be quantified according to
the following equation:
R 2
2
f
T
2
V
Error =
where V is the velocity, T
f
is the filter time constant, and R is the local radius of curvature of the path. For
example, with a velocity of 5000 mm/min (~200 in/min), a filter time constant of 2 msec, and a local
radius of 100 mm (~4 in), the path error would be:
nm 39 . 1 mm
6
10 39 . 1
2
mm
2
100 * 2
2
sec
2
002 . 0 *
2
sec 3600
2
min
*
2
min
2
mm
2
5000
Error =
= =
Feedrate Override: All lookahead calculations are performed assuming a feedrate override value of
100%. If the feedrate override value, from whatever source, changes from 100%, the velocity and
acceleration calculations will be incorrect. True velocity values vary linearly with the override value; true
acceleration values vary with the square of the override value.
For example, at 200% override, velocity values are twice the programmed values (and could exceed the
limit values by a factor of 2), and acceleration values are 4 times the programmed values (and could
exceed the limit values by a factor of 4).
Because the feedrate override can be changed at any time with immediate effects, the lookahead function
cannot anticipate what the override will be when the move will actually be executed. Therefore, it cannot
plan for any changes in the override, so it assumes operation at 100%.
The basic idea of lookahead is to remove the override function from the instantaneous judgment of the
operator, and instead use the mathematical calculations of the controller, which effectively act as an
override, to ensure proper and optimal execution of the path.
Computational Capabilities: The lookahead calculations can put significant real-time calculation loads
on the Turbo PMAC processor. If the processor fails to keep up with these real-time requirements,
execution the program will fail with a run-time error, and motion will be aborted. There is also a slight
possibility of a watchdog timer trip if the processor is never released from the foreground lookahead
calculations for background tasks.
It is important that the application be evaluated to ensure that the lookahead calculations can be properly
performed under the worst-case conditions. The period when the most intensive calculations are being
performed is at the beginning of a move sequence, when Turbo PMAC is dynamically filling the buffer to
get ahead the specified distance.
A good worst-casetest is to run a motion program with programmed moves at the maximum move-block
rate right at the beginning of a blended sequence. Make sure that the Turbo PMAC can get through this
combination of high block-rate execution and dynamic filling of the lookahead buffer. To establish a
margin of safety, increase the override value above 100% to see what extra capability exists. A 20%
margin (proper execution at 120%) is strongly recommended.
Stopping while in Lookahead
If the user desires to stop axis motion while in lookahead mode, he must carefully consider how the
stopping is to be done. It is important to realize what point in the chain of execution is being halted with
the stopping command. Different stopping commands have different effects, and different uses.
Quick Stop: The \ quick-stop command causes Turbo PMAC to immediately calculate and execute the
quickest stop within the lookahead buffer that does not exceed Ixx17 acceleration limits for motors in the
coordinate system. Motion continues along the programmed path to a controlled stop, which is not
necessarily at a programmed point (and probably will not be). This command is the effective equivalent
of a feed hold within lookahead (even though the internal mechanism is quite different), and it should be
the command issued when an operator presses a Hold button during lookahead. Outside of lookahead,
this command causes an actual feed hold, as if the H command had been given.
The \ command is the best command to use to stop interactively within lookahead operation with the
intention of resuming operation. Any synchronous M-variable assignments set to happen within the
deceleration will execute.
Motors may be jogged away from this stop point, if desired. In addition, motion can be reversed along
the path with the < command (see Reversal below).
Normal programmed motion can subsequently be resumed with the > resume-forward, R run, or S single-
step command, provided all motors are commanded to be at the same position at which they originally
stopped with the / command. If any motors have been jogged away from this point, they must first be
returned with the J= command. Acceleration limits are observed during the ramp up from a stop here.
The > resume command puts the coordinate system in either continuous run mode, or single-step mode,
whichever mode it was in before the quick-stop.
End-Block Stop: The / end block command will stop motion at the end point of the move currently
being added to the lookahead buffer, even if the next move has already been calculated. Motion segments
up to the end of this move are still added to the lookahead buffer, and all segments and synchronous M-
variable assignments in the lookahead buffer are completed.
Motion will come to a controlled stop at the end of the latest move block being added to the lookahead
buffer without violating constraints. However, there can be a significant delay over (Isx20*Isx13) msec
if the lookahead buffer is full from the time the / command is given and the time the axes stop.
Motors may be jogged away from this stop point, if desired. Motion can subsequently be resumed with
the R or S command, provided all motors are commanded to be at the same position at which they
originally stopped with the / command. If any motors have been jogged away from this stopped point,
they must first be returned with the J= command.
Quit/Step: The Q quit command simply tells the motion program not to calculate any further motion
program blocks. (The S single-step command will do the same thing if given while the program is
running.) Motion segments up to the end of the latest calculated motion program move block are still
added to the lookahead buffer, and all segments and synchronous M-variable assignments in the
lookahead buffer are completed.
Motion will come to a controlled stop at the end of the latest calculated move block without violating
constraints. However, there can be a significant delay over (Isx20*Isx13) msec if the lookahead buffer
is full from the time the Q or S command is given and the time the axes stop.
Motors may be jogged away from this stop point, if desired. Motion can subsequently be resumed with
the R or S command. Motors do not have to be at the same position at which they were originally stopped
with the Q or S command. However, if it is desired to return them to this position, the J= command
should be used.
Feed Hold: The H feed hold command brings the feedrate override value to zero, starting immediately,
and ramping down at a rate controlled by coordinate system variable Isx95. Motion continues along the
programmed path to a controlled stop, which is not necessarily at a programmed point (and probably will
not be). Acceleration limits are not necessarily observed during the ramp down to a stop. Any
synchronous M-variable assignments set to happen within the deceleration will execute.
Motors may be jogged away from this stop point, if desired. Programmed motion can subsequently be
resumed with the R or S command, provided all motors are commanded to be at the same position at
which they originally stopped with the H command. If any motors have been jogged away from this
stopped point, they must first be returned with the J= command. Acceleration limits are not necessarily
observed during the ramp up from a stop here.
Abort: The A abort command breaks into the executing trajectory immediately, and brings all motors in
the coordinate system to a controlled stop, each at its own deceleration rate as set by Ixx15 for the motor.
The stop is not necessarily at a programmed point (and probably will not be), and it is not necessarily
even along the programmed path (and probably will not be).
Segments and synchronous M-variable assignments already in the lookahead buffer are discarded; they
cannot be recovered. Although the program could be resumed with an R or S command, execution would
miss all of the discarded segments from the lookahead buffer. Special recovery algorithms would be
required to resume operation, so the abort command is not recommended except for stopping quickly
under error conditions.
Kill All: The <CTRL-K> kill-all command breaks into the executing trajectory immediately, and disables
all motors on the Turbo PMAC by opening the servo loops, forcing zero-value command outputs, and
disabling the amplifiers. Motors will coast to a stop in the absence of brakes or regeneration circuits.
Segments and synchronous M-variable assignments already in the lookahead buffer are discarded; they
cannot be recovered. Although the program could be resumed after re-enabling the servo loops with an R
or S command, execution would miss all of the discarded segments from the lookahead buffer. Special
recovery algorithms would be required to resume operation, so the kill-all command is not recommended
except for emergency conditions.
Note:
The motor-specific K kill command is not permitted when the motor is in a
coordinate system that is executing a motion program. The program must first be
halted, usually with an A abort command.
Reversal while in Lookahead
If the lookahead buffer has been sized larger than what is required simply for the actual lookahead, it will
contain historical data that can be used for reversal along the programmed path. This capability gives the
system a retrace capability, allowing it easily to go backwards along the already executed path. The key
command to be used in reversal is the < backup command, which causes the coordinate system to start
execution in the reverse direction through the segments in the lookahead buffer.
Back-up Command: If the < command is given while the coordinate system is in normal forward
execution in the lookahead buffer, Turbo PMAC will generate a \ quick-stop command internally to halt
the forward execution, then start reverse execution.
The < command can also be given after execution of the program has been halted with a \ quick-stop
command. It cannot be given after stopping with an / end-of-block, Q quit, S single-step, A abort or
<CTRL-K> kill-all command, or an automatic error termination.
Reverse Execution: Execution in the reverse direction will observe the position, velocity, and
acceleration limits, just as in the forward direction. Note, that if Isx20 is set to 1, limits are not observed
in either the forward or reverse direction. In this mode, the lookahead buffer is simply used to buffer
points to enable reversal, without the computational overhead of actual lookahead calculations. This
mode is appropriate for EDM applications, which require quick reversal, but not careful acceleration
limiting.
If not stopped by another command, reverse execution will continue until it reaches the beginning (oldest
stored point) of the lookahead buffer. It will stop at this point automatically with a controlled
deceleration within the acceleration constraints. The oldest stored point in the lookahead buffer will
never be from before the first point in the current continuous blended motion sequence. This means that
it cannot be reversed into, past, or through any of the following:
A DWELL point
A RAPID, SPLINE, or PVT-mode move
A homing-search move
A point where the program was stopped with a /, Q, or S command.
A point where blending was stopped for any other reason (e.g. Isx92=1, double jump-back)
Remember that a DELAY command in a motion program does not disable blending, so it is possible to
reverse execution through a DELAY point. If a stop at a point is desired during execution of the program,
but the ability to reverse through the point is required, DELAY should be used instead of DWELL.
Stopping Reverse Execution: The reverse execution can be halted before this point with the \ quick-stop
command. Reverse execution can then be resumed with another < back-up command; forward execution
can be re-started with a > resume, R run, or S single-step command. The > resume command puts the
coordinate system in either continuous run mode, or single-step mode, whichever mode it was in before
the back up.
No synchronous M-variable assignments are executed either during a reversal or during the forward
execution over the reversed part of the path.
Forward execution over the reversed part of the path will blend seamlessly into previously unexecuted
parts of the path. At this point, standard execution of the lookahead buffer will resume, with new points
being added to the end of the lookahead buffer, and execution of buffered synchronous M-variable
assignments starting again.
Quick Reversal from Within Turbo PMAC: If it is desired to reverse very quickly from within
PMAC, as for quick retracts in EDM applications, it is best to bypass the command interpreter, which acts
in background. This can be done by writing directly to a lookahead-control I-variable from the PMAC
program.
Variable Isx21 for each coordinate system contains the control bits for the state of lookahead execution.
By setting the value of this I-variable directly from a PLC program, the overhead and delay of the
command interpreter can be avoided and slightly faster reaction obtained. There are three values of use:
Setting Isx21 to 4 is the equivalent of issuing the \ quick-stop command
Setting Isx21 to 7 is the equivalent of issuing the < back-up command
Setting Isx21 to 6 is the equivalent of resuming forward motion with the > resume-forward command.
If monitoring Isx21 at other times, notice that the 4s bit is cleared after the command has been processed.
Therefore, the following values will be:
Isx21 = 0 when stopped with a quick-stop command
Isx21 = 3 when running reversed in lookahead
Isx21 = 2 when running forward in lookahead
Kinematic Calculations
Turbo PMAC provides structures to enable the user to easily implement and execute complex kinematic
calculations. Kinematic calculations are required when there is a non-linear mathematical relationship
between the tool-tip coordinates and the matching positions of the actuators (joints) of the mechanism,
typical in non-Cartesian geometries. They are most commonly used in robotic applications, but can be
used with other types of actuators that are not considered robotic. For example, in 4-axis or 5-axis
machine tools with one or two rotary axes, it is desirable to program the cutter-tip path and let the
controller compute the necessary motor positions.
This capability permits the motion for the machine to be programmed in the natural coordinates of the
tool-tip, usually Cartesian coordinates, whatever the underlying geometry of the machine. The kinematic
routines are embedded in the controller by the integrator, and operate invisibly to the people programming
paths and the machine operators. These routines can be unchanging for the machines, but with
parameterization and/or logic, they can adapt to normal changes such as tool lengths and different end-
effectors.
In Turbo PMAC terminology, the tool-tip coordinates are for axes, which are specified by letter, and have
user-specified engineering units. The joint coordinates are for motors, which are specified by numbers,
and have the raw units of counts.
Note:
PMACs standard axis-definition statements handle linear mathematical
relationships between joint motors and tool-tip axes. This section pertains to the
more difficult case of the non-linear relationships.)
The forward-kinematic calculations use the joint positions as input, and convert them to tool-tip
coordinates. These calculations are required at the beginning of a sequence of moves programmed in
tool-tip coordinates to establish the starting coordinates for the first programmed move. The same type of
calculations can also be used to report the actual position of the actuator in tool-tip coordinates,
converting from the sensor positions on the joints. (The Turbo PMAC forward-kinematic program buffer
does not support this position-reporting functionality, but functionally identical calculations can be used
in a PLC program for this purpose.)
The inverse-kinematic calculations use the tool-tip positions as input, and convert them to joint
coordinates. These calculations are required for the end-point of every move that is programmed in tool-
tip coordinates, and if the path to the end-point is important, they must be done at periodic intervals
during the move as well.
Note:
Formal robotic analysis makes a distinction between joint position, and the
actuator positions required for that joint position. While the two positions are
usually the same, there are cases, such as when two motors drive a joint
differentially, where there is an important difference. If a system has a distinction
between joint and actuator positions, the kinematic calculations must include this
distinction, to go all the way between actuator positions and tool-tip positions, with
joint positions as an intermediate step. This documentation will just refer to joint
positions, although this could technically refer to actuator positions in some
applications.
Creating the Kinematic Program Buffers
Turbo PMAC implements the execution of kinematic calculations through special forward-kinematic and
inverse-kinematic program buffers. Each coordinate system can have one of each of these program
buffers, and the algorithms in them can be executed automatically at the required times, called as
subroutines from the motion program.
Creating the Forward-Kinematic Program
The on-line OPEN FORWARD command opens the forward-kinematic buffer for the addressed coordinate
system for entry. The on-line CLEAR command erases any existing contents of that buffer.
Subsequently, any program command sent to Turbo PMAC that is legal for a PLC program (except
ADDRESS, CMDx, and SENDx) will be entered into the open buffer. The on-line CLOSE command stops
entry into the buffer.
Before any execution of the forward-kinematic program, Turbo PMAC will place the present commanded
motor positions for each Motor xx in the coordinate system into global variable Pxx. These are floating-
point values, with units of counts. The program can then use these variables as the inputs to the
calculations.
After any execution of the forward-kinematic program, Turbo PMAC will take the values in Q1 Q9 for
the coordinate system in the users engineering units, and copy these into the 9 axis target position
registers for the coordinate system. The following table shows the axis whose position each variable
affects and the suggested M-variable number for each of these registers (listed for debugging purposes).
Axis-
Position Q-
Variable
Axis
Letter
Target
Register
Suggested
M-Variable
Axis-
Position
Q-
Variable
Axis
Lette
r
Target
Register
Suggested
M-Variable
Axis-
Position
Q-
Variable
Axis
Letter
Target
Register
Suggested
M-Variable
Q1 A Msx41 Q4 U Msx44 Q7 X Msx47
Q2 B Msx42 Q5 V Msx45 Q8 Y Msx48
Q3 C Msx43 Q6 W Msx46 Q9 Z Msx49
The basic purpose of the forward-kinematic program, then, is to take the joint-position values found in P1
P32 for the motors used in the coordinate system, compute the matching tip-coordinate values, and
place them in variables in the Q1 Q9 range.
Reserved Variables
If kinematic calculations are used in a system, the global variables P1 P32 and the coordinate-system
variables Q1 Q10 should not be used for any other purposes, because Turbo PMAC will automatically
write to these variables in executing the kinematic routines. (Q10 is used to distinguish between inverse-
kinematic calculations that involve velocity calculations and those that do not, as explained below.) If
inverse-kinematic calculations involving PVT-mode moves are used, additionally the global variables
P101-P132 and the coordinate-system variables Q11 Q19 should not be used for any other purposes,
because Turbo PMAC will automatically write to these variables in executing the velocity portions of the
inverse-kinematic routines.
Example:
(X, Y)
Y

L2

B
L1
A
X

Take the example of a 2-axis shoulder-elbow robot, with an upper-arm length (L
1
) of 400mm, and a
lower-arm length (L
2
) of 300mm. Both the shoulder joint (A) and the elbow joint (B) have resolutions of
1000 counts per degree. When both joints are at their zero-degree positions, the two links are both
extended along the X-axis. The forward-kinematic equations are:
) B A sin(
2
L ) A sin(
1
L Y
) B A cos(
2
L ) A cos(
1
L X
+ + =
+ + =

To implement these equations in a Turbo PMAC forward-kinematic program for Coordinate System 1
that converts the shoulder angle in Motor 1 and the elbow angle in Motor 2 to the X and Y tip coordinates
in millimeters, the following setup and program could be used:
Setup for Program
I15=1 ; Trig calculations in degrees
&1 ; Address CS 1
Q91=400 ; L1
Q92=300 ; L2
Q93=1000 ; Counts per degree for A and B
Forward-Kinematic Program Buffer for Repeated Execution
&1 OPEN FORWARD ; Forward kinematics for CS 1
CLEAR ; Erase existing contents
Q7=Q91*COS(P1/Q93)+Q92*COS((P1+P2)/Q93) ; X position
Q8=Q91*SIN(P1/Q93)+Q92*SIN((P1+P2)/Q93) ; Y position
CLOSE
The forward-kinematic program must calculate the axis positions for all of the axes in the coordinate
system, whether or not all of the motor positions are calculated in the inverse-kinematic program (see
below). For instance, if this arm had a vertical axis at the tip with a normal axis definition statement in
C.S. 1 of #3->100Z (100 counts per millimeter a linear relationship between motor and axis), the
above program would still need to perform the forward-kinematic calculation for this motor/axis with a
line such as Q9=P3/100.
Iterative Solutions
Some systems, particularly parallel-link mechanisms such as Stewart platforms (hexapods), do not have
reasonable closed-form solutions for the forward-kinematic equations, and require iterative numerical
solutions. These cases are typically handled by a looping WHILE ENDWHILE construct in the
forward-kinematic program. The user should not permit indefinite looping if the solution does not
converge in the expected number of cycles, the program should be stopped (see the inverse-kinematic
equations, below, for examples of how to stop the program).
In this case, it is best to leave the I11 program-calculation delay variable at its default value of 0, so the
calculations can take as long as needed. If I11 is greater than 0, and the forward-kinematic calculations
plus the first move calculations do not finish within I11 msec, Turbo PMAC will stop the program with a
run-time error. In any case, if the forward-kinematic calculations take more than about 25 msec, it is
possible to trip the watchdog timer.
Position Reporting
Another use of forward-kinematic calculations is for the position reporting function, reading actual joint
positions at any time, and converting them to tip positions for reporting. The forward-kinematic program
buffer on Turbo PMAC does not support this function. (Using the program for both initial-position
calculations and position reporting could lead to potential overlapping use and register conflicts.)
If the application requires the Turbo PMAC to do forward-kinematic calculations for position reporting as
well as for establishing initial tip position, the position-reporting calculations should be put into a PLC
program. The following PLC program could be used for the position-reporting function of the example
shoulder-elbow robot:
M-variable Definitions for Actual Position Registers
M162->D:$8B ; Motor 1 actual position
M262->D:$10B ; Motor 2 actual position
Forward-Kinematic PLC Program Buffer for Position Reporting
OPEN PLC 10 ; Forward kinematics for CS 1
P51=M162/(I108*32*Q93) ; Actual A position (deg)
P52=M262/(I208*32*Q93) ; Actual B position (deg)
Q27=Q91*COS(P51)+Q92*COS(P51+P52) ; Actual X position
Q28=Q91*SIN(P51)+Q92*SIN(P51+P52) ; Actual Y position
CLOSE
Creating the Inverse-Kinematic Program
The on-line OPEN INVERSE command opens the inverse-kinematic buffer for the addressed coordinate
system for entry. The on-line CLEAR command erases any existing contents of that buffer.
Subsequently, any program command sent to Turbo PMAC that is legal for a PLC program (except
ADDRESS, CMDx, and SENDx) will be entered into the open buffer. The on-line CLOSE command stops
entry into the buffer.
Before any execution of the inverse-kinematic program, Turbo PMAC will place the present axis target
positions for each axis in the coordinate system into variables in the range Q1 Q9 for the coordinate
system. These are floating-point values, in engineering units. The program can then use these variables
as the inputs to the calculations.
The following table shows the variable for each axis, and the suggested M-variable for each source
register (listed for debugging purposes).
Axis-
Position
Q-Variable
Axis
Letter
Source
Register
Suggested
M-Variable
Axis-
Position
Q-
Variable
Axis
Lette
r
Source
Register
Suggested
M-Variable
Axis-
Position
Q-
Variable
Axis
Letter
Source
Register
Suggested
M-Variable
Q1 A Msx41 Q4 U Msx44 Q7 X Msx47
Q2 B Msx42 Q5 V Msx45 Q8 Y Msx48
Q3 C Msx43 Q6 W Msx46 Q9 Z Msx49
After any execution of the inverse-kinematic program, Turbo PMAC will read the values in those
variables Pxx (P1 P32) that correspond to Motors xx in the coordinate system with axis-definition
statements of #xx->I. These are floating-point values, and Turbo PMAC expects to find them in the
raw units of counts. Turbo PMAC will automatically copy these values into the target position registers
for these motors (suggested M-variable Mxx63), where they are used for the fine interpolation of these
motors.
There can be other motors in the coordinate system that are not defined as inverse-kinematic axes; these
motors get their position values directly from the axis-definition statement and are not affected by the
inverse-kinematic program.
The basic purpose of the inverse-kinematic program, then, is to take the tip-position values found in Q1
Q9 for the axes used in the coordinate system, compute the matching joint-coordinate values, and place
them in variables in the P1 P32 range.
Example:
Continuing with our example of the two-axis shoulder-elbow robot, and for simplicitys sake limiting
ourselves to positive values of B (the right-armed case), we can write our inverse-kinematic equations as
follows:
C ) C A ( A
Y X L 2
L L Y X
cos C
) X , Y ( 2 tan a C A
L L 2
L L Y X
cos B
2 2
1
2
2
2
1
2 2
1
2 1
2
2
2
1
2 2
1
+ =
|
|
.
|
\
|
+
+ +
+ =
= +
|
|
.
|
\
| +
+ =

(X, Y)
Y

L2
(X
2
+Y
2
)

B
L1
C A
X

To implement these equations in a Turbo PMAC inverse-kinematic program for Coordinate System 1 that
converts the X and Y tip coordinates in millimeters to the shoulder angle in Motor 1 and the elbow angle
in Motor 2, the following program could be used. System constants Q91, Q92, and Q93 are the same as
for the above forward kinematic program.
Setup for Program
&1
#1->I ; Motor 1 assigned to inverse kinematic axis in CS 1
#2->I ; Motor 2 assigned to inverse kinematic axis in CS 1
M5182->Y:$00203F,22,1 ; CS 1 run-time error bit
Pre-compute Additional System Constants
Q94=Q91*Q91+Q92*Q92 ; L1^2 + L2^2
Q95=2*Q91*Q92 ; 2*L1*L2
Q96=Q91*Q91-Q92*Q92 ; L1^2 L2^2
Inverse-Kinematic Algorithm to be Executed Repeatedly
&1 OPEN INVERSE ; Inverse kinematics for CS 1
Q20=Q7*Q7+Q8*Q8 ; X^2+Y^2
Q21=(Q20-Q94)/Q95 ; cos(B)
IF (ABS(Q21)<0.9998) ; Valid solution w/ 1 deg margin?
Q22=ACOS(Q21) ; B (deg)
Q0=Q7 ; X into cos argument for ATAN2
Q23=ATAN2(Q8) ; A+C = ATAN2(Y,X)
Q24=ACOS((Q20+Q96)/(2*Q91*SQRT(Q20))) ; C (deg)
Q25=Q23-Q24 ; A (deg)
P1=Q25*Q93 ; Motor 1 = 1000A
P2=Q22*Q93 ; Motor 2 = 1000B
ELSE ; Not valid, halt operation
M5182=1 ; Set run-time error bit
ENDIF
CLOSE
Notes on the Example:
By choosing the positive arc-cosine solutions, we are automatically selecting the right-armed case. In
a more general solution, we would have to choose whether the positive or negative is used, based on
some criterion.
Increased computational efficiency could be obtained by combining more operations into single
assignment statements. Calculations were split out here for claritys sake.
This example does not use the substitution macros permitted by the Executive program to substitute
meaningful names for variables. Use of these substitution macros in complex applications is strongly
encouraged.
This example stops the program for cases where no inverse kinematic solution is possible. It does
this by setting the run-time error status bit for the coordinate system, which causes Turbo PMAC to
automatically halt motion program execution and issue the Abort command. Other strategies may be
used to cope with this problem.
If this robot had a vertical axis at the tip, the relationship between motor and axis could be defined with a
normal linear axis-definition statement (e.g. #3->100Z for 100 counts per millimeter), and the motor
position would be calculated without the special inverse-kinematic program. Alternately, the motor could
be defined as an inverse-kinematic axis (#3->I) and the motor position could be calculated in the
inverse-kinematic program (e.g. Q3=Q49*100 to set Motor 3 position from the Z-axis with 100 counts
per unit).
Rotary Axis Rollover
If a rotary inverse-kinematic axis in the system has the capability to roll over, the inverse-kinematic
program must handle the rollover calculations explicitly. The automatic rollover capability of the A, B,
and C axes with Ixx27 is not available for inverse-kinematic axes. The key to handling rollover properly
is to take the difference between the new and the old values and make sure that this difference is in the
+180
o
range. This can be done in Turbo PMAC with the % modulo (remainder) operator. This difference
is then added to the old value. Mathematically, the equations are:
( ) ( )

+ =

=
old
new
180 %
old
temp new

When the modulo operation is done in Turbo PMAC with a negative operand -n (such as 180), the
result is always in the +n range.
For example, if the A-axis in the above example had the capability of rolling over, the line Q25=Q24-
Q23 could be replaced with:
Q25=P1/Q93+(Q24-Q23-P1/Q93)%-180 ; Handle rollover cases
The value (P1/Q93) is
old
, from the previous cycle of the inverse kinematics or initially from the forward
kinematics; and value (Q24-Q23) is
new-temp
, both in degrees.
Velocity Calculation Flag
In every move mode other than PVT mode, Turbo PMAC automatically sets the variable Q10 for the
coordinate system to 0 as a flag to the inverse-kinematic program not to compute velocity values. If
planning to use both PVT mode and other modes, evaluate Q10 explicitly in the inverse-kinematic
program (see below).
Iterative Solutions
Some robot geometries do not have closed-form inverse-kinematic solutions and require iterative
numerical solutions. Typically, these cases are handled by a looping WHILE ENDWHILE construct in
the inverse-kinematic program. Multiple executions of the WHILE loop inside the inverse-kinematic
program do not disable blending as they would inside the main motion program (due to the double jump-
back rule), but excessive iterations can cause the calculations not to be done within the required time.
This will cause a run-time error, aborting the program automatically.
Inverse-Kinematic Program for PVT Mode
The Turbo PMAC can also support the conversion of velocities from tip space to joint space in the
inverse-kinematic program to enable the use of PVT mode with kinematic calculations. With PVT-mode
moves, the position calculations are done just as for any other move mode. An additional set of velocity-
conversion calculations must also be done.
When executing PVT-mode moves with kinematics active (Isx50 = 1), Turbo PMAC will automatically
place the commanded axis velocity values from the PVT statements into variables Q11 Q19 for the
coordinate system before each execution of the inverse-kinematic program. These are signed floating-
point values in the engineering velocity units defined by the engineering length/angle units and the
coordinate systems Isx90 time units (e.g. mm/min or deg/sec). The following table shows the variable
used for each axis:
Axis-Velocity
Q-Variable
Axis
Letter
Axis-Velocity
Q-Variable
Axis
Letter
Axis-Velocity
Q-Variable
Axis
Letter
Q11 A Q14 U Q17 X
Q12 B Q15 V Q18 Y
Q13 C Q16 W Q19 Z
Turbo PMAC will also set Q10 to 1 in this mode as a flag to the inverse-kinematic program that it should
use these axis (tip) velocity values to compute motor (joint) velocity values.
In this mode, after any execution of the inverse-kinematic program, Turbo PMAC will read the values in
those variables P1xx (P101 P132) for each Motor xx in the coordinate system defined as inverse-
kinematic axes (#xx->I). These are floating-point values, and Turbo PMAC expects to find them in
units of counts per Isx90 milliseconds. Turbo PMAC will use them as motor (joint) velocity values along
with the position values in Pxx to create a PVT move for the motor.
For PVT moves, then, the inverse-kinematic program must not only take the axis (tip) position values in
Q1 Q9 and convert them to motor (joint) position values in P1 P32; it must also take the axis (tip)
velocity values in Q11 Q19 and convert them to motor (joint) velocity values in P101 P132.
Technically, the velocity conversion consists of the solution of the inverse Jacobian matrix for the
mechanism.
Example:
Continuing with the shoulder-elbow robot of the above examples, the equations for joint velocities as a
function of tip velocities are:
| | | |
B sin
2
L
1
L
Y Y X X
B sin
2
L
1
L
Y ) B A sin(
2
L A sin
1
L X ) B A cos(
2
L A cos
1
L
B
B sin
2
L
1
L
Y ) B A sin(
2
L X ) B A cos(
2
L
A
& &
& &
&
& &
&

=
+ + +
=
+ + +
=

The angles A and B have been computed in the position portion of the inverse-kinematic program. Note
that the velocities become infinite as the angle B approaches 0 degrees or 180 degrees. Since in our
example we are limiting ourselves to positive values for B, we will trap any solution with a value of B
less than 1
o
or greater than 179
o
(sin B < 0.0175) as an error.
&1
OPEN INVERSE
CLEAR
{Position calculations from above}
IF (Q10=1) ; PVT mode?
Q26=SIN(Q25) ; sin(B)
IF (Q26>0.0175) ; Not near singularity?
Q27=Q91*Q92*Q26 ; L1*L2*sinB
Q28=COS(Q25+Q22) ; cos(A+B)
Q29=SIN(Q25+Q22) ; sin(A+B)
Q30=(Q92*Q28*Q17+Q92*Q29*Q18)/Q27 ; dA/dt
Q31=(-Q7*Q17-Q8*Q18)/Q27 ; dB/dt
P101=Q30*Q93 ; #1 speed in cts/(Isx90 msec)
P102=Q31*Q93 ; #2 speed in cts/(Isx90 msec)
ELSE ; Near singularity
M5182=1 ; Set run-time error bit
ENDIF
ENDIF
CLOSE
Note:
In this case the check to see if B is near 0
o
or 180
o
is redundant because we have
already done this check in the position portion of the inverse-kinematic algorithm.
This check is shown here to illustrate the principle of the method. In this example,
a run-time error is created if too near a singularity; other strategies are possible.
Executing the Kinematic Programs
Once the forward-kinematic and inverse-kinematic program buffers have been created for a coordinate
system, Turbo PMAC will execute them automatically at the proper times once the kinematic calculations
have been enabled by setting coordinate system I-variable Isx50 to 1. No modification to a motion
program is required for access to the kinematic programs at the proper time.
The forward-kinematic program is executed automatically each time an R (run) or S (step) command is
given to the coordinate system if Isx50 is 1. This is done to ensure that the starting tip (axis) position is
correct for the calculation of the initial move, even if joint (motor) moves, such as jogs, have been done
since the last programmed move. The forward-kinematic program is also executed automatically each
time a PMATCH command is given to the coordinate system if Isx50 is 1.
(With Isx50 = 0 and normal axis definition statements, Turbo PMAC executes this same function by
mathematically inverting the equations of the axis-definition statements to derive the starting axis
positions from present commanded motor positions. The axis-definition statements are technically
inverse-kinematic equations, so their mathematical inverse forms the forward-kinematic equations.
Because the standard axis-definition statements are limited to mathematically linear equations, their
inverse can in general be derived automatically.)
Motor-to-Axis Conversion Without Forward-Kinematic Program
Motor Pos. Axis Pos.

Motor 1: 5000 #1->1000X X=5
Motor 2: 10000 #2->1000Y Y=10
Motor-to-Axis Conversion With Forward-Kinematic Program
Motor Pos. Axis Pos.

Motor 1: 5000 (P1=5000) (Q7=f1[P1,P2]) X=(Q7)
Motor 2: 10000 (P2=10000) (Q8=f2[P1,P2]) Y=(Q8)
The inverse-kinematic program is executed automatically each time Turbo PMAC computes new axis
positions during the execution of a motion program. This occurs at the end-point of each programmed
move block for non-segmented moves, such as those in RAPID mode. It occurs at the end of each
intermediate segment every Isx13 milliseconds for segmented moves (LINEAR and CIRCLE-mode
moves with Isx13 > 0).
Axis Definition
Equations
Forward-Kinematic
Algorithm
Note:
With normal axis definition statements, Turbo PMAC executes this same function
by using the equations of the axis definition statements to derive motor positions
from axis positions.
Axis-to-Motor Conversion Without Inverse Kinematics
Axis Pos. Motor Pos.

X10 Y20 #1->1000X Motor 1: 10000
#2->1000Y Motor 2: 20000
Axis-to-Motor Conversion With Inverse Kinematics
Axis Pos. Motor Pos.

X10 Y20 (Q7=10) #1->I (P1=f1[Q7,Q8]) Motor 1: (P1)
(Q8=20) #2->I (P2=f2[Q7,Q8]) Motor 2: (P2)
When the inverse-kinematic program is executed only at programmed end-points, as in RAPID mode, all
interpolation occurs in joint space. In this case, the path of the tip from point to point is not well defined
if the programmed end-points are far apart, and in general it will not be a straight line.
When the inverse-kinematic program is executed at each intermediate segment boundary, the coarse
interpolation (segmentation) is done in tip space, so the path is well defined. After the conversion of the
segment coordinates to joint positions, the fine interpolation between segment boundaries is done in joint
space as a cubic spline, but with the segments close together (typically 5 to 20 msec each), any deviations
from the ideal tip path are negligible.
If the special lookahead buffer for the coordinate system is active (LINEAR or CIRCLE-mode moves
with the lookahead buffer defined for the coordinate system, Isx13 > 0, and Isx20 > 0), the internal spline
segments computed for the joints (motors) are automatically entered into the lookahead buffer. Here they
are continually checked against position, velocity, and acceleration limits for each motor. This permits
Turbo PMAC to check and correct automatically for the motion anomalies that occur near singularities, so
the user does not need to do so.
Cutter Radius Compensation
Turbo PMAC provides the capability for performing cutter (tool) radius compensation on the moves it
performs. This compensation can be performed among the X, Y, and Z axes, which should be physically
perpendicular to each other. The compensation automatically offsets the described path of motion
perpendicular to the path by a programmed amount, compensating for the size of the tool. This permits
the user to program the path along the edge of the tool, letting Turbo PMAC calculate the tool-center
path, based on a radius magnitude that can be specified independently of the program.
Cutter radius compensation is valid only in LINEAR and CIRCLE move modes. The moves must be
specified by F (feedrate), not TM (move time). Turbo PMAC must be in move segmentation mode (Isx13
> 0) to do this compensation (Isx13 > 0 is required for CIRCLE mode anyway.)

Axis Definition
Equations
Inverse-Kinematic
Algorithm
Note:
In CIRCLE mode, a move specification without any center specification results in
a linear move. This move is executed correctly without cutter radius compensation
active, but if the compensation is active, it will not be applied properly in this case.
A linear move must be executed in LINEAR mode for proper cutter-radius
compensation.
Defining the Plane of Compensation
Several parameters must be specified for the compensation. First, the plane in which the compensation is
to be performed must be set using the buffered motion-program NORMAL command. Any plane in XYZ-
space may be specified. This is done by specifying a vector normal to that plane, with I, J, and K-
components parallel to the X, Y, and Z-axes, respectively.
For example, NORMAL K-1, by describing a vector parallel to the Z-axis in the negative direction,
specifies the XY-plane with the normal right/left sense of the compensation (NORMAL K1 would also use
the XY-plane, but invert the right/left sense). This same command also specifies the plane for circular
interpolation. NORMAL K-1 is the default. The compensation plane should not be changed while
compensation is active.
Other common settings are NORMAL J-1, which specifies the ZX-plane for compensation, and NORMAL
I-1, which specifies the YZ-plane. These three settings of the normal vector correspond to RS-274 G-
codes G17, G18, and G19, respectively. If implementing G-codes in Turbo PMAC program 1000,
incorporate the following into PROG 1000:
N17000 NORMAL K-1 RETURN
N18000 NORMAL J-1 RETURN
N19000 NORMAL I-1 RETURN
Defining the Magnitude of Compensation
The magnitude of the compensation the cutter radius must be set using the buffered motion program
command CCR{data} (Cutter Compensation Radius). This command can take either a constant
argument (e.g. CCR0.125) or an expression in parentheses (e.g. CCR(P10+0.0625)). The units of
the argument are the user units of the X, Y, and Z-axes. In RS-274 style programs, these commands are
often incorporated into tool data D-codes using Turbo PMAC motion program 1003.
Negative and zero values for cutter radius are possible. Note that the behavior in changing between a
positive and negative magnitude is different from changing the direction of compensation. See Changes
in Compensation, below. In addition, the behavior in changing between a non-zero magnitude and a zero
magnitude is different from turning the compensation on and off. See the appropriate sections below.
Turning On Compensation
The compensation is turned on by buffered motion program command CC1 (offset left) or CC2 (offset
right). These are equivalent to the RS-274 G-Codes G41 and G42, respectively. If implementing G-
Code subroutines in Turbo PMAC motion program 1000, incorporate the following into PROG 1000:
N41000 CC1 RETURN
N42000 CC2 RETURN
Turning Off Compensation
The compensation is turned off by buffered motion program command CC0, which is equivalent to the
RS-274 G- Code G40. If implementing G-Code subroutines in Turbo PMAC motion program 1000,
incorporate the following into PROG 1000:
N40000 CC0 RETURN
How Turbo PMAC Introduces Compensation
Turbo PMAC gradually introduces compensation over the next LINEAR or CIRCLE-mode move
following the CC1 or CC2 command that turns on compensation. This lead-in move ends at a point one
cutter radius away from the intersection of the lead-in move and the first fully compensated move, with
the line from the programmed point to this compensated endpoint being perpendicular to the path of the
first fully compensated move at the intersection.
Note:
A few controllers can make their lead-in move a CIRCLE-mode move. This
capability permits establishing contact with the cutting surface very gently,
important for fine finishing cuts.
Inside Corner Introduction: If the lead-in move and the first fully compensated move form an inside
corner, the lead-in move goes directly to this point. When the lead-in move is a LINEAR-mode move,
the compensated tool path will be at a diagonal to the programmed move path. When the lead-in move is
a CIRCLE-mode move, the compensated tool path will be a spiral.
Line
Line
Line
Line
Programmed
Path
Tool Center
Path
Line
Line
Programmed
Path
Tool Center
Path
Arc
Arc
Line to Line Line to Arc
Arc to Arc Arc to Line
Line
Line
Programmed
Path
Tool Center
Path
Spiral
Arc
Spiral
Arc
Introducing Compensation Inside Corner
Programmed
Path
Tool Center
Path
Arc
Arc
r r
r r
CC2 CC2
CC2 CC2

Outside Corner Introduction: If the lead-in move and the first fully compensated move form an outside
corner, the lead-in move first moves to a point one cutter radius away from the intersection of the lead-in
move and the first fully compensated move, with the line from the programmed point to this compensated
endpoint being perpendicular to the path of the lead-in move at the intersection. When the lead-in move
is a LINEAR-mode move, this compensated tool path will be at a diagonal to the programmed move path.
When the lead-in move is a CIRCLE-mode move, this compensated tool path will be a spiral. Then a
circular arc move with radius equal to the cutter radius is added, ending at a point one cutter radius away
from the intersection of the lead-in move and the first fully compensated move, with the line from the
programmed point to this compensated endpoint being perpendicular to the path of the first fully
compensated move at the intersection.
Line
Line
Programmed
Path
Tool Center
Path
Line
Line
Line
Line
Programmed
Path
Tool Center
Path
Arc
Arc
Line
Line
Programmed
Path
Tool Center
Path
Arc
Spiral
Arc
Arc
Spiral
Arc
Introducing Compensation Outside Corner
Programmed
Path
Tool Center
Path
Arc
Arc
r
r
r
r
r
r
r
r
CC2
CC2 CC2
Arc
CC2

Note that the behavior for lead-in moves is different from changing the compensation radius from zero to
a non-zero value while compensation is active. An arc move is always added at the corner, regardless of
the setting of Isx99. This ensures that the lead-in move never cuts into the first fully compensated move.
Treatment of Inside Corners
Inside corners are still subject to the blending due to the TA and TS times in force (default values set by
coordinate system I-variables Isx87 and Isx88, respectively). The longer the acceleration time, the larger
the rounding of the corner. (The corner rounding starts and ends a distance F*TA/2 from the
compensated, but unblended corner.) The greater the portion of the blending is S-curve, the squarer the
corner will be.
When coming to a full stop (e.g. Step, Quit, or DWELL at the corner) at an inside corner, Turbo PMAC
will stop at the compensated, but unblended, corner point.
Line
Line
Line
Line
Programmed
Path
Tool Center
Path
Line
Line
Programmed
Path
Tool Center
Path
Arc
Inside Corner Cutter
C i
r
r
r
r
Line
Line
Programmed
Path
Tool Center
Path
Arc
Arc
Line to Arc
r
r
Programmed
Path
Tool Center
Path
Arc
Arc
r
Arc
r
Arc
Arc

Treatment of Outside Corners
For outside corners, Turbo PMAC will either blend the incoming and outgoing moves directly together,
or it will add an arc move to cover the additional distance around the corner. Which option it chooses is
dependent on the relative angle of the two moves and the value of I-variable Isx99.
The relative angle between the two moves is expressed as the change in directed angle of the motion
vector in the plane of compensation. If the two moves are in exactly the same direction, the change in
directed angle is 0
o
; if there is a right angle corner, the change is +/-90
o
; if there is a complete reversal, the
change in directed angle is 180
o
.
Isx99 specifies the boundary angle between directly blended outside corners and added-arc outside
corners. It is expressed as the cosine of the change in the directed angle of motion (cos0
o
=1.0,
cos90
o
=0.0, cos180
o
=-1.0) at the boundary of the programmed moves. The change in directed angle is
equal to 180
o
minus the included angle at the corner.
Sharp Outside Corner: If the cosine of the change in directed angle is less than Isx99, which means the
corner is sharper than the specified angle, then an arc move will be added around the outside of the
corner.
Arc
Line
Line
Programmed
Path
Tool Center
Path
r
Line
Line
r
Arc
Line
Line
Programmed
Path
Tool Center
Path
r
r
Arc
Arc
Arc
Programmed
Path
Tool Center
Path
r
Line
Line
r
Arc
Arc
Arc
Programmed
Path
Tool Center
Path
r
r
Arc
Arc
Arc
Arc
Outside Corner Cutter Compensation, Sharp Angle (cos < Isx99)

Shallow Outside Corner: However, if the cosine of the change in directed angle is greater than Isx99,
which means that the corner is flatter than the specified angle, the moves will be directly blended together
without an added arc.
Programmed
Path
Tool Center
Path
Arc
Arc
Line
Line
Line
Line
Programmed
Path
Tool Center
Path
Programmed
Path
Tool Center
Path
Arc
Arc
Line
Line
Programmed
Path
Tool Center
Path
Arc
Arc
Outside Corner Cutter Compensation, Shallow Angle ( cos > Isx99)
Line
Line
Arc
Arc
r
r
r
r
r
r
r
r

The added arc prevents the compensated corner from extending too far out on the outside of a sharp
corner. However, as an added move, it has the minimum time of the acceleration time, which can cause a
slowdown on a very shallow angle. While the default value for Isx99 of 0.9998 (cos1
o
) causes an arc to
be added on any change in angle greater than 1
o
, many users will set Isx99 to 0.707 (cos45
o
) or 0.0
(cos90
o
) so arcs are only added on sharp corners.
When coming to a full stop (e.g. Step, Quit, /, or DWELL) at an outside corner with an added arc, Turbo
PMAC will include the added arc move before stopping. When coming to a full stop at an outside corner
without an added arc, Turbo PMAC will stop at the compensated, but unblended, corner point.
Treatment of Full Reversal
If the change in directed angle at the boundary between two successive compensated moves is 180
o
+ 1
o
(the
included angle is less than 1
o
), this is considered a full reversal and special rules apply. If both the
incoming and outgoing moves are lines, the corner is always considered an outside corner, and an arc move
of approximately 180
o
is added. If one or both of the moves is an arc, Turbo PMAC will check for possible
inside intersection of the compensated moves.

If such an intersection is found, the corner will be treated as an inside corner. Otherwise, it will be treated
as an outside corner with an added 180
o
arc move.
Line
Programmed Path
Line
Line
Line
<1
o
Arc
Arc
Arc
Arc
Line
Programmed Path
Tool Center
Path Right
Tool Center
Path Left
Line
Arc
Programmed
Path
Tool Center
Path
Arc
Arc
Arc
Arc
Programmed
Path
Tool Center
Path
Arc
Arc
Arc
Arc
Line to Line Line to Arc,
Inside and Outside
Arc to Arc Outside Arc to Arc Inside
Reversal In Cutter Compensation
Arc
r
r
r
r
r r
r r
Tool Center Path

Note on Full Circles
If a full-circle move is executed while in cutter compensation, and one or both of the ends produces a
shallow outside corner that is directly blended (no added arc see Treatment of Outside Corners, above),
the compensated arc move will be extended beyond 360
o
, and Turbo PMAC may produce just a very
short arc, 360
o
shorter than what is desired (making it appear that the circle has been skipped.
Typically, this is the result of sloppy programming an outside corner with a full circle causes an overcut
into the circle many machine designers may want to permit slight cases of this. Coordinate system
parameter Isx97 defines the shortest arc angle that may be executed; the longest arc angle is 360
o
plus this
angle.
The default value of Isx97 sets a minimum arc angle of one-millionth of a semi-circle, enough to account
for numerical round off, but sometimes not enough for compensated full circles. To handle these cases,
Isx97 should be set to a somewhat larger value.
Programmed
Path
Tool Center
Path
Short
Arc
Executed
Compensated
Circle
Skipped
Programmed
Full Circle
1
1
2
3
2
Failure When Compensation Extends Full Circle
r
r
r

Speed of Compensated Moves
Tool center speed for the compensated path remains the same as that programmed by the F parameter.
On an arc move, this means that the tool edge speed (the part of the tool in contact with the part) will be
different from that programmed by the fraction R
tool
/R
arc
.
Changes in Compensation
Radius Magnitude Changes: Changes in the magnitude of compensation (new CCR values) made while
compensation is active are introduced linearly over the next move. When this change is introduced over
the course of a LINEAR-mode move, the compensated tool path will be at a diagonal to the programmed
move path. When this change is introduced over the course of a CIRCLE-mode move, the compensated
tool path will be a spiral.
Compensation Direction Changes: Generally, changes in the direction of compensation (between CC1
and CC2) made while compensation are introduced at the boundary between the two moves.
Line
Line
Programmed
Path
Tool Center
Path
Line to Line
Line
Line
Line
Programmed
Path
Tool Center
Path
Line
Arc
Arc
Line to Arc
Arc
Arc
Programmed
Path
Line
Tool Center
Path
Arc to Line
Line
Programmed
Path
Tool Center
Path
Arc
Arc
Arc
Arc
Arc to Arc
Cutter Compensation Change of Direction
CC2
CC1
CC2
CC1
CC2
CC1
CC1
CC2

However, if there is no intersection between the two compensated move paths, the change is introduced
linearly over the next move.
Programmed
Path
Tool Center
Path
Change Through an Arc
Change Through a Line Change in Reversal
Cutter Compensation Change of Direction
No Intersection
Line
Line Arc
Arc
Arc
Arc
Programmed
Path
Tool Center
Path
Change Through a Line
Line
Line
Line
Line
Line
Line
Programmed
Path
Tool Center
Path
Line
Line
Line
Line
Arc
Spiral
r
CC2
CC1
Programmed Path
Line
Tool Center Path
Line
CC2
CC1 CC2
CC1
CC2
CC1

How Turbo PMAC Removes Compensation
Turbo PMAC gradually removes compensation over the next LINEAR or CIRCLE-mode move following
the CC0 command that turns off compensation. This lead-out move starts at a point one cutter radius
away from the intersection of the lead-in move and the first fully compensated move, with the line from
the programmed point to this compensated endpoint being perpendicular to the path of the first fully
compensated move at the intersection.
Note:
A few controllers can make their lead-out move a CIRCLE-mode move. This
capability permits releasing contact with the cutting surface very gently, important
for fine finishing cuts.
Inside Corner: If the last fully compensated move and the lead-out move form an inside corner, the
lead-out move starts directly from this point to the programmed endpoint. When the lead-out move is a
LINEAR-mode move, the compensated tool path will be at a diagonal to the programmed move path.
When the lead-in move is a CIRCLE-mode move, the compensated tool path will be a spiral.
Removing Compensation Inside Corner
Line
Line
Programmed
Path
Tool Center
Path
Arc
Arc
r
Line
Line
Line
Line
Programmed
Path
Tool Center
Path
r
Line
Line
Programmed
Path
Tool Center
Path
Spiral
Arc
r
Spiral
Arc
Programmed
Path
Tool Center
Path
Arc
Arc
r
CC0 CC0
CC0 CC0

Outside Corner: If the last fully compensated move and the lead-out move form an outside corner, the
last fully compensated move ends at a point one cutter radius away from the intersection of the last fully
compensated move and the lead-out move, with the line from the programmed point to this compensated
point being perpendicular to the path of the fully compensated move at the intersection.
Turbo PMAC then adds a circular arc move with radius equal to the cutter radius, ending at a point one
cutter radius away from the same, with the line from the programmed point to this compensated endpoint
being perpendicular to the path of the lead-out move at the intersection.
Finally, Turbo PMAC gradually removes compensation over the lead-out move itself, ending at the
programmed endpoint of the lead-out move. . When the lead-out move is a LINEAR-mode move, this
compensated tool path will be at a diagonal to the programmed move path. When the lead-in move is a
CIRCLE-mode move, this compensated tool path will be a spiral.
Removing Compensation Outside Corner
Line
Line
Programmed
Path
Tool Center
Path
Line
Line
Arc
r
r
Spiral
Arc
Programmed
Path
Tool Center
Path
Arc
Arc
r
r
Line
Line
Programmed
Path
Tool Center
Path
Spiral
Arc
r
r
Line
Line
Programmed
Path
Tool Center
Path
Arc
Arc
r
r
Arc
Arc
CC0 CC0
CC0 CC0

Note:
This behavior is different from changing the magnitude of the compensation radius
to zero while leaving compensation active. An arc move is always added at the
corner, regardless of the setting of Isx99. This ensures that the lead-out move will
never cut into the last fully compensated move.
Failures in Cutter Compensation
It is possible to give Turbo PMAC a program sequence in which the cutter compensation algorithm will
fail, not producing desired results. There are three types of reasons the compensation can fail.
Inability to Calculate Through Corner: First, if Turbo PMAC cannot see ahead far enough in the
program to find the next move with a component in the plane of compensation before the present move is
calculated, then it will not be able to compute the intersection point between the two moves.
This can happen for several reasons:
There is a move with no component in the plane of compensation (i.e. perpendicular to the plane of
compensation, as in a Z-axis-only move during XY compensation) before the next move in the plane
of compensation, and no CCBUFFER compensation block buffer declared (see below).
There are more moves with no component in the plane of compensation before the next move in the
plane of compensation than the CCBUFFER compensation block buffer can hold (see below).
There are more than 10 DWELLs before the next move in the plane of compensation.
Program logic causes a break in blending moves (e.g. looping twice through a WHILE loop).
If Turbo PMAC cannot find the next move in time, it will end the current move as if the intersection with
the next move would form an outside corner. If the next move, when found, does create an outside
corner, or continues straight on, compensation will be correct. On an outside corner, an arc move is
always added at the corner, regardless of the setting of Isx99. However, if the next move creates an inside
corner, the path will have overcut into the corner. In this case, Turbo PMAC will then move to the
correct intersection position and continue with the next move, leaving the overcutting localized to the
corner.
Line
Line
Line
Line
Programmed
Path
Tool Center
Path
Failure to See Through
Inside Corner
r
Overcut
Tool
Center Point
at Failure
r
r
Line
Line
Line
Line
Programmed
Path
Tool Center
Path
r
r
Arc
Tool
Center Point
at Failure
(No Overcut)
Failure to See Through
Outside Corner
Line
Line
Programmed
Path
Tool Center
Path
r
Stopping
Point
Arc Radius Smaller Than
Cutter Radius
Arc
Failures in Cutter Compensation
(Not
Executed)
Line
r
Line
Tool Center
Path
Line
Programmed
Path
Inside Corner Smaller Than
Cutter Radius
Overcut
Line
Line
Arc
r
r

Inside Corner Smaller Than Radius: Second, if the compensated path produces an inside corner with
one of the moves shorter than the cutter radius, the cutter compensation will not work properly. This
situation results in a compensated move that is in the opposite direction from that of the uncompensated
move, and there will be overcutting at the corner.
Inside Arc Radius Smaller Than Cutter Radius: Third, if the program requests an arc move with
compensation to the inside, and the programmed arc radius is smaller than the cutter radius, then no
proper path can be calculated. In this case, Turbo PMAC ends the program at the end of the previous
move with a run-time error, setting the internal run-time error code in register Y:$002x14 to 7.
Block Buffering for Cutter Compensation
If an application requires the execution of moves perpendicular to the plane of compensation while cutter
compensation is active, it will require that a special buffer be defined to hold these moves while Turbo
PMAC scans ahead to find the next move in the plane of compensation so it can compute the proper
intersection between the incoming move to this point in the plane and the outgoing move.
This buffer is created with the on-line coordinate-system-specific command DEFINE
CCBUF{constant}, where {constant} is a positive integer representing the number of moves
perpendicular to the compensation plane that can be stored in the buffer. This number should be at least
as large as the largest number of consecutive perpendicular moves between any two moves in the plane.
With this buffer defined for the coordinate system, if Turbo PMAC encounters one or more moves
perpendicular to the plane of compensation while compensation is active, these moves will be temporarily
stored in the CCBUF while the next move in the plane is found, so the intersections can be correctly
computed. However, if there is not enough room in the buffer to store all of the perpendicular moves
found, Turbo PMAC will assume an outside-corner intersection; if the next move in the plane actually
forms an inside corner, overcut will have occurred.
When programmed moves are actually stored in the CCBUF, commands that change the current position
value HOME, HOMEZ, and PSET are not permitted. Turbo PMAC will report an ERR019 if I6 is set to
1 or 3.
The CCBUF, which stores motion program blocks for the purpose of computing proper cutter
compensation intersection points, should not be confused with the LOOKAHEAD buffer, which stores
small motion segments generated from these programmed blocks for the purpose of guaranteeing
observance of position, velocity, and acceleration limits. Both of these buffers may be defined and active
for a coordinate system at the same time.
The CCBUF is a temporary buffer. Its contents are never retained through a power-down or card reset;
the buffer itself is only retained through a power-down or reset if it was defined, and I14 was set to 1, at
the time of the last SAVE command.
Single-Stepping while in Compensation
It is possible to execute moves in single-step mode while cutter compensation is active, but the user
should be aware of several special considerations for this mode of operation. Because of the need for the
program to see ahead far enough to find the next move in the plane of compensation before the current
move can be executed, the execution of an S single-step command may not produce the intuitively
expected results. The single-step command on a move in compensation causes the preliminary
calculations for that move to be done, not for the move actually to be executed. This has the following
ramifications:
A single-step command on the lead-in move for compensation will produce no motion, because the
next move has not yet been found.
Single-step commands on compensated moves in the plane of compensation will cause the previous
move to execute.
Single-step commands on compensated moves perpendicular to the plane of compensation will
produce no motion, as these will just be held in the CCBUFFER. A single-step command on the next
move in the plane of compensation will cause the previous move in the plane, plus all buffered moves
perpendicular to the plane to execute.
A single-step command on the lead-out move will cause both the last fully compensated move and the
lead-out move to execute.
Unlike many controllers, Turbo PMAC can execute non-motion program blocks with single-step
commands with cutter compensation active. However, the user should be aware that the execution of
these blocks may appear out of sequence, because the motion from the previous programmed move block
will not yet have been executed.
Synchronous M-variable assignments in this mode are still buffered and not executed until the actual start
of motion execution of the next programmed move.
Three-Dimensional Cutter Radius Compensation
Turbo PMAC provides the capability for performing three-dimensional (3D) cutter (tool) radius
compensation on the moves it performs. This compensation can be performed among the X, Y, and Z
axes which should be physically perpendicular to each other (even if the motors assigned to the axes are
not). Unlike the more common two-dimensional (2D) compensation, the user can independently specify
the offset vector normal to the cutting surface, and the tool orientation vector.
The 3D compensation algorithm automatically uses this data to offset the described path of motion,
compensating for the size and shape of the tool. This permits the user to program the path along the
surface of the part, letting Turbo PMAC calculate the path of the center of the end of the tool.
3D compensation is valid only in LINEAR and CIRCLE move modes, and is really intended only for
LINEAR moves.
A note on terminology: Much of the documentation on the older two-dimensional cutter-radius
compensation refers to just cutter-radius compensation, since there was no 3D compensation at the time.
Documentation specific to 3D compensation will always specify 3D compensation.
Defining the Magnitude of 3D Compensation
The magnitude of 3D compensation is determined by two user-declared radius values. The first of these
is the radius of the rounded end of the cutter, set by the buffered motion program command CCR{data}
(Cutter Compensation Radius). This command can take either a constant argument (e.g. CCR2.35) or an
expression in parentheses (e.g. CCR(Q20-0.001)). The units of the argument are the user units of the
X, Y, and Z axes. In operation, the compensation first offsets the path by the cutters end radius along the
surface-normal vector (see below).
TR TR TR
CCR=0 0<CCR<TR
C
C
R
C
C
R
CCR=TR
3D Compensation: Cutting Tool Cross Sections

The second value is the tool radius itself, the radius of the shaft of the tool. This is set by the buffered
motion program command TR{data} (Tool Radius). This command can take either a constant
argument (e.g. TR7.50) or an expression in parentheses (e.g. TR(7.50-Q99)). The units of the
argument are the user units of the X, Y, and Z-axes. In operation, the compensation next offsets the path
by an amount equal to the tool radius minus the cutters end radius, perpendicular to the tool-orientation
vector (see below).
A flat-end cutter will have a cutter-end radius of zero. A ball-end cutter (hemispherical tip) will have a
cutter-end radius equal to the tool (shaft) radius. Other cutters will have a cutter-end radius in between
zero and the tool radius.
Turning on 3D Compensation
3D cutter compensation is turned on by the buffered motion program command CC3. Since the offset
vector is specified explicitly, there is no left or right compensation here. When 3D compensation is
turned on, the surface-normal vector is automatically set to the null (zero-magnitude) vector, and also the
tool-orientation vector is set automatically to the null vector. Until a surface-normal vector is explicitly
declared with 3D compensation active, no actual compensation will occur. A tool-orientation vector must
also be declared for compensation to work on anything other than a ball-nose cutter.
Turning off 3D Compensation
3D cutter compensation is turned off by the buffered motion program command CC0, just as for 2D
compensation. Compensation will be removed over the next LINEAR or CIRCLE mode move after
compensation has been turned off.

Declaring the Surface-Normal Vector
The direction of the surface-normal vector is determined by the NX{data}, NY{data}, and
NZ{data} components declared in a motion program line. The absolute magnitude of these components
does not matter, but the relative magnitudes define the direction. The direction must be from the surface
into the tool.
Generally, all three components should be declared together. If only one or two components are declared
on a program line, the remaining components are left at their old values, which could lead to
unpredictable results. If it is desired that a component value be changed to zero, it should be explicitly
declared as zero.
Note:
The coordinates of the surface-normal vector must be expressed in the machine
coordinates. If the part is on a rotating table, these coordinates will not in general
be the same as the original part coordinates from the part design the vector must
be rotated into machine coordinates before sending to Turbo PMAC.
The surface-normal vector affects the compensation for the move on the same line of the motion program,
and all subsequent moves until another surface-normal vector is declared. In usual practice, a surface-
normal vector is declared for each move, affecting that move alone.
Declaring the Tool-Orientation Vector
If the orientation of the cutting tool can change during the compensation, as in five-axis machining, the
orientation for purposes of compensation is declared by means of a tool-orientation vector. (If the
orientation is constant, as in three-axis machining, the orientation is usually declared by the normal vector
to the plane of compensation, although the tool-orientation vector may be used.)
The direction of the tool-orientation vector is determined by the TX{data}, TY{data}, and
TZ{data} components declared in a motion program line. The absolute magnitude of these components
does not matter, but the relative magnitudes define the direction. The direction sense of the tool-
orientation vector is not important; it can be from base to tip, or from tip to base
Generally, all three components should be declared together. If only one or two components are declared
on a program line, the remaining components are left at their old values, which could lead to
unpredictable results. If it is desired that a component value be changed to zero, it should be explicitly
declared as zero.
Note:
The coordinates of the surface-normal vector must be expressed in the machine
coordinates. If the part is on a rotating table, these coordinates will not in general
be the same as the original part coordinates from the part design.
The tool-orientation vector affects the compensation for the move on the same line of the motion
program, and all subsequent moves until another tool-orientation vector is declared. In usual practice, a
tool-orientation vector is declared for each move, affecting that move alone.
Note:
The tool-orientation vector declared here does not command motion; it merely tells
the compensation algorithm the angular orientation that has been commanded of
the tool. Typically, the motion for the tool angle has been commanded with A, B,
and/or C-axis commands, often processed through an inverse-kinematic subroutine
on Turbo PMAC.
How 3D Compensation is Performed
In operation, Turbo PMAC starts from the uncompensated X, Y, and Z-axis positions for each end-point
programmed while 3D compensation is active. Then two offsets are applied to the X, Y, and Z-axis
positions. The first offset is taken along the surface-normal vector, of a magnitude equal to the tip radius.
The second offset is then taken toward the center of the tool, in the plane containing both the surface-
normal vector and the tool-orientation vector, perpendicular to the tool-orientation vector, of a magnitude
equal to the cutter radius minus the tip radius.
Once the modified end-point is calculated, the move to that end-point is calculated just as it would be
without compensation. If the program is in LINEAR mode, it will be linearly interpolated. If the
program is in CIRCLE mode (not advised), arc interpolation will be applied.
Because the offset to the end-point is directly specified for each move, there are no intersection points for
Turbo PMAC to compute using the equations for the next move. This means there are no special
lookahead or single-step execution considerations, as there are in 2D compensation.
All moves in 3D compensation are directly blended together. There are no special considerations for
outside corners, as there are in 2D compensation. In addition, there are no special considerations for the
lead-in and lead-out moves. The lead-in move is simply an interpolated move from the last
uncompensated position to the first compensated position. The lead-out move is simply an interpolated
move from the last compensated position to the first uncompensated position.
T
R
CP
PP
PP: Programmed Position
CP: Compensated Position
N: Surface-Normal Vector
T: Tool-Orientation Vector
CCR: Cutters End Radius
TR: Tool Shaft Radius
N
T
TR-CC
R C
C
R
3D Cutter Radius Compensation

Altered-Destination Moves
Turbo PMAC gives the user the capability for altering the destination of certain moves in the middle of
the execution of those moves by issuing an on-line command. This permits the user to start a move with a
tentative destination and then change the destination during the move, with a smooth transition to the
altered destination. If no move is currently executing, this feature also gives the capability of
commanding a simple programmed move without using a program buffer.
This technique works with RAPID-mode moves only. The only motion mode whose destination can be
altered on the fly is RAPID mode, and the only motion mode that can be used to approach the new
destination is RAPID mode.
Altered-Destination Command
This feature is implemented by the on-line coordinate-system-specific command
!{axis}{constant}[{axis}{constant}] or its variant
!{axis}Q{constant}[{axis}Q{constant}] . The exclamation point identifies this
command as the on-line altered-destination command. The axis letters and their associated values specify
the new destination.
In the first case (e.g. !X3.0Y2.7), the constant value associated with each axis letter directly specifies
the new destination of the axis. This first case is typically used when the command is issued from a host
computer.
In the second case (e.g. !XQ21YQ22), the constant value associated with each axis letter after the Q
character specifies the number of the Q-variable for the coordinate system whose value represents the
new destination for the axis. For example, if Q21=3.0 and Q22=2.7, then !XQ21YQ22 is equivalent to
!X3.0Y2.7. This second case is usually used when the command is issued from a Turbo PMAC PLC
program.
The values specified in this command are always positions of the new destinations (relative to program
zero), not distances from previous commanded positions. That is, this command is always effectively in
absolute mode, regardless of whether the axes are in absolute or incremental mode. If the axes are in
incremental mode, they will stay in incremental mode for subsequent buffered program commands.
If there is no commanded move in progress when this command is issued, Turbo PMAC will just execute
a RAPID-mode point-to-point move to the specified coordinates.
If a RAPID-mode move is in progress when the command is issued, Turbo PMAC will extend the current
trajectory of each motor for Ixx92 milliseconds. At that point, it will break into the trajectory of each
motor, compute a smooth blending for each motor to the RAPID-mode trajectory toward the new
destination, and execute the modified trajectory. Because the altered-destination move is itself a RAPID-
mode move, its destination can be modified with a subsequent altered-destination command.
If a move of some other mode is in progress when this command is issued, Turbo PMAC will reject the
command with an error.
Use of Altered Destination
The altered-destination command is most often used to modify the destination of a RAPID-mode move
executing from the coordinate systems rotary motion-program buffer as the last move in that buffer. In
typical use, the RAPID move will be started with an approximate idea of the final destination, while some
sensor, such as a vision system, determines the exact location. The altered-destination command is then
sent to the coordinate system with the exact coordinates of the final destination.
If the altered-destination command is not received before the end of the move, there will be a momentary
pause before the move to the final end position is started, but all axes end up in the same location as if the
command were received before the end of the move. Note, however, that in this case, certain status bits
such as desired-velocity-zero, and in-position may get set at the end of the initial move, and so cannot be
counted on by themselves to show that the modified end-point has been reached.
The altered-destination command can also be used to modify a RAPID-mode move that is not at the end
of the rotary buffer, or one that is in a fixed motion-program buffer. In this case, there are a couple of
things to watch. First, if axes are in incremental mode, the subsequent moves in the program are modified
by the altered destination. Second, if the altered-destination command is received after the RAPID-mode
move is finished, it may be rejected with an error, depending on what the program is executing
subsequently.
Turbo PMAC Dual-Ported RAM Use
Dual-ported RAM (DPRAM) is an optional feature of the Turbo PMAC for high-speed communications with
the host computer. Its purchase is recommended if more than 100 data items per second need to be
transferred combined in both directions. Because this bank of memory has two ports, both the Turbo PMAC
processor and the host processor have direct, random access to all of the registers of the DPRAM IC.
The Turbo PMAC family design supports both 8k x 16 and 32k x 16 banks of DPRAM. However, an
individual member of the family may support only one of these sizes. As of this writing, the support is:
Turbo PMAC PC: 8k x 16 only
Turbo PMAC VME: 8k x 16 only
Turbo PMAC2 PC: 8k x 16 only
Turbo PMAC2 VME: 8k x 16 only
Turbo PMAC2 PC Ultralite: 8k x 16 (Option 2A) or 32k x 16 (Option 2B)
Turbo PMAC2 3U: 32k x 16 only
The Turbo PMAC family has preset structures for transferring data between the host computer and the
controller; it also permits the user to define his own data structures. The pre-defined structures include:
Control Panel Functions
Motor Data Reporting Buffer
Background Data Reporting Buffer
ASCII Command and Response Buffers
Data Gathering Buffer
Background Variable Copying Buffers
Binary Rotary Program Download
Physical Configuration and Connection
On the Turbo PMAC PC, the dual-ported RAM option is a separate -slot board that connects to the
Turbo PMACs CPU board with two short ribbon cables, and has its own ISA bus connector. On other
Turbo PMAC boards, the dual-ported RAM is an on-board option in which the DPRAM IC is installed
directly on the PMAC.
Host Address Setup
The dual-ported RAM has a fixed address space in the Turbo PMACs address space. However, its
address space in the host computer can vary depending on the setup of the card. The specification of the
address of the card in the host computer is done entirely in software; there are no jumpers or DIP-switches
to set.
ISA Bus Setup
There are two setup variables in the Turbo PMAC for the addressing of the DPRAM on the ISA bus in
the PCs memory space: I93 and I94. (Note that the standard host bus communications port is mapped
into the PCs I/O space, and has no relationship to the DPRAM memory address.) Because the PC uses
byte addressing, a 16k x 8 slot of memory space must be found or created in the PC for the 8k x 16
DPRAM. For the 32k x 16 DPRAM, either a 64k x 8 slot of memory space must be found, or a 16k x 8
slot found and bank addressing used.
Note:
The PC/104 bus is completely software-compatible with the ISA bus, so these
instructions apply to setting up DPRAM on the PC/104 interface of the 3U Turbo
PMAC (Turbo Stack or UMAC Turbo).
Typically, in a PC, a slot of memory space between 640k ($0A0000) and 1M ($100000), where no
standard memory resides, is used. Other devices may also occupy regions of this space. VGA displays
often occupy the space from 640k to 704k ($0A0000 to $0B0000) and the BIOS often occupies from
960k to 1M ($0F0000 to $100000).
Locating the DPRAM between 1M ($100000) and 16M ($FFFFFF) is possible, but most operating
systems cannot tolerate a break in their normal RAM addressing, so the DPRAM must be placed after the
end of regular RAM. Since most PCs now have more than 16M of RAM, this is usually not feasible.
Therefore, in most PCs, the DPRAM is located somewhere between 704k ($0B0000) and 960k
($0F0000). The default settings locate it in the range from $0D4000 through $0D7FFF.
I93 is an 8-bit value that specifies ISA bus address bits A23 A16 for the DPRAM. It is usually
specified as a 2-digit hexadecimal value, and these two digits are the same as the first two digits of the
six-digit ISA hexadecimal address, $0D in the default case.
I94 is an 8-bit value that controls the addressing of the DPRAM over the ISA bus. If only a 16k x 8 block
is reserved for DPRAM, it also specifies ISA bus address bits A15 A14. I94 is usually specified as a 2-
digit hexadecimal number.
If a 16k x 8 block of memory on the ISA bus is to be used for DPRAM, the first digit should be set to
equal the third digit of the six-digit base address. It can take a value of $0, $4, $8, or $C. For the default
base address of $0D4000, it should be set to 4. If a 64k x 8 block of memory is to be used, the first digit
should be set to 0.
The second digit represents the addressing mode. It should be set to 5 to use a 16k x 8 address space on
the ISA bus. It should be set to 4 to use a 64k x 8 address space.
For example, to use a 16k x 8 block of memory from $0EC000 to $0EFFFF on the ISA bus, I93 should be
set to $0E, and I94 should be set to $C5. To use a 64k x 8 block of memory from $0C0000 to $0CFFFF
on the ISA bus, I93 should be set to $0C, and I94 should be set to $04.
To implement these settings and to hold them for future use, these I-variable values must be stored to
non-volatile flash memory with the SAVE command, and the card must be reset ($$$ command).
Resetting the card copies the saved values of I93 and I94 back into the I-variable registers in RAM, and
then into the active control registers at X:$070009 and X:$07000A, respectively.
If a 16k x 8 block of memory has been used for the larger (32k x 16) DPRAM, the PC can only view one-
quarter of the DPRAM at a time. Following the instructions given above, this will be the first quarter
(lowest addresses on the PMAC side). To get at other parts of the DPRAM, a bank select process must
be used.
I94 can control the bank select with bits 1 and 3, but it is only used at power-on/reset, so it is not
appropriate for dynamic bank selection. Therefore, it is better to use the active control register at
X:$07000A directly. With the suggested M-variable definition of M94->X:$07000A,0,7, and I94 set as
suggested above to select Bank 0 at power-on/reset, the following equations can be used to select each of
the 4 banks (the vertical bar | is the logical bit-by-bit OR operator):
M94=I94 | $00 ; Bank 0 (PMAC addresses $060000 - $060FFF)
M94=I94 | $0A ; Bank 3 (PMAC addresses $063000 - $063FFF)
VME Bus Setup
The address setup of the DPRAM on the VME bus is integrated with the general VME setup, including
the mailbox registers, using variables I90 I99.
I90 controls the VME address modifier. It should be set to $39 for 24-bit addressing, or $09 for 32-bit
addressing.
I91 controls the do not care bits in the address modifier. Usually it should be set to $04.
I92 controls the VME address bus bits A31 A24 when using 32-bit addressing for both the mailbox
registers and the DPRAM. Usually it is specified as two hex digits and it should be the same as the first
two hex digits of the 32-bit address. For example, if the base address of the DPRAM were $18C40000,
I92 would be set to $18. When 24-bit addressing is set up, I92 is not used.
I93 controls the VME address bus bits A23 A16 for the mailbox registers. Although it is possible for
these address bits to be the same for both the mailbox registers and the small DPRAM, usually they are
different.
I94 controls the VME address bus bits A15 A08 for the mailbox registers. If bits A23 A16 are the
same for both the mailbox registers and the DPRAM, it is essential that I94 be set up so that there is no
conflict between the 512 addresses required for the mailbox registers and the 16k registers required for
the DPRAM.
I95 controls which interrupt line is used when PMAC interrupts the host computer over the bus. Values
of $01 to $07 select IRQ1 to IRQ7, respectively. Turbo PMAC will use this interrupt line during
DPRAM ASCII communications if I56 is set to 1 and I58 is set to 1.
I96 controls the interrupt vectors that are provided when Turbo PMAC interrupts the host computer. If
the interrupt is asserted because PMAC has placed an ASCII response line in the DPRAM, the interrupt
vector provided is equal to (I96 + 1).
I97 controls the VME address bus bits A23 A20 for the DPRAM. It is usually specified as a 2-digit
hexadecimal value. The first digit should always be set to 0. The second digit should be set to be equal to
the first of 6 hex digits of the address if 24-bit addressing is used, or to the third of eight hex digits of the
address if 32-bit addressing is used. For example, if the base address is $700000 in 24-bit addressing, I97
should be set to $70. If the base address is $18C40000 in 32-bit addressing, I97 should be set to $C0.
I98 controls whether the DPRAM is enabled. It should be set to $E0 to enable DPRAM access.
I99 controls the VME bus address width. It should be set to $90 for 24-bit addressing with DPRAM, or
to $80 for 32-bit addressing with DPRAM.
To implement these settings and to hold them for future use, these I-variable values must be stored to
non-volatile flash memory with the SAVE command, and the card must be reset ($$$ command).
Resetting the card copies the saved values of I90 I99 back into the I-variable registers in RAM, and then
into the active control registers at X:$070006 X:$07000F.
One further step must be taken after every power-on/reset to select the VME address lines A19 A14 for
the DPRAM. These address lines are selected using a dynamic page-select technique, which must be
used even if there is only a single page of DPRAM. One page consists of a 16k x 8 bank of memory
addresses for the small (8k x 16) DPRAM, this page selects the entire DPRAM. For the large (32k x
16) DPRAM (when available), this page selects one-quarter of the DPRAM.
These address lines are selected by writing a byte over the VME bus to (the mailbox base address +
$121). The mailbox base address is defined by the settings of I92, I93, and I94 at the last power-on/reset.
If the mailbox base address is at the default value of $7FA000, this byte must be written to VME bus
address $7FA121.
Bits 0 to 5 of this byte must contain the values of A14 to A19, respectively, of the page of the DPRAM.
One way to calculate this value is to take the second and third hex digits of the DPRAM page base
address in 24-bit addressing, or the fourth and fifth hex digits in 32-bit addressing, and divide this value
by 4 (shift right two bits). For example, if the base address is $780000 in 24-bit addressing, this byte
should be set to $20 ($80/4 = $20). If the base address is $18C40000 in 32-bit addressing, this byte
should be set to $10.
Note:
It is common that this byte value will be $00, and some Turbo PMAC VME boards
will power up with this byte already set at $00. However, this may not be true on
some boards, so the user should not count on this default setting. For robust
operation, this byte must be written after every power-on/reset.
PCI Bus, USB Setup
The address of the DPRAM to the host computer on a PCI-bus or Universal Serial Bus (USB) is
established through an automatic plug-and-play software mechanism in the host computer, so there is no
address setup on the Turbo PMAC for DPRAM interface on these buses.
Mapping of Memory Addresses
The mapping of memory addresses between the host computer on one side, and Turbo PMAC on the
other side, is quite simple. Using this memory is a matter of matching the addresses on both sides. To
Turbo PMAC, the DPRAM simply appears as extra memory in the fixed address range $060000 to
$060FFF ($063FFF for the large DPRAM). Since Turbo PMAC has two (X and Y) registers per
numerical address, the small DPRAM appears to the Turbo PMAC as a 4k x 32 block of memory; the
large DPRAM appears as a 16k x 32 block of memory. When the PMAC hexadecimal addresses of the
DPRAM are specified, the assembly-language convention of a $ prefix is used to denote the use of hex
numbers.
The host computer will almost certainly use byte addressing. Therefore, the small DPRAM appears to the
host computer as a 16k x 8 block of memory. The large DPRAM appears as a 64k x 8 block of memory.
Since the address range of the DPRAM in the host computer will vary from application to application, we
can only talk of offsets from the base address when referring to individual registers. When the host
hexadecimal address offsets of the DPRAM are specified, the C-language convention of a 0x prefix is
used to denote the use of hex numbers.
Because the Turbo PMAC effectively uses 32-bit addressing, and the host computer effectively uses 8-bit
addressing, the host uses four numerical addresses for each one numerical address in PMAC. The
following table shows how this address incrementing works for key addresses in the DPRAM.
Turbo PMAC Address Host Address Offset Example Host Address
Y:$060000 0x0000 0x0D0000
X:$060000 0x0002 0x0D0002
Y:$060001 0x0004 0x0D0004
X:$060001 0x0006 0x0D0006

Y:$060450 0x1140 0xD1140

Y:$060FFF 0x3FFC 0xD3FFC
X:$060FFF 0x3FFE 0xD3FFE

Y:$063FFF 0xFFFC 0xDFFFC
X:$063FFF 0xFFFE 0xDFFFE

The following two equations can be helpful for calculating matching DPRAM addresses:
PMAC_address = $060000 + 0.25*(Host_address Host_base_address)
Host_address = Host_base_address + 4*(PMAC_address - $060000) + Offset
where:
Offset = 0 for accessing Y memory, or for X and Y together as 32 bits
Offset = 2 for accessing X memory alone
DPRAM Automatic Functions
Turbo PMAC provides many facilities for using the DPRAM to pass information back and forth between
the host computer and the Turbo PMAC. Each of these functions has dedicated registers in the DPRAM.
The following table shows each of these functions and the addresses used for it.
Host Address Offset DPRAM Function Turbo PMAC Address
0x0000 Control Panel Functions (pending) $060000
0x006A Motor Data Reporting Buffer $06001A
0x0676 Background Data Reporting Buffer $06019D
0x0E9E DPRAM ASCII Command Buffer $0603A7
0x0F42 DPRAM ASCII Response Buffer $0603D0
0x1046 Background Variable Read Buffer Control $060411
0x104C Background Variable Write Buffer Control $060413
0x1050 Binary Rotary Program Buffer Control $060414
0x113E DPRAM Data Gathering Buffer Control $06044F
0x1140 Variable-Sized Buffers & Open-Use Space $060450
0x3FFC End of Small (8k x 16) DPRAM $060FFF*
0xFFFC End of Large (32k x 16) DPRAM $063FFF*
*Turbo PMAC memory register Y:$3F contains the Turbo PMAC address of the last DPRAM address,
plus one ($061000 or $064000).
DPRAM Data Format
Data is stored in the DPRAM in 32-bit sign-extended form. That is, each short (24-bit) from PMAC is
sign-extended and stored in 32 bits of DPRAM. The most significant byte is all ones or all zeros,
matching bit 23. Each long (48-bit) word is treated as two 24-bit words, with each short word sign-
extended to 32 bits. The host computer must re-assemble these words into a single value. The data
appears in the DPRAM in Intel format: the less significant bytes and words appear in the lower-numbered
addresses.
To reassemble a long fixed-point word in the host, take the less significant 32-bit word, and mask out the
sign extension (top eight bits). In C, this operation could be done with a bit-by- bit AND: (LSW and
16777215). Treat this result as an unsigned integer. Next, take the more significant word and multiply it
by 16,777,216. Finally, add the two intermediate results together.
To reassemble a long floating-point word in the host, treat the less significant word the same as for the
fixed-point case above. Take the bottom 12 bits of the more significant word (MSW and 4095), multiply
by 16,777,216 and add to the masked less significant word. This forms the mantissa of the floating-point
value. Now take the next 12 bits (MSW and 16773120) of the more significant word. This is the
exponent to the power of two, which can be combined with the mantissa to form the complete value.
DUAL-PORTED RAM DATA
GATHERING FORMATS
Byte 2 Byte 1 Byte 0
Byte 2
Byte 1
Byte 0
Byte 2 Byte 1 Byte 0
Byte 5 Byte 4
Byte 2
Byte 1
Byte 0
Byte 4
Byte 5
1 1 1 1 1 1 1 1
S S S S S S S S
S
S
1
S
S
2
1
S
S
2
0 7 8 15 16 23
0 7 8 15 16 23
BIT #
BIT #
DPRAM
BYTE
NO.
(RELATIVE)
0
1
2
3
24 BITS
PMAC WORD:
48 BITS
PMAC Y: WORD
PMAC X: WORD
DPRAM
BYTE
NO.
(RELATIVE)
0
1
2
3
4
5
6
7
(SIGN EXTENSION)
(SIGN EXTENSION)
(SIGN EXTENSION)
S = Sign bit
1
S = First word sign bit
= Second word sign bit
= Exponent for floating point
S
2
Byte 3
Byte 3
S
2
S
2
S
2
S
2
S
2
S
2
S
2
S
2
S S S S S S S S

DPRAM Motor Data Reporting Buffer
Turbo PMAC can provide key motor data to the DPRAM, where it can be easily and quickly be accessed
by the host computer. If this function is enabled, Turbo PMAC will copy key motor registers into fixed
registers in the DPRAM.
Foreground vs. Background: This copying function can be done either as a foreground (interrupt) task
in Turbo PMAC, or as a background task. Unless it is important to get the data at a guaranteed high
frequency, it is strongly recommended that the copying be done in background, so as not to starve other
important tasks on the Turbo PMAC for time. Even when the information is used for real-time operator
display, background transfer is the recommended method.
Enabling Foreground Copying: Setting I48 to 1 enables foreground copying of motor data. With
foreground copying, I47 sets the update period. If I47 is greater than 0, every I47 servo interrupts, Turbo
PMAC will copy motor registers into the DPRAM. With I47 at 0, Turbo PMAC will check every servo
cycle to see if the host computer has taken the previous data. If so, it will copy the current cycles data,
for an on request transfer.
Enabling Background Copying: Setting I57 to 1 enables background copying of motor data, and
automatically sets I48 to 0 to disable the foreground copying. I49 must also be set to 1 to enable the
background copying of coordinate-system and global data (see next section). If it is desired not to
transfer any coordinate-system data, set the maximum coordinate system number register in 0x0674
(Y:$06019D) to 0 (see next section).
With background copying, I50 sets the update period. If I50 is greater than 0, each background cycle,
Turbo PMAC will check to see if more than I50 servo cycles have elapsed since it last copied this data
into DPRAM. If so, it will copy the present data. With I50 at 0, Turbo PMAC will check every
background cycle to see if the host computer has taken the previous data. If so, it will copy the present
data, for an on request transfer.
Motor Specification: A dedicated 32-bit mask word in DPRAM is used to specify which motors data
will be copied into DPRAM, whether for foreground or background transfers. This word can be set up
from either the PMAC side or the host side. The format is as follows:
PMAC Address X:$06001C; Host Address Offset 0x0072
Bit
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Motor
32 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17
PMAC Address Y:$06001C; Host Address Offset 0x0070
Bit
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Motor
16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1
A value of 1 in the bit enables the transfer for the motor associated with the bit; a value of 0 disables the
transfer. These bits may be changed at any time; the new value is effective for the next transfer. Setting
this entire 32-bit word to 0 will stop all motor data copying.
Data Copied: For each motor enabled, the following values are transferred into DPRAM:
Motor following error
Motor servo command
Motor servo status
Motor general status
Motor position bias
Motor filtered actual velocity
Motor master position
Motor net actual position
Addresses of Data: For details as to the exact registers used for each of these values for each motor,
consult the Turbo PMAC Memory Map section in the Software Reference Manual.
Foreground Handshaking: If foreground transfer is used (I48 = 1), Turbo PMAC will set Bit 15 of
0x006E (X:$06001B) to 0 while it is copying motor data into the DPRAM, and it will set this bit to 1 as
soon as it is finished. The host computer should not try to read the data if this bit is 0. If I47 is set to 0
for on request transfers, the host computer should set this bit to 0 after reading the data to indicate to
Turbo PMAC that it is time to provide the next set of data.
If foreground transfer is used, Turbo PMAC also copies the 24-bit servo-cycle counter value into 0x006C
(Y:$06001B) and Bits 0 7 of 0x006E (X:$06001B) to time-stamp the data.
The host computer can set Bit 15 of 0x006A (X:$06001A) to 1 while it is reading the data. If Turbo PMAC
sees that this bit is 1 when it is ready to transfer more data into the DPRAM, it will skip this cycle. The
host must be sure to set this bit to 0 when it is done reading, to permit Turbo PMAC to transfer new data.
Background Handshaking: If background transfer of motor data is used (I57 = 1 and I49 = 1), the
handshaking is the same as for the background coordinate system and global data buffers. Turbo PMAC
will set Bit 15 of 0x067A (X:$06019E) to 0 while it is copying coordinate-system and global data into the
DPRAM, and it will set this bit to 1 as soon as it is finished. The host computer should not try to read the
data if this bit is 0. If I50 is set to 0 for on request transfers, the host computer should set this bit to 0
after reading the data to indicate to Turbo PMAC that it is time to provide the next set of data.
If background transfer is used, Turbo PMAC also copies the 24-bit servo-cycle counter value into 0x0678
(Y:$06019E) and Bits 0 7 of 0x067A (X:$06019E) to time-stamp the data.
The host computer can set Bit 15 of 0x0676 (X:$06019D) to 1 while it is reading the data. If Turbo
PMAC sees that this bit is 1 when it is ready to transfer more data into the DPRAM, it will skip this cycle.
The host must be sure to set this bit to 0 when it is done reading, to permit Turbo PMAC to transfer new
data.
DPRAM Background Data Reporting Buffer
Turbo PMAC can provide key global and coordinate-system data as a background function to the
DPRAM, where it can be easily and quickly be accessed by the host computer. If this function is enabled,
Turbo PMAC will copy key global and coordinate-system registers into fixed registers in the DPRAM.
Enabling Copying: Setting I49 to 1 enables this copying of global and coordinate-system data into
DPRAM as a background function. I50 sets the update period. If I50 is greater than 0, each background
cycle, Turbo PMAC will check to see if more than I50 servo cycles have elapsed since it last copied this
data into DPRAM. If so, it will copy the present data. With I50 at 0, Turbo PMAC will check every
background cycle to see if the host computer has taken the previous data. If so, it will copy the present
data, for an on request transfer.
Coordinate System Specification: Bits 0 4 of 0x0676 (Y:$06019D) specify the number of highest-
numbered coordinate system in the Turbo PMAC whose data will be copied into DPRAM. The data for
C.S. 1 through this coordinate system will be copied each time. If this value is set to 0, the transfer of
coordinate-system data will be stopped.
Data Copied: For each coordinate system whose copying is enabled, the following data will be
transferred:
C.S. feedrate / move time
C.S. time-base value (feedrate override)
C.S. override source address
C.S. status words
C.S. axis target positions (ABCUVWXYZ)
C.S. program status
C.S. program lines remaining in rotary buffer
C.S. time remaining in move segment
C.S. time remaining in accel/decel
C.S. program execution address offset
Addresses of Data: For details as to the exact registers used for each of these values for each motor,
consult the Turbo PMAC Memory Map section in the Software Reference Manual.
Handshaking: Turbo PMAC will set Bit 15 of 0x067A (X:$06019E) to 0 while it is copying coordinate-
system and global data into the DPRAM, and it will set this bit to 1 as soon as it is finished. The host
computer should not try to read the data if this bit is 0. If I50 is set to 0 for on request transfers, the host
computer should set this bit to 0 after reading the data to indicate to Turbo PMAC that it is time to
provide the next set of data.
Turbo PMAC also copies the 24-bit servo-cycle counter value into 0x0678 (Y:$06019E) and Bits 0 7 of
0x067A (X:$06019E) to time-stamp the data.
The host computer can set Bit 15 of 0x0676 (X:$06019D) to 1 while it is reading the data. If Turbo
PMAC sees that this bit is 1 when it is ready to transfer more data into the DPRAM, it will skip this cycle.
The host must be sure to set this bit to 0 when it is done reading, to permit Turbo PMAC to transfer new
data.
DPRAM ASCII Communications
Turbo PMAC can perform ASCII communications through the DPRAM, as well as through the normal
bus communications port, the main serial port, and the auxiliary serial port. It can accept commands and
provide responses simultaneously over multiple ports. The DPRAM provides the fastest path for ASCII
communications.
Enabling: The DPRAM ASCII communications is enabled by setting I58 to 1. If I58 is set to 0, Turbo
PMAC will not check the DPRAM for ASCII commands.
Sending a Command Line: To send an ASCII command line to Turbo PMAC:
1. Make sure that Bit 0 of the Host-Output Control Word at 0x0E9C (Y:$0603A7) the Host Data
Ready bit is 0, to be sure that Turbo PMAC has read the previous command. For the first
command after Turbo PMACs power-on/reset, this bit may have to be set to 0 by the host.
2. Write the ASCII characters into the ASCII command buffer starting at 0x0EA0 (Y:$0603A8). Two
8-bit characters are packed into each 16-bit word; the first character is placed into the low byte.
Subsequent characters are placed into consecutive higher addresses, two per 16-bit word. (In byte
addressing, each character is written to an address one higher than the preceding character.) Up to
159 characters can be sent in a single command line.
3. Terminate the string with the NULL character (byte value 0). Do not use a carriage return to
terminate the string, as on other ports.
4. Set Bit 0 of the Host-Output Control Word at 0x0E9C (Y:$0603A7) the Host Data Ready bit to 1
to tell Turbo PMAC that a command string is ready for it to read. Turbo PMAC will then read this
command in the next background cycle, set this bit back to 0, and take the appropriate action for the
command.
Note:
The communications routines of the PComm 32 library do all of these actions
automatically. If writing custom low-level communications routines, this
operation is fundamentally a string copy operation.
Sending a Control Character Command: Control-character commands can be sent through the
DPRAM through a dedicated register, independent of the ASCII text commands. To send a control-
character command to Turbo PMAC through the DPRAM:
1. Make sure that the control-character byte Bits 0 7 of 0x0E9E (X:$0603A7) is set to 0. For the
first control-character command after Turbo PMACs power-on/reset, this byte may have to be set to
0 by the host.
2. Write the control character to Bits 0 7 of 0x0E9E (X:$0603A7).
3. Each background cycle, Turbo PMAC will read this byte. If the byte contains a non-zero value,
Turbo PMAC will take the appropriate action for the command, and set the byte back to 0.
Reading a Response Line: To read an ASCII response line from the Turbo PMAC through the DPRAM:
1. Wait for the Host-Input Control Word at 0x0F40 (Y:$063D0) to become greater than 0, indicating
that a response line is ready.
2. Interpret the value in this register to determine what type of response is present. If Bit 15 is 1, Turbo
PMAC is reporting an error in the command, and there is no response other than this word. In this
case, Bits 0 11 encode the error number for the command as three BCD digits.
3. If Bit 15 is 0, there is no error, and there is a response string. Bits 8 and 9 tell what caused the
response. If they form a value of 0, a command from the host computer caused the response. If they
form a value of 1, an internal CMDR statement caused the response. If they form a value of 2, an
internal SENDR statement caused the response. Note the value in Bits 0 7. These will determine
whether this is the last line in the response or not (see Step 5, below).
4. Read the response string starting at 0x0F44 (Y:$0603D1). Two 8-bit characters are packed into each
16-bit word; the first character is placed into the low byte. Subsequent characters are placed into
consecutive higher addresses, two per 16-bit word. (In byte addressing, each character is read from
an address one higher than the preceding character.) Up to 255 characters can be sent in a single
response line. The string is terminated with the NULL character (byte value 0), convenient for C-style
string handling. For Pascal-style string handling, the register at 0x0F42 (X:$0603D0) contains the
number of characters in the string (plus one).
5. Clear the Host-Input Control Word at 0x0F40 (Y:$063D0) to 0. Turbo PMAC will not send another
response line until it sees this register set to 0.
6. If Bits 0 7 of the Host-Input Control Word had contained the value $0D (13-decimal, CR), this was
not the last line in the response, and steps 1 4 should be repeated. If they had contained the value
$06 (6-decimal, ACK), this was the last line in the response.
Note:
The communications routines of the Pcomm 32 library do all of these actions
automatically. If writing custom low-level communications routines, this
operation is fundamentally a string copy operation.
DPRAM Communications Interrupts
If I56 is set to 1, Turbo PMAC will interrupt the host computer whenever it has a response line ready for
the host to read. This interrupt has the potential to make the host communications more efficient, because
the computer does not need to poll the DPRAM to see when a response is ready.
VME Interrupt: On any of the VME-bus Turbo PMACs, this interrupt will appear on the VME-bus
interrupt line specified by I95. It will have an interrupt vector equal to (I96 + 1).
ISA Interrupt: On the ISA-bus Turbo PMACs, this interrupt will appear on the ISA-bus interrupt line
(IRQn) selected by an E-point jumper on the board. The interrupt controller IC on the board can pass
interrupts from eight different sources (IR0 IR7) through this interrupt line.
On a Turbo PMAC PC, source IR7 is used to generate the interrupt. Jumper E85 must be ON, and
jumpers E82 E84 must be OFF for this feature to work. This brings the EQU4 line (position compare
for encoder 4) into the interrupt controller the position-compare function for this encoder may not be
used for other purposes in this case.
On a Turbo PMAC2 PC, source IR5 is used to generate the interrupt from the EQU1 line (position
compare for Encoder 1). The position-compare function for this encoder may not be used for other
purposes in this case.
On a Turbo PMAC2 PC Ultralite, source IR5 is used to generate the interrupt from the CTRL0 line of the
DSPGATE2 IC, which does not have other functions.
Turbo PMAC will continue to assert this interrupt source until the host has cleared the Host-Interrupt
Control Word. Because of this, the host may see the source still active when it gets an interrupt from
another source.
DPRAM Background Variable Read Buffer
The Background Variable Data Read Buffer allows the user to have up to 128 user-specified Turbo
PMAC registers copied into DPRAM during the background cycle. This function is controlled by I55.
The buffer has two modes of operation, single-user and multi-user. The default mode is the single-user
mode. It is active when bit 8 of the control word 0x1044 (Y:$060411) is set to zero. Multi-user mode is
active when bit 8 of the control word is set to one.
General Description: The buffer has three parts. The first part is the header: four 16-bit words (eight
host addresses) containing handshake information and defining the location and size of the rest of the
table. This is at a fixed location in DPRAM (see table below).
The second part contains the address specifications of the Turbo PMAC registers to be copied into
DPRAM. It occupies two 16-bit words (4 host addresses) for each Turbo PMAC location to be copied,
starting at the location specified in the header.
The third part, starting immediately after the end of the second part, contains the copied information from
the Turbo PMAC registers. It contains two 16-bit words (four host addresses) for each short (X or Y)
Turbo PMAC location copied, and four 16-bit words (eight host addresses) for each long Turbo PMAC
location copied. The data format is the same as for data gathering to dual-ported RAM.
Register Map:
Background Variable Read Buffer Part 1
Definition and Basic Handshaking
Address Description
0x1044
(Y:$060411)
PMAC to Host (Bit 0 = 1 for single user mode) Data Ready. PMAC
done updating buffer - Host must clear for more data.
0x1046
(X:$060411)
Servo Timer (Updated at Data Ready Time)
0x1048
(Y:$060412)
Size of Data Buffer (measured in long integers of 32 bits each)
0x104A
(X:$060412)
Starting Turbo PMAC Offset of Data Buffer from beginning of
variable-buffer space $060450 (e.g.. $0100 for starting PMAC
address $060550 host address offset 0x1540)
Background Variable Read Buffer Part 2
Variable Address Buffer Format (2x16-bit words)
X:Mem
Bits 15: Data Ready
(multi-user mode)
X:Mem
Bits 4 5: Variable
type to read
Bits 0 3: Bits 16 19
of address
Y:Mem
Bits 0 15 of PMAC
address of register to
read
Dual
Port
Data
Length
1 = PMAC data ready
0 = Host request data
Bits 4 5 = 0: PMAC
Var. Y:Mem.
PMAC Address of Variable 32 bits
1 = PMAC data ready
Bits 4 5 = 1: PMAC
Var. Long
1 = PMAC data ready
Bits 4 5 = 2: PMAC
Var. X:Mem.
Enabling: To start operation of this buffer:
1. Write the starting location of the second part of the buffer into register 0x104A (X:$060412). This
location is expressed as a Turbo PMAC address offset from the start of DPRAMs variable-buffer
space at $060450, and it must be between $0000 and $0BAF for the 8k x 16 DPRAM, or between
$0000 and $3BAF for the 32k x 16 DPRAM.
2. Starting at the DPRAM location specified in the above step, write the Turbo PMAC addresses of the
registers to be copied, and the register types. The first 16-bit word holds the low 16 bits of the Turbo
PMAC address of the first register to be copied; the second 16-bit word hold the high 4 bits of this
address in bits 0 3; bits 4 5 take a value of 0, 1, or 2 to specify Y, Long, or X, respectively, for the
first register. The third and fourth words specify the address and type of the second register to be
copied, and so on.
3. Write a number representing the size of the buffer into register 0x1048 (Y:$060412). This value must
be between 1 and 128. When Turbo PMAC sees that this value is greater than zero and the individual
data ready bit is zero, it is ready to start copying the registers specified into DPRAM.
4. To enable the single-user mode, write a zero into the control word at 0x1044 (Y:$060411). To enable
the multi-user mode write a 256 (set bit 8 and clear bit 0) into this control and set bit 15 = 0 of each
variable's data type register (X memory register). This will tell Turbo PMAC that the host is ready to
receive data and what the mode is for the data.
5. Set I55 to 1. This enables both the background variable data reporting function and the background
variable data writing function.
Single-User Mode Procedure: In operation, Turbo PMAC will try to copy data into the buffer each
background cycle -- between each scan of each PLC program. If bit 0 of the control word 0x1044 is set to
1, it will assume that the host has not finished reading the data from the last cycle, so it will skip this
cycle. If bit 0 is 0, it will copy all of the specified registers.
When Turbo PMAC is done copying the specified registers, it copies the low 16 bits of the servo timer
register (X:$000000) into the DPRAM at 0x1046 (X:$060411). Then it sets Bit 0 of the control word
0x1044 (Y:$060411) to let the host know that it has completed a cycle.
When the host wants to read this data, it should check to see that Bit 0 of the control word at 0x1044 (the
Data Ready bit) has been set. If it has, the host can begin reading and processing the data in the DPRAM.
When it is done, it should clear the Data Ready bit to let Turbo PMAC know that it can perform another
cycle.
Multi-User Mode Procedure: The operation of this mode is very similar to the Single-User Mode
described above. The main difference is that the control word is no longer used as a global handshaking
bit for updating the buffer. It only enables or disables the multi-user mode. In multi-user mode the
control word is never modified by Turbo PMAC. Handshaking is now on an individual variable basis and
is controlled by bit 15 of the variable's data type specifier.
Each background cycle, between each scan of each uncompiled PLC program, Turbo PMAC will try to
copy data into each variable in the buffer. Bit 15 of each variables data type specifier controls whether
or not Turbo PMAC is allowed to update that particular variable's value. Turbo PMAC will skip updating
any variable that has bit of its data type specifier set to 1. Any variable that has bit 15 set to 0 will be
updated.
When Turbo PMAC is done servicing the buffer, it copies the low 16 bits of the servo timer register
(X:$000000) into the DPRAM at 0x1046 (X:$060411). This is not dependent upon updating any
variables in the buffer.
When the host wants to read a register, it should check to see that Bit 15 of the data type specifier (the
Data Ready bit) has been set. If it has, the host can begin reading and processing the data from that
register. When it is done, it should clear the Data Ready bit to let Turbo PMAC know that it can update
that register the next cycle.
Data Format: Each 24-bit (X or Y) register is sign-extended to 32 bits. For a 48-bit (Long) register,
each 24-bit half is sign-extended to 32 bits, for a total of 64 bits in the DPRAM. This data starts
immediately after the last address specification register.
Disabling: To disable this function, set the size register 0x1048 (Y:$060412) to 0, or simply leave the
individual Data Ready bits set.
DPRAM Background Variable Data Write Buffer
The Background Variable Data Write Buffer is essentially the opposite of the Background Variable Data
Read Buffer described above. It allows the user to write to up to 32 user-specified registers or particular
bits in registers to Turbo PMAC without using a communications port (PCbus, serial, or DPRAM ASCII
I/O). This allows the user to set any Turbo PMAC variable without using an ASCII command such as
M1=1 and without worrying about an open Rotary Buffer. This function is controlled by I55.
General Description: The buffer has two parts. The first part is the header: two 16-bit words (four host
addresses) containing handshake information and defining the location and size of the rest of the table.
This is at a fixed location in DPRAM (Turbo PMAC address $060413 as shown in the table below).
The second part contains the address specifications of the Turbo PMAC registers to be copied into Turbo
PMAC. It occupies 6 x 16-bit words (12 host addresses) for each Turbo PMAC location to be written to,
starting at the location specified in the header.
Registers:
Background Variable Data Write Buffer Part 1
Definition and Basic Handshaking
Address Description
0x104C
(Y:$060413)
HOST to PMAC Data Transferred. PMAC is updated when cleared.
Host must set for another update.
0x07E8
(X:$060413)
Starting Turbo PMAC Offset of Data Buffer from beginning of
variable-buffer space $060450 (e.g.. $0100 for starting PMAC
address $060550 host address offset 0x1540)
Background Variable Write Buffer Part 2
Format for each Data Structure (6x16-bit)
Address X-Register Contents Y-Register Contents

n
Bits 11 15: Offset (= 0 23) Starting bit
number of target register into which value will be
written
Bits 6 10: Width (= 0, 1, 4, 8, 12, 16, or 20 0
represent 24 bits) number of bits of target
register into which value will be written
Bits 3 5: Type of target register
=0: Y-register
= 1: Long (X/Y-register)
=2: X-register
Bits 0 2: Upper 3 bits (bits 16 18) of target
register address

Bits 0 15 of target register
address
n+1 Upper 16 bits of data word 1 Lower 16 bits of data word 1
n+2 Upper 16 bits of data word 2 (only used for writing
into long register)
Lower 16 bits of data word 2
(only used for writing into long
register)
Enabling: To start operation of this buffer:
1. Write the starting location of the second part of the buffer into register 0x104E (X:$060413). This
location is expressed as a Turbo PMAC address offset from the start of DPRAMs variable-buffer
space at $060450, and it must be between $0000 and $0BAF for the 8k x 16 DPRAM, or between
$0000 and $3BAF for the 32k x 16 DPRAM.
2. Starting at the DPRAM location specified in the above step, write the Turbo PMAC addresses of the
registers to be copied, and the register types. The first 16-bit word contains the low 16 bits of the
Turbo PMAC address of the first register to be copied. The second 16-bit word takes a value of 0 to
65535 to specify the type, width, offset, and high three bits of address for this target Turbo PMAC
register. The third, fourth, fifth, and sixth words specify the data to be written.
Note:
If address 0 is specified, the writing operation will be terminated. Write operations
further down in the buffer will not be executed.
3. Write a number representing the size of the buffer into register 0x104C (Y:$060413). This value
must be between 1 and 32. When Turbo PMAC sees that this value is greater than zero, it is ready to
start copying the registers specified into Turbo PMAC. When it is finished it will change the value in
this register to a 0.
4. Set I55 to 1. This enables both the background variable data read function and the background
variable data write function.
Procedure: In operation, Turbo PMAC will copy the data from the buffer into Turbo PMAC during the
background cycle whenever 0x104C (Y:$060413) is a not zero. If this register is 0 it will assume that the
host has not finished placing the data in the buffer and will not write to Turbo PMAC. Once this register
is set to a number from 1 to 32 it will copy that many registers, starting at the start of the header start
address information, from the DPRAM to Turbo PMAC.
When Turbo PMAC is done copying the specified registers, it sets register 0x104C (Y:$060413) to zero
to let the host know that it has completed a cycle.
When the host wants to update this buffer, it should check to see that 0x104C (Y:$060413) is zero. When
it is done, it should set up the address/data structure. Then set 0x104C (Y:$060413) to the number of
registers to copy to Turbo PMAC to let Turbo PMAC know that it can perform another cycle.
Data Format: Turbo PMAC X and Y registers will use the long 32-bit data 1word. The 32-bit data 2
word is not used in this case. The high eight bits are sign-extension bits.
For a 48-bit Turbo PMAC integer or float point value, The L (Long) format should be used. L-format
will have the lower 32 bits of the total 48 bits in the long 32-bit data 1 word and the upper 16 bits in the
lower 32-bit data 2 word. This data starts immediately after the last address specification register.
Disabling: To disable this function, simply leave 0x104C (Y:$060413) set to zero.
DPRAM Binary Rotary Program Transfer Buffers
The binary rotary program transfer buffers in Turbo PMACs DPRAM permit the host computer to send
motion program commands to Turbo PMAC in its internal binary storage format for the fastest possible
transmission of these commands. Each of the 16 possible coordinate systems in the Turbo PMAC can
have its own binary rotary transfer program buffer in DPRAM.
Each coordinate system for which this feature is used must also have a rotary motion program buffer
defined in Turbo PMACs internal RAM. This is done with the &n DEFINE ROTARY {size}
command. These internal rotary motion program buffers are not retained through a power-down or board
reset, so they must be defined after every board power-up/reset. If multiple internal rotary program
buffers are defined, they must defined from the highest-numbered coordinate system to the lowest.
The binary rotary program transfer buffers in DPRAM are simply pass-through buffers to the internal
rotary program buffers. When Turbo PMAC receives a binary-format motion program command in the
DPRAM buffer from the host computer, it simply copies this data into the rotary buffer in internal
memory. The end result is the same as if an ASCII program command had been sent to Turbo PMAC
through any of the ports, but the transmission is quicker for several reasons:
1. There is no handshaking of individual characters.
2. There is no parsing of an ASCII command into internal binary storage format.
3. Multiple command lines can be processed in a single communications cycle.
If I45 is set to the default value of 0, Turbo PMAC checks the binary rotary buffers in DPRAM every
background cycle, transferring any new contents to the internal rotary program buffers. If I45 is set to 1,
it checks the binary buffers as a higher-priority foreground task, every real-time interrupt.
Routines in Delta Taus Pcomm 32 communications library provide automatic support for the binary
rotary-program transfer buffer.
General Description: Each coordinate systems binary rotary transfer buffer has two parts. The first
part is the header, at a fixed address in DPRAM. The header for each binary rotary transfer buffer
occupies six 16-bit words, and contains the key information on the size and status of the second part of
the buffer.
The second part of the buffer is at a location in DPRAM specified by the user in the header. It contains
the actual binary-format motion-program commands. The size of this part is also specified by the user in
the header.
Registers: The following table shows the structure of the header. The addresses given are for the first
coordinate system. Headers for the other coordinate systems follow immediately after. Those addresses
can be found in the memory map in the Software Reference.
Binary Rotary Transfer Buffer Control
Address for first
C.S. Rotary Buffer
Description
0x1050
(Y:$60414)
PMAC to HOST Binary Rotary Buffer Status Word
Bit 15 = 1 :Error (Stops processing commands)
Bit14 = 1 :Internal Rotary buffer full (Busy flag) PMAC Index stops
updating.
Bits 7-0 = Code Error
------ ------------------------------------
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 mean 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 DPR binary rotary buffer is empty.
0x1052
(X:$60414)
Coordinate System Number and Enable Control
Bits 0 4 represent C.S. #; buffer enabled if 0 < C.S.# < 17
0x1054
(Y:$60415)
Host Binary Rotary Buffer Index PMAC address offset from start
address of buffer as set in 0x105A
0x1056
(X:$60415)
PMAC Binary Rotary Buffer Index PMAC address offset from
start address of buffer as set in 0x105A
0x1058
(Y:$60416)
Size of Binary Rotary Buffer in PMAC addresses (= host computer
addresses / 4)
0x105A
(X:$60416)
Starting Binary Rotary Buffer PMAC Address Offset from start of
DPRAM variable buffer space ($060450)
Using the Buffer: First, Turbo PMACs internal binary rotary program buffer must be established with
the &n DEFINE ROT command.
Next, the header information for the DPRAM transfer buffer must be set up. The starting address and size
of the transfer buffer must be declared. The buffer should not overlap with any other use of DPRAM.
The size parameter must be an even number, with an absolute minimum of 6 PMAC addresses. The size
should be declared large enough so as not to limit throughput. Each basic PMAC command component
(e.g. X10) occupies two PMAC addresses in the transfer buffer. The transfer occurs each background
cycle, typically a few milliseconds.
Both indices should be set to zero to indicate that both sides are pointing to the start of the buffer. Next,
the &n OPEN BIN ROT command should be given, so that Turbo PMAC checks for new data in the
transfer buffer.
Now, binary format commands can be loaded into the transfer buffer, and the host index updated. As
Turbo PMAC reads the commands from the buffer, it updates the PMAC index.
Binary Command Structure: Typically, PCOMM32 routines generate the binary command format
automatically. Contact the factory for more knowledge of this format.
DPRAM Data Gathering Buffer
Turbo PMACs data gathering function can create a rotary buffer in DPRAM, so that the host computer
can pick up the data as it is being gathered. This way, the size of the data gathering buffer is not limited
by Turbo PMACs own memory capacity. The data gathering buffer in DPRAM is selected if I5000 is set
to 2 or 3; if I5000 is set to 3, it is used in a rotary fashion, which is how the buffer is typically used.
The DPRAM data gathering buffer always starts at address 0x1140 (Y:$060450). Its size is determined
by the DEFINE GATHER {size} command, where {size} sets the number of PMAC addresses
from the start. This size value is stored at 0x113C (Y:$06044F).
Variables I5001 through I5048 determine the potential registers to be gathered. I5050 and I5051 are 24-
bit mask variables that determine which of the 48 possible sources will be gathered. I5049 determines the
gathering period, in servo cycles.
The actual gathering is started by the on-line GATHER command, and stopped by the on-line
ENDGATHER command. As Turbo PMAC gathers data into the DPRAM, it advances the pointer that
shows the address offset where the next item to be gathered will be placed. This pointer is stored at
0x113E (X:$06044F). The host computer must watch for changes to this pointer to indicate that more
data has been copied into DPRAM.


Turbo PMAC Command Summary 71
TURBO PMAC VARIABLE AND COMMAND SUMMARY
Notes
PMAC syntax is not case sensitive.
Spaces are not important in PMAC syntax, except where noted
{} -- item in {} can be replaced by anything fitting definition
[] -- item in [] is optional to syntax
[{item}...] -- indicates previous item may be repeated in syntax
[..{item}] -- the periods are to be included in the syntax to specify a range
() -- parentheses are to be included in syntax as they appear
Definitions
constant -- numerically specified non-changing value
variable -- entity that holds a changeable value
I-variable -- variable of fixed meaning for card setup and personality (1 of 8192)
P-variable -- global variable for programming use (1 of 8192)
Q-variable -- local variable (in coordinate system) for programming use (1 of 8192)
M-variable -- variable assigned to memory location for user use (1 of 8192)
pre-defined variable -- mnemonic that has fixed meaning in card
function -- SIN, COS,TAN,ASIN,ACOS,ATAN,ATAN2,LN,EXP,SQRT,ABS,INT
operator -- for arithmetic or bit-by-bit logical combination of two values: +, -, *, /, % (mod), &
(and), | (or), ^ (xor)
expression -- grouping of constants, variables, functions, and operators
data -- constant without parentheses, or expression with parentheses
comparator -- evaluates relationship between two values: =, !=, >, !>, <, !<, ~, !~
condition -- evaluates as true or false based on comparators
simple condition -- {expression} {comparator} {expression}
compound condition -- logical combination of simple conditions
motor -- element of control for hardware setup; specified by number
coordinate system -- collections of motors working synchronously
axis -- element of a coordinate system; specified by letter chosen from X, Y, Z, A, B, C, U, V, W
buffer -- space in user memory for program or list; contains up to 256 motion programs and 32 PLC
blocks
72 Turbo PMAC Command Summary
On-Line Commands
(Executed immediately upon receipt by PMAC)
On-line Global Commands
Addressing Mode Commands
@n Address card n (n is hex digit 0 to f); serial host only
@ Report currently addressed card to host; serial host only
#n Make motor n currently addressed motor
# Report currently addressed motor number to host
##n Select motor group of 8 for multi-motor responses
## - Report selected motor group of 8
&n Make coordinate system n the currently addressed coordinate system
& Report currently addressed coordinate system to host
Communications Control-Characters
<CTRL-H> Erase last character from host (backspace)
<CTRL-I> Repeat last command from host (tab)
<CTRL-M> End of command line (carriage return)
<CTRL-N> Report checksum of current command line
<CTRL-T> End MACRO ASCII pass through mode
<CTRL-X> Abort current PMAC command and response strings
General Global Commands
$$$ Reset entire card, restoring saved values
$$$*** Reset and re-initialize entire card, using factory default values.
LOCK{constant},P{constant} Check/set process locking bit
PASSWORD={string} Set/confirm password for PROG1000-32767, PLC0-15
SAVE Copy active memory into non-volatile flash memory
SETPHASE{constant}[,{constant}] Set commutation phase position for specified motors
TIME={time} Set time in active memory
TODAY={date} Set date in active memory
UNLOCK{constant} Clear process locking bit
UPDATE Copy date and time into optional non-volatile clock/calendar
UNDEFINE ALL Erase definition of all coordinate systems
Global Action Commands
<CTRL-A> Abort all motion programs and moves
<CTRL-D> Disable all PLC and PLCC programs
<CTRL-K> Kill outputs for all motors
<CTRL-O> Do feed hold on all coordinate systems
<CTRL-Q> Quit all programs at end of calculated moves
<CTRL-R> Run working programs in all coordinate systems
<CTRL-S> Step working programs in all coordinate systems

Global Status Commands
<CTRL-B> Report 8 motor status words to host
<CTRL-C> Report all coordinate system status words to host
<CTRL-F> Report 8 motor following errors (unscaled)
<CTRL-G> Report global status words in binary form
<CTRL-P> Report 8 motor positions (unscaled)
<CTRL-V> Report 8 filtered motor velocities (unscaled)
??? Report global status words in hex ASCII
CID Report card ID (part) number
CPU Report model of CPU used
DATE Report release date of firmware version used
IDNUMBER Report Option 18 electronic identification number
LIST Report contents of open program buffer
LIST PROGRAM {constant} Report contents of specified motion program
LIST PLC {constant} Report contents of specified PLC program
SID Report Option 18 electronic identification number
SIZE Report size of open memory in words
STN Report MACRO-ring station-order number
TIME Report present time
TODAY Report present date
TYPE Report type of PMAC
VERSION Report firmware revision level
VID Report vendor ID number
Register Access Commands
R{address}[,{constant}] Report contents of specified memory word address [or specified
range of addresses] in decimal
RH{address}[,{constant}] Report contents of specified memory word address [or specified
range of addresses] in hex
W{address},{constant}[,{constant}..] Write value to specified memory word address
[or values to range]
PLC Control Commands
ENABLE PLC{constant}[,{constant}...] Enable operation of specified interpreted PLC
program[s], starting at top of scan
DISABLE PLC{constant}[,{constant}...] Disable operation of specified interpreted PLC
program[s]
PAUSE PLC{constant}[,{constant}...] Suspend operation of specified interpreted PLC
program[s]
RESUME PLC{constant}[,{constant}...] Enable operation of specified interpreted PLC
program[s], starting at paused point
ENABLE PLCC{constant}[,{constant}...] Disable operation of specified compiled PLC
program[s]
DISABLE PLCC{constant}[,{constant}...] - Disable operation of specified compiled PLC
program[s]

Global Variable Commands
{constant} Equivalent to P0={constant} if no unfilled table; otherwise value entered into table
I{data}={expression} Assign expression value to specified I-variable
I{constant}..{constant}={constant} Assign constant value to specified range of I-
variables
I{constant}[..{constant}]=* Set specified I-variable[s] to default[s]
I{constant}=@I{constant}] Set specified I-variable to address of another I-variable
I{constant}[..{constant}] Report I-variable values to host
P{data}={expression} Assign expression value to specified P-variable
P{constant}..{constant}={constant} Assign constant value to specified range of P-
variables
P{constant}[..{constant}] Report P-variable values to host
M{data}={expression} Assign expression value to specified M-variable
M{constant}..{constant}={constant} Assign constant value to specified range of M-
variables
M{constant}->{definition} Define M-variable as specified
M{constant}->* Erase M-variable definition; usable as non-pointer variable
M{constant}[..{constant}] Report M-variable values to host
M{constant}[..{constant}]-> Report M-variable definitions to host
Buffer Control Commands
OPEN PROG{constant} Open specified motion program buffer for entering/editing
OPEN ROT Open all defined rotary program buffers for ASCII entry
OPEN BIN ROT Open all defined rotary program buffers for binary entry
OPEN PLC{constant} Open specified PLC program buffer for entry
CLOSE Close buffer currently opened on this port
CLOSE ALL Close buffer currently opened on any port
CLEAR Erase contents of opened buffer
CLEAR ALL Erase all motion and uncompiled PLC program buffers
CLEAR ALL PLCS Erase all uncompiled PLC program buffers
DEFINE GATHER [{constant}] Set up a data-gathering buffer using all open memory [or of
specified size]
DELETE GATHER Erase the data gathering buffer
GATHER [TRIGGER] Start data gathering [on external trigger]
ENDGATHER Stop data gathering
DELETE PLCC{constant} Erase specified compiled PLC program
DEFINE TBUF{constant} Set up specified number of axis transformation matrices
DELETE TBUF Erase all axis transformation matrices
DEFINE UBUFFER{constant} Set up a user buffer of specified number of words
DELETE ALL Erase all DEFINEd buffers
DELETE ALL TEMP Erase all DEFINEd buffers with temporary contents

MACRO Ring Commands
MACROASCII{master#} Put this PMAC port in pass-through mode so communications are passed
through MACRO to specified other master
MACROAUX{node#},{param#} Report MACRO Type 0 auxiliary parameter value from slave node
MACROAUX{node#},{param#}={constant} Set MACRO Type 0 auxiliary parameter value in
slave node
MACROAUXREAD{node#},{param#},{variable} Copy MACRO Type 0 auxiliary parameter
value from slave node to PMAC variable
MACROAUXWRITE{node#},{param#},{variable} Copy from PMAC variable to MACRO
Type 0 auxiliary parameter value in slave node
MACROMST{master#},{master variable} Report variable value from remote MACRO
master through Type 1 MACRO protocol
MACROMST{master#},{master variable}={constant} Set variable value on remote
MACRO master through Type 1 MACRO protocol
MACROMSTASCII{master #} Put this ring-controller Turbo PMAC in pass-through mode to other
master on ring
MACROMSTREAD{master#},{master variable},{ring-master variable} Copy
variable value from remote MACRO master into own variable through Type 1 MACRO
protocol
MACROMSTWRITE{master#},{master variable},{ring-master variable} Copy
variable value to remote MACRO master from own variable through Type 1 MACRO
protocol
MACROSLAVE{command},{node#} Send command to slave node with Type 1 protocol
MACROSLAVE{node#},{slave variable} Report slave node variable value with Type 1
MACRO protocol
MACROSLAVE{node#},{slave variable}={constant} Set slave node variable value with
Type 1 MACRO protocol
MACROSLVREAD{node#},{slave variable},{PMAC variable} Copy from slave node
variable to PMAC variable with Type 1 MACRO protocol
MACROSLVWRITE{node#},{slave variable},{PMAC variable} Copy PMAC variable
to slave node variable with Type 1 MACRO protocol
MACROSTASCII{station #} Put this ring-controller Turbo PMAC in pass-through mode to other
station on ring
STN={constant} Set MACRO-ring station-order number
On-line Coordinate System Commands
(These act immediately on currently addressed coordinate system)
Axis Definition Commands
#n->[{constant}]{axis}[+{constant}] Define axis in terms of motor #, scale factor, and
offset
Examples: #1->X
#4->2000A+500
#n->[{constant}]{axis}[+[{constant}]{axis}[+[{constant}]{axis}]]
[+{constant}] Define 2 or 3 axes in terms of motor #, scale factors, and offset.
Valid only within XYZ or UVW groupings.
Examples: #1->8660X-5000Y
#2->5000X+8660Y+5000
#n->I[+{constant}] Assign motor as inverse kinematic axis
#n-> Report axis definition of motor n in this C. S.
#n->0 Erase axis definition of motor n in this C. S.
UNDEFINE Erase definition of all axes in this C. S.
General Coordinate-System Commands
%{constant} specify feedrate override value
$$ Establish phase reference (if necessary) and close loop for all motors in C.S.
$$* Read absolute position value for all motors in C.S.
Coordinate-System Reporting Commands
?? Report coordinate system status in hex ASCII form
% report current feedrate override value to host
LIST PC Report next line to be calculated in motion program
LIST PE Report executing motion line in motion program
LIST ROTARY Report contents of coordinate systems rotary motion program buffer
MOVETIME Report time left in presently executing move
PC Report address of next line to be calculated in motion program
PE Report address of executing motion line in motion program
PR Report number of lines still to be calculated in rotary buffer
Program Control Commands
/ - Stop execution at end of currently executing move
\ - Execute quickest stop in lookahead that does not violate constraints
R Run current program
S Do one step of current program
B[{constant}] Set program counter to specified location
H Feed hold for coordinate system
A Abort present program or move starting immediately
ABR[{constant}] Abort present program and restart or start another program
Q Halt program; stop moves at end of last calculated program command
MFLUSH Erase contents of synchronous M-variable stack without executing
Coordinate-System Variable Commands
Q{data}={expression} Assign expression value to specified Q-variable
Q{constant}..{constant}={constant} Assign constant value to specified range of Q-
variables
Q{constant}[..{constant}] Report Q-variable values to host
Axis Attribute Commands
{axis}={expression} Change value of commanded axis position
Z -- Make present commanded position of all axes in coordinate system equal to zero
INC [({axis}[,{axis}...])] Make all [or specified] axes do their moves incrementally
ABS [({axis}[,{axis}...])] Make all [or specified] axes do their moves absolute
FRAX ({axis}[,{axis}...]) Make specified axes to be used in vector feedrate calculations
NOFRAX Remove all axes from list of vector feedrate axes
PMATCH Re-match coordinate system axis positions to motor commanded positions (used in case axis
definition or motor position changed since last axis move)
DEFINE ROT {constant} Establish rotary motion program buffer of specified word size for the
addressed coordinate system
DELETE ROT Erase rotary motion program buffer for addressed coordinate system
DEFINE LOOKAHEAD {constant},{constant} Establish lookahead buffer for the addressed
coordinate system with the specified number of motion segments and synchronous M-
variable assignments
DELETE LOOKAHEAD Erase lookahead buffer for addressed coordinate system
DEFINE CCBUFFER Establish extended cutter-compensation block buffer
DELETE CCBUFFER Erase extended cutter-compensation block buffer
LEARN Read present commanded positions and add as axis commands to open program buffer
OPEN FORWARD Open forward-kinematic program buffer for entry
OPEN INVERSE Open inverse-kinematic program buffer for entry
On-line Motor Commands
(These act immediately on the currently addressed motor. Except for the reporting commands, these
commands are rejected if the motor is in a coordinate system that is currently running a motion program.)
General Motor Commands
$ Establish phase reference (if necessary) and close loop for motor
$* Read absolute position for motor
HOME Perform homing search move for motor
HOMEZ Set present commanded position for motor to zero
K Kill output for motor
O{constant} Set open-loop servo output of specified magnitude
Jogging Commands
J+ Jog motor indefinitely in positive direction
J- Jog motor indefinitely in negative direction
J/ Stop jogging motor; also restore to position control
J= Jog motor to last pre-jog or pre-handwheel position
J={constant} Jog motor to specified position
J=* variable jog-to-position
J:{constant} Jog motor specified distance from current commanded position
J:* Variable incremental jog from current commanded position
J^{constant} Jog motor specified distance from current actual position
J^* Variable incremental jog from current actual position
{jog command}^{constant} Jog until trigger, final value specifies distance from trigger position
to stop
Motor Reporting Commands
P Report position of motor
V Report velocity of motor
F Report following error of motor
? Report status words for motor in hex ASCII form
LIST BLCOMP Report contents of backlash compensation table for motor
LIST BLCOMP DEF Report definition of backlash compensation table for motor
LIST COMP Report contents of position compensation table for motor
LIST COMP DEF Report definition of position compensation table for motor
LIST TCOMP Report contents of torque compensation table for motor
LIST TCOMP DEF Report definition of torque compensation table for motor
DEFINE BLCOMP {entries},{count length} Establish backlash compensation table for
motor; to be filled by specified number of values
DELETE BLCOMP Erase backlash compensation table for motor
DEFINE COMP {entries},[#{source},[#{target},]],{count length} Establish
leadscrew compensation table for motor; to be filled by specified number of values
DEFINE COMP {rows}.{columns}, [#{source1}, [#{source2},
[#{target},]]],{count length1},{count length2} Establish two-
dimensional leadscrew compensation table for motor; to be filled by specified number of
values
DELETE COMP Erase leadscrew compensation table for motor
DEFINE TCOMP {entries},{count length} Establish torque compensation table for motor;
to be filled by specified number of values
DELETE TCOMP Erase torque compensation table for motor
Motion Program Commands
Move Commands
{axis}{data}[{axis}{data}] Simple position movement statement; can be used in LINEAR,
RAPID, or SPLINE modes
Example: X1000 Y(P1) Z(P2*P3)
{axis}{data}:{data}[{axis}{data}:{data}...] Position/velocity move statement; to
be used only in PVT mode
Example: X5000:750 Y3500:(P3) A(P5+P6):100
{axis}{data}^{data}[{axis}{data}^{data}...] Move-until-trigger statement, to be
used only in RAPID mode
{axis}{data}[{axis}{data}...][{vector}{data}...] Arc move statement; to be used
only in CIRCLE mode; vector is to circle center
Example: X2000 Y3000 Z1000 I500 J300 K500
{axis}{data}[{axis}{data}...] R{data} -- Arc move statement; to be used only in
CIRCLE mode; R-value is radius magnitude
Example: X2000 Y3000 Z1000 R500
DWELL{data} Zero-distance statement; fixed time base
DELAY{data} Zero-distance; variable time base
HOME{constant}[,{constant}...] Homing search move statement for specified motors
HOMEZ{constant}[,{constant}...] Zero-move homing statement for specified motors
Move Mode Commands
LINEAR Set blended linear interpolation move mode
RAPID Set minimum-time point-to-point move mode
CIRCLE1 Set clockwise circular interpolation move mode
CIRCLE2 Set counterclockwise circular interpolation move mode
PVT{data} Set position/velocity/time move mode (parabolic velocity profiles)
SPLINE1 Set uniform cubic spline move mode
SPLINE2 Set non-uniform cubic spline move mode
CC0 Set cutter radius compensation off
CC1 Set 2D cutter radius compensation on left
CC2 Set 2D cutter radius compensation right
CC3 Turn on 3D cutter radius compensation
Axis Attribute Commands
ABS [({axis}[,{axis},...])] Set absolute move mode for all [or specified] axes
INC [({axis}[,{axis},...])] Set incremental move mode for all [or specified] axes
FRAX ({axis}[,{axis}...]) Set specified axes as vector feedrate axes
NOFRAX Remove all axes from list of vector feedrate axes
NORMAL{vector}{data}[{vector}{data}...] Specify normal vector to plane for circular
moves and cutter compensation
PSET{axis}{data}[{axis}{data}...] Assign new values to present axis positions
CCR{data} Specify 2D/3D cutter radius compensation value (modal)
TR{data} Specify tool-shaft radius for 3D compensation
TSEL{data} Select specified axis transformation matrix
TINIT Initialize selected axis transformation matrix as identity matrix
ADIS{data} Set displacement vector of selected matrix to values starting with specified Q-variable
IDIS{data} Increment displacement vector of selected matrix to values starting with specified Q-
variable
AROT{data} Set rotation/scaling portion of selected matrix to values starting with specified Q-
variable
IROT{data} Incrementally change rotation/scaling portion of selected matrix by multiplying it with
values starting with specified Q-variable
SETPHASE{constant}[,{constant}] Set commutation phase position value for specified
motors
Move Attribute Commands
TM{data} Specify move time (modal)
F{data} Specify move speed (modal)
TA{data} Specify move acceleration time (modal)
TS{data} Specify acceleration S-curve time (modal)
NX{data} Specify surface-normal vector X-component for 3D comp
NY{data} Specify surface-normal vector Y-component for 3D comp
NZ{data} Specify surface-normal vector Z-component for 3D comp
TX{data} Specify tool-orientation vector X-component for 3D comp
TY{data} Specify tool-orientation vector Y-component for 3D comp
TZ{data} Specify tool-orientation vector Z-component for 3D comp
Variable Assignment Commands
I{data}={expression} Assign expression value to specified I-variable
P{data}={expression} Assign expression value to specified P-variable
Q{data}={expression} Assign expression value to specified Q-variable
M{data}={expression} Assign expression value to specified M-variable
M{data}=={expression} Assign expression synchronous with start of next move
M{data}&={expression} AND M-variable with expression synchronous with start of next move
M{data}|={expression} OR M-variables with expression synchronous with start of next
move
M{data}^={expression} XOR M-variables with expression synchronous with start of next
move
Program Logic Control
N{constant} Line label
O{constant} Line label, alternate entry form
GOTO{data} Jump to specified line label; no return
GOSUB{data}[{letter}{axis}...] Jump to specified line label [with arguments] and return
CALL{data}[.{data}][{letter}{axis}...] Jump to specified program [and label] [with
arguments] and return.
RETURN - Return program operation to most recent GOSUB or CALL
READ ({letter} [,{letter}...]) Read argument into subroutine/subprogram from calling
line
G{data} Gnn[.mmm] interpreted as CALL 1000.nnmmm (PROG 1000 provides subroutines for
desired G-Code actions)
M{data} Mnn[.mmm] interpreted as CALL 1001.nnmmm (PROG 1001 provides subroutines for
desired M-Code actions)
T{data} Tnn[.mmm] interpreted as CALL 1002.nnmmm (PROG 1002 provides subroutines for
desired T-Code actions.)
D{data} Dnn[.mmm] interpreted as CALL 1003.nnmmm (PROG 1003 provides subroutines for
desired D-Code actions.)
S{data} Set Q127 to value of {data} (spindle command)
PRELUDE1{call command} Enable modal execution of call command before subsequent moves
PRELUDE0 Disable modal PRELUDE calls
IF ({condition}){action} Conditionally execute single-line action
IF ({condition}) Conditionally execute following statements
ELSE {action} Execute single-line action on previous false condition
ELSE - Execute following statements on previous false IF condition
ENDIF Mark end of conditionally executed branch statements
WHILE ({condition}){action} Do single-line action as long as condition true
WHILE ({condition}) Execute following statements as long as condition true
ENDWHILE Mark end of conditionally executed loop statements
BLOCKSTART So all commands until BLOCKSTOP to execute on Step
BLOCKSTOP End of single-step statements starting on BLOCKSTART
STOP Halt program execution, ready to resume
WAIT Use with WHILE to halt execution while condition true
LOCK{constant},P{constant} Check/set process-locking bit
UNLOCK{constant} Clear process-locking bit
Miscellaneous Commands
COMMAND"{command}" Issue text command, no response
COMMAND^{letter} Issue control character command, no response
COMMANDS"{command}" Issue text command, respond to main serial port
COMMANDS^{letter} Issue control character command, respond to main serial port
COMMANDP"{command}" Issue text command, respond to parallel bus port
COMMANDP^{letter} Issue control character command, respond to parallel bus port
COMMANDR"{command}" Issue text command, respond to DPRAM ASCII port
COMMANDR^{letter} Issue control character command, respond to DPRAM ASCII port
COMMANDA"{command}" Issue text command, respond to auxiliary serial port
COMMANDA^{letter} Issue control character command, respond to auxiliary serial port
SENDS"{message}" Transmit message over main serial interface
SENDP"{message}" Transmit message over parallel bus interface
SENDR"{message}" Transmit message over DPRAM ASCII interface
SENDA"{message}" Transmit message over auxiliary serial interface
DISPLAY [{constant}] "{message}" Send message to LCD display [starting at specified
location]
DISPLAY {constant}, {constant}.{constant}, {variable} - Send variable value to
LCD using specified location and format
program[s], starting at top of program
program[s]
program[s]
ENABLE PLCC{constant}[,{constant}...] Enable operation of specified compiled PLC
program[s]
DISABLE PLCC{constant}[,{constant}...] Disable operation of specified compiled PLC
program[s]
PLC Program Commands
Conditions
IF ({condition}) Conditionally execute following statements
WHILE ({condition}) Execute following statements as long as condition true
AND ({condition}) Forms compound condition with IF or WHILE
OR ({condition}) Forms compound condition with IF or WHILE
ELSE Execute following statements on previous false IF condition
ENDIF Mark end of conditionally executed branch statements
ENDWHILE Mark end of conditionally executed loop statements
Variable Value Assignment
I{data}={expression} assigns expression value to specified I-variable
P{data}={expression} assigns expression value to specified P-variable
Q{data}={expression} assigns expression value to specified Q-variable
M{data}={expression} assigns expression value to specified M-variable
Command Issuance
ADDRESS#n&n Modally address specified motor and/or coordinate system
ADDRESS#Pn Modally address motor specified in P-variable
ADDRESS&Pn Modally address coordinate system specified in P-variable
COMMAND"{command}" Issue text command, no response
COMMAND^{letter} Issue control character command, no response
COMMANDS"{command}" Issue text command, respond to main serial port
COMMANDS^{letter} Issue control character command, respond to main serial port
COMMANDP"{command}" Issue text command, respond to parallel bus port
COMMANDP^{letter} Issue control character command, respond to parallel bus port
COMMANDR"{command}" Issue text command, respond to DPRAM ASCII port
COMMANDR^{letter} Issue control character command, respond to DPRAM ASCII port
COMMANDA"{command}" Issue text command, respond to auxiliary serial port
COMMANDA^{letter} Issue control character command, respond to auxiliary serial port
Message Transmission and Display
SENDS"{message}" Transmit message over main serial interface
SENDP"{message}" Transmit message over parallel bus interface
SENDR"{message}" Transmit message over DPRAM ASCII interface
SENDA"{message}" Transmit message over auxiliary serial interface
DISPLAY [{constant}] "{message}" Send message to LCD display [starting at specified
location]
DISPLAY {constant}, {constant}.{constant}, {variable} - Send variable value to
LCD using specified location and format
PLC Operational Control Commands
program[s], starting at top of program
program[s]
program[s]
ENABLE PLCC{constant}[,{constant}...] Enable operation of specified compiled PLC
program[s]
DISABLE PLCC{constant}[,{constant}...] Disable operation of specified compiled PLC
program[s]
MACRO Ring Commands
MACROAUXREAD{node#},{param#},{variable} Copy MACRO Type 0 auxiliary parameter
value from slave node to PMAC variable
MACROAUXWRITE{node#},{param#},{variable} Copy from PMAC variable to MACRO
Type 0 auxiliary parameter value in slave node
MACROMSTREAD{master#},{master variable},{ring-master variable} Copy
variable value from remote MACRO master into own variable through Type 1 MACRO
protocol
MACROMSTWRITE{master#},{master variable},{ring-master variable} Copy
variable value to remote MACRO master from own variable through Type 1 MACRO
protocol
MACROSLVREAD{node#},{slave variable},{PMAC variable} Copy from slave node
variable to PMAC variable with Type 1 MACRO protocol
MACROSLVWRITE{node#},{slave variable},{PMAC variable} Copy PMAC variable
to slave node variable with Type 1 MACRO protocol

Turbo PMAC Global I-Variables 83
TURBO PMAC GLOBAL I-VARIABLES
General Global Setup I-Variables
I0 Serial Card Number
Range: $0 to $F (0 to 15)
Units: None
Default: $0
I0 controls the Turbo PMAC card number for software addressing purposes on a multi-drop serial
communications cable. If I1 is set to 2 or 3, the Turbo PMAC must be addressed with the @n command,
where n matches the value of I0 on the board, before it will respond. If the Turbo PMAC receives the @n
command, where n does not match I0 on the board, it will stop responding to commands on the serial
port. No two boards on the same serial cable may have the same value of I0.
If the @@ command is sent over the serial port, all boards on the cable will respond to action commands.
However, only the board with I0 set to 0 will respond to the host with handshake characters (no data
responses are permitted in this mode). All boards on the cable will respond to control-character action
commands such as <CTRL-R>, regardless of the current addressing.
Note:
RS-422 serial interfaces must be used on all Turbo PMAC boards for multi-drop
serial communications; this will not work with RS-232 interfaces. If the RS-422
interface is not present as a standard feature on the PMAC2 board, the Option 9L
serial converter module must be purchased. It is possible to use an RS-232
interface on the host computer, connected to the RS-422 ports on the Turbo PMAC
boards.
Typically, multiple Turbo PMAC boards on the same serial cable will share servo and phase clock signals
over the serial port cable for tight synchronization. If the servo and phase clock lines are connected
between multiple Turbo PMACs, only one of the Turbo PMAC boards can be set up to output these
clocks (E40-E43 ON for Turbo PMAC; E1 jumper OFF for Turbo PMAC2). All of the other boards in
the chain must be set up to input these clocks (any of E40-E43 OFF for Turbo PMAC; E1 jumper ON for
Turbo PMAC2).
Note:
Any Turbo PMAC board set up to input these clocks is expecting its Servo and
Phase clock signals externally from a Card 0. If it does not receive these clock
signals, the watchdog timer will immediately shut down the board and the red LED
will light.
If the Turbo PMAC is set to receive external Servo and Phase clock signals for synchronization purposes,
but is not using multi-drop serial communications, I0 does not need to be changed from 0.
To set up a board to communicate as Card 1 to Card 15 on a multi-drop serial cable, first communicate
with the board as Card 0. Set I0 to specify the card number (software address) that the board will have on
the multi-drop cable. Also, set I1 to 2 to enable the serial software addressing. Store these values to the
non-volatile flash memory with the SAVE command. Then turn off power; if the board is to input its
clocks, remove any jumper E40-E43 (Turbo PMAC) or put a jumper on E1 (Turbo PMAC2), connect the
multi-drop cable, and restore power to the system.
84 Turbo PMAC Global I-Variables
I1 Serial Port Mode
Range: 0 to 3
Units: None
Default: 0
I1 controls two aspects of how Turbo PMAC uses its main serial port. The first aspect is whether PMAC
uses the CS (CTS) handshake line to decide if it can send a character out the serial port. The second
aspect is whether PMAC will require software card addressing, permitting multiple cards to be daisy-
chained on a single serial line.
There are four possible values of I1, covering all the possible combinations:
Setting Meaning
0 CS handshake used; no software card address required
1 CS handshake not used; no software card address required
2 CS handshake used; software card address required
3 CS handshake not used; software card address required
When CS handshaking is used (I1 is 0 or 2), Turbo PMAC waits for the CS line to go true before it will
send a character. This is the normal setting for real serial communications to a host; it allows the host to
hold off Turbo PMAC messages until it is ready.
When CS handshaking is not used (I1 is 1 or 3), Turbo PMAC disregards the state of the CS input and
always sends the character immediately. This mode permits Turbo PMAC to output messages, values,
and acknowledgments over the serial port even when there is nothing connected, which can be valuable in
stand-alone and PLC-based applications where there are SENDS and CMDS statements in the program.
If these strings cannot be sent out the serial port, they can back up, stopping program execution.
When software addressing is not used (I1 is 0 or 1), Turbo PMAC assumes that it is the only card on the
serial line, so it always acts on received commands, sending responses back over the line as appropriate.
When software addressing is used (I1 is 2 or 3), Turbo PMAC assumes that there are other cards on the
line, so it requires that it be addressed (with the @{card} command) before it responds to commands.
The {card} number in the command must match the card number set up with variable I0.
I2 Control Panel Port Activation
Range: 0 to 3
Units: None
Default: 0
I2 allows the enabling and disabling of the control panel discrete inputs on the JPAN connector, should
this connector exist. I2=0 enables these control panel functions; I2=1 disables them. When disabled,
these inputs can be used as general purpose I/O. The reset, handwheel, and wiper inputs on the JPAN
connector are not affected by I2.
On a Turbo PMAC board, when I2=0, the IPOS, EROR and F1ER status lines to JPAN and the
Programmable Interrupt Controller (PIC), and the BREQ status line to the PIC, reflect the hardware-
selected coordinate system (by BCD-coded lines FPDn/ on JPAN); when I2=1, they reflect the software-
addressed coordinate system (&n). (On a Turbo PMAC2, the lines to the PIC always reflect the software-
addressed coordinate system.)
When I2=3, discrete inputs on a JPAN connector are disabled, and the dual-ported RAM control panel
functions are enabled. Refer to the descriptions of DPRAM functions for more detail.

I3 I/O Handshake Control
Range: 0 to 3
Units: None
Default: 1
I3 controls what characters, if any, are used by Turbo PMAC to delimit a transmitted line, and whether
PMAC issues an acknowledgment (handshake) of a command.
Note:
With communications checksum enabled (I4=1), checksum bytes are added after
the handshake character bytes.
Valid values of I3 and the modes they represent are:
0: Turbo PMAC does not acknowledge receipt of a valid command. It returns a <BELL> character on
receipt of an invalid command. Messages are sent without beginning or terminating <LF> (line feed);
simply as DATA <CR> (carriage return).
1. Turbo PMAC acknowledges receipt of a valid <CR>-terminated command with a <LF>; of an invalid
command with a <BELL> character. Messages are sent as <LF> DATA <CR> [ <LF> DATA
<CR> ... ] <LF>. (The final <LF> is the acknowledgment of the host command; it does not
get sent with a message initiated from a PMAC program [SEND or CMD]). This setting is good for
communicating with dumb terminal display programs.
2. Turbo PMAC acknowledges receipt of a valid <CR>-terminated command with an <ACK>; of an
invalid command with a <BELL> character. Messages are sent as DATA <CR> [ DATA <CR>
... ] <ACK>. (The final <ACK> is the acknowledgment of the host command; it does not get
sent with a message initiated from a PMAC program [SEND or CMD]). This is probably the best
setting for fast communications with a host program without terminal display.
3. Turbo PMAC acknowledges receipt of a valid <CR>-terminated command with an <ACK>; of an
invalid command with a <BELL> character. Messages are sent as <LF> DATA <CR> [ <LF>
DATA <CR> ... ] <ACK>. (The final <ACK> is the acknowledgment of the host command; it
does not get sent with a message initiated from a PMAC program [SEND or CMD]).
Note:
I3 does not affect how DPRAM ASCII communications are performed.
Examples:
With I3=0:
#1J+<CR>......... ; Valid command not requiring data response
............................ ; No acknowledging character
UUU<CR> ........... ; Invalid command
<BELL>.............. ; PMAC reports error
P1..3<CR>....... ; Valid command requiring data response
25<CR>50<CR>75<CR> ; PMAC responds with requested data
With I3=1:
<LF> .................. ; Acknowledging character
<LF>25<CR><LF>50<CR><LF>75<CR><LF>
; PMAC responds with requested data
With I3=2:
<ACK>....... ; Acknowledging character
25<CR>50<CR>75<CR><ACK>
; PMAC responds with requested data
With I3=3:
<ACK>................ ; Acknowledging character
<LF>25<CR><LF>50<CR><LF>75<CR><ACK>
............................ ; PMAC responds with requested data
I4 Communications Integrity Mode
Range: 0 to 3
Units: None
Default: 1
This parameter permits Turbo PMAC to compute checksums of the communications bytes (characters)
sent either way between the host and Turbo PMAC, and also controls how Turbo PMAC reacts to serial
character errors (parity and framing), if found. Parity checking is only available on Turbo PMAC boards;
it is enabled only if jumper E49 is OFF.
The possible settings of I4 are:
Setting Meaning
0 Checksum disabled, serial errors reported immediately
1 Checksum enabled, serial errors reported immediately
2 Checksum disabled, serial errors reported at end of line
3 Checksum enabled, serial errors reported at end of line
Communications Checksum: With I4=1 or 3, Turbo PMAC computes the checksum for
communications in either direction and sends the checksum to the host. It is up to the host to do the
comparison between PMAC's checksum and the checksum it computed itself. Turbo PMAC does not do
this comparison. The host should never send a checksum byte to Turbo PMAC.
Host-to-Turbo-PMAC Checksum: Turbo PMAC will compute the checksum of a communications line
sent from the host to Turbo PMAC. The checksum does not include any control characters sent (not even
the final Carriage-Return). The checksum is sent to the host immediately following the acknowledging
handshake character (<LF> or <ACK>), if any. Note that this acknowledging and handshake comes after
any data response to the command (and its checksum!). If Turbo PMAC detects an error in the line
through its normal syntax checking, it will respond with the <BELL> character, but will not follow this
with a checksum byte.
Note:
The on-line command <CTRL-N> can be used to verify the checksum of a
command line before the <CR> has been sent. The use of <CTRL-N> does not
affect how I4 causes Turbo PMAC to report a checksum after the <CR> has been
sent.
Turbo-PMAC-to-Host Checksum: Turbo PMAC will compute the checksum of any communications
line it sends to the host. This checksum includes control characters sent with the line, including the final
<carriage-return>. The checksum is sent immediately following this <carriage-return>.
On a multiple-line response, one checksum is sent for each line. Note that this checksum is sent before
the checksum of the command line that caused the response.
For more details on checksum, refer to the Writing a Host Communications Program section of the
manual.
Serial character errors: If Turbo PMAC detects a serial character error, it will set a flag so that the
entire command line will be rejected as having a syntax error after the <CR> is sent. With I4=0 or 1, it
will also send a <BELL> character to the host immediately on detecting the character error. Note that this
mode will catch a character error on the <CR> as well, whereas in the I4=2 or 3 mode, the host would
have to catch an error on the <CR> character by the fact that Turbo PMAC would not respond (because it
never saw a <CR>).
I5 PLC Program Control
Range: 0 to 3
Units: None
Default: 1
I5 controls which PLC programs may be enabled. There are two types of PLC programs: the foreground
programs (PLC 0 and PLCC 0), which operate at the end of servo interrupt calculations, with a repetition
rate determined by I8 (PLC 0 and PLCC 0 should be used only for time-critical tasks and should be
short); and the background programs (PLC 1 to PLC 31, PLCC 1 to PLCC 31) which cycle repeatedly in
background as time allows. I5 controls these as follows:
Setting Meaning
0 Foreground PLCs off; background PLCs off
1 Foreground PLCs on; background PLCs off
2 Foreground PLCs off; background PLCs on
3 Foreground PLCs on; background PLCs on
Note that an individual PLC program still needs to be enabled to run -- a proper value of I5 merely
permits it to be run. Any PLC program that exists at power-up or reset is enabled automatically (even if
the saved value of I5 does not permit it to run immediately); also, the ENABLE PLC n or ENABLE
PLCC n command enables the specified programs. A PLC program is disabled either by the DISABLE
PLC n or DISABLE PLCC n command, or by the OPEN PLC n command. A CLOSE command
does not re-enable the PLC program automatically it must be done explicitly.
I6 Error Reporting Mode
Range: 0 to 3
Units: None
Default: 1
I6 controls how Turbo PMAC reports errors in command lines. When I6 is set to 0 or 2, PMAC reports
any error only with a <BELL> character. When I6 is 0, the <BELL> character is given for invalid
commands issued both from the host and from Turbo PMAC programs (using CMD{command}).
When I6 is 2, the <BELL> character is given only for invalid commands from the host; there is no
response to invalid commands issued from Turbo PMAC programs. (In no mode is there a response to
valid commands issued from PMAC programs.)
When I6 is set to 1 or 3, an error number message can be reported along with the <BELL> character. The
message comes in the form of ERRnnn<CR>, where nnn represents the three-digit error number. If I3 is
set to 1 or 3, there is a <LF> character in front of the message.
When I6 is set to 1, the form of the error message is <BELL>{error message}. This setting is the
best for interfacing with host-computer driver routines. When I6 is set to 3, the form of the error message
is <BELL><CR>{error message}. This setting is appropriate for use with the PMAC Executive
Program in terminal mode.
Currently, the following error messages can be reported:
Error Problem Solution
ERR001 Command not allowed during program execution (should halt program execution before issuing
command)
ERR002 Password error (should enter the proper password)
ERR003 Data error or unrecognized command (should correct syntax of command)
ERR004 Illegal character: bad value (>127 ASCII) or serial
parity/framing error
(should correct the character and or check for
noise on the serial cable)
ERR005 Command not allowed unless buffer is open (should open a buffer first)
ERR006 No room in buffer for command (should allow more room for buffer --
DELETE or CLEAR other buffers)
ERR007 Buffer already in use (should CLOSE currently open buffer first)
ERR008 MACRO auxiliary communications error (should check MACRO ring hardware and
software setup)
ERR009
Program structural error (e.g. ENDIF without IF) (should correct structure of program)
ERR010 Both overtravel limits set for a motor in the C. S. (should correct or disable limits)
ERR011 Previous move not completed (should Abort it or allow it to complete)
ERR012 A motor in the coordinate system is open-loop (should close the loop on the motor)
ERR013 A motor in the coordinate system is not activated (should set Ix00 to 1 or remove motor from
C.S.)
ERR014 No motors in the coordinate system (should define at least one motor in C.S.)
ERR015 Not pointing to valid program buffer (should use B command first, or clear out
scrambled buffers)
ERR016 Running improperly structured program (e.g.
missing ENDWHILE)
(should correct structure of program)
ERR017
Trying to resume after H or Q with motors out of
stopped position
(should use J= to return motor[s] to stopped
position)
ERR018 Attempt to perform phase reference during move,
move during phase reference., or enabling with
phase clock error.
(should finish move before phase reference,
finish phase reference before move, or fix
phase clock source problem)
ERR019 Illegal position-change command while moves
stored in CCBUFFER
(should pass through section of Program
requiring storage of moves in CCBUFFER, or
abort)
I7 Phase Cycle Extension
Range: 0 to 15
Units: Phase Clock Cycles
Default: 0
I7 permits the extension of the software phase update period to multiple Phase clock interrupt periods.
The software phase update algorithms, which do the commutation and current loop calculations for
motors, are executed every (I7+1) Phase clock cycles. In other words, the phase update cycle is extended
by I7 phase clock cycles.
The hardware Phase clock period (frequency) is controlled by jumpers E98 and E29-E33 on a Turbo
PMAC, variables I7000 and I7001 on a Turbo PMAC2 that is not Ultralite, or variables I6800 and I6801
on a Turbo PMAC2 Ultralite.
Most Turbo PMAC users will leave I7 at the default value of 0, so that phase update algorithms are
executed every phase clock cycle. There are two reasons to extend the phase update cycle by setting I7
greater than 0.
First, if the Turbo PMAC is doing direct PWM control of motors over the MACRO ring, it is advisable to
set I7 to 1 so that the MACRO ring, which operates on the hardware phase clock, cycles twice per
software phase cycle. This will eliminate one phase cycle delay in the closing of the current loops, which
permits higher gains and higher performance. For example, the hardware phase clock could be set to 18
kHz, but with I7=1, the current loop would be closed at a reasonable 9 kHz.
Second, if many multiplexed A/D converters from the on-board Option 12, or Acc-36 boards, are used for
servo feedback, I7 can be set greater than zero to ensure that each A/D converter is processed once per
servo cycle. One pair of multiplexed ADCs is processed each hardware phase clock cycle.
For example, if 8 pairs of multiplexed ADCs needed to be processed each 440 sec (2.25 kHz) servo
cycle, and the software phase update were desired to be at 220 sec (4.5 kHz), the phase clock update
would be set to 18 kHz (18/8 = 2.25) to get through all 8 ADC pairs each servo cycle, I7 would be set to 3
(18/[3+1] = 4.5) to get the software phase update at 4.5 kHz, and the servo cycle clock divider would be
set to divide-by-8 (E3-E6 on Turbo PMAC, I7002=7 on non-Ultralite Turbo PMAC2, I6802=7 on Turbo
PMAC2 Ultralite).
There must be an integer number of software phase updates in a Servo clock period. For example if the
Servo clock frequency is the Phase clock frequency (I7002 or I6802 = 3), the legitimate values of I7 are
0, which provides 4 software phase updates per servo clock period; 1, which provides 2 updates per
period; and 3, which provides 1 update per period. Note that this rule means that the software phase
update period must never be longer than the servo clock period.
I8 Real-Time Interrupt Period
Range: 0 to 255
Units: Servo Clock Cycles
Default: 2
I8 controls how often certain time-critical tasks, such as PLC 0, PLCC 0, and checking for motion
program move planning, are performed. These tasks are performed every (I8+1) servo cycles, at a
priority level called the real-time interrupt (RTI). A value of 2 means that these tasks are performed
after every third servo interrupt, 3 means every fourth interrupt, and so on. The vast majority of users can
leave this at the default value. In some advanced applications that push PMAC's speed capabilities,
tradeoffs between performance of these tasks and the calculation time they take may have to be evaluated
in setting this parameter.
Turbo PMAC cannot compute more than one programmed move block, or more than one internal move
segment if the coordinate system is in segmentation mode (Isx13 > 0), per real-time interrupt. If very
high programmed move block rates (small move times), or very high segmentation rates (small
segmentation times) are desired, it is best to make I8 as small as possible (preferably 0). This will ensure
that the calculations are done every move or segment, and that they are started as early as possible in the
move or segment to maximize the likelihood of completing the calculations in time.
If move or segment calculations are not completed in time, Turbo PMAC will abort the program
automatically with a run-time error.
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 ( ency ServoFrequ
608 , 388 , 8
10 I = =
On Turbo PMAC, the servo interrupt time is determined by the settings of hardware jumpers E98, E29-
E33, and E3-E6. The proper value of I10 can be determined from the settings of these jumpers by the
formula:
rFactor ServoJumpe * rFactor PhaseJumpe * or JumperFact 98 E * 107 , 232 10 I =
where the factors can be taken from the following:
E98 Setting
1-2 2-3
E98JumperFactor
1 2

Phase Jumper ON
E29 E30 E31 E32 E33
Phase Jumper Factor
16 8 4 2 1
) 6 E * 8 ( ) 5 E * 4 ( ) 4 E * 2 ( 3 E 1 rFactor ServoJumpe + + + + =
in which En = 0 if the jumper is ON, and En = 1 if the jumper is OFF.
On Turbo PMAC2, the servo interrupt time is determined on PMAC2 Ultralite boards by MACRO IC 0 I-
variables I6800, I6801, and I6802; on non-Ultralite boards by Servo IC 0 I-variables I7000, I7001, and
I7002; on UMAC Turbo systems by Servo IC m I-variables I7m00, I7m01, and I7m02, or MACRO IC 0
I-variables I6800, I6801, or I6802. The proper setting of I10 can be determined from Servo IC variables
by the formula:
( )( )( ) 1 02 m 7 I 1 01 m 7 I 3 00 m 7 I * 2
9
640
10 I + + + =
The proper setting of I10 can be determined from MACRO IC 0 variables by the formula:
( )( )( ) 1 6802 I 1 6801 I 3 6800 I * 2
9
640
10 I + + + =
When changing I10, a %100 command must be issued, or the value saved and the controller reset, before
the new value of I10 will take effect.
I10 is used to provide the delta-time value in the position update calculations, scaled such that 2
23

8,388,608 means one millisecond. Delta-time in these equations is I10*(%value/100). The % (feedrate
override) value can be controlled in any of several ways: with the on-line % command, with a direct
write to the command % register, with an analog voltage input, or with a digital input frequency. The
default % value is 100, and many applications can always leave it at 100.
I11 Programmed Move Calculation Time
Range: 0 to 8,388,607
Units: msec
Default: 0
I11 controls the delay from when the run signal is taken (or the move sent if executing immediately) and
when the first programmed move starts. If several Turbo PMACs need to be run synchronously, I11
should be set the same on all of the cards. If I11 is set to zero, the first programmed move starts as soon
as the calculation is complete.
This calculation time delay is also used after any break in the continuous motion of a motion program: a
DWELL, a PSET, a WAIT, or each move if Ix92=1 (a DELAY is technically a zero-distance move, and so
does not constitute a break).
The actual delay time varies with the time base (e.g. at a value of 50, the actual delay time will be twice
the number defined here), which keeps it as a fixed distance of the master in an external time base
application. If it is desired to have the slave coordinate system start up immediately with the master, I11
should be set to zero, and the program commanded to run before the master starts to move.
Note:
If I11 is greater than zero, defining a definite time for calculations, and Turbo
PMAC cannot complete the calculations for the first move of a sequence by the
end of the I11 time, Turbo PMAC will terminate the running of the program with a
run-time error.
I12 Lookahead Time Spline Enable
Range: 0 - 1
Units: none
Default: 0
I12 permits the enabling of a new lookahead technique called time splining. If I12 is set to 1, all coordinate
systems that are executing lookahead will use this technique. If I12 is set to 0, none of them will.
Time splining permits smoother transitions from one vector velocity to another during lookahead when
there is little or no change in direction. As long as the commanded vector velocity going into lookahead
does not change by more than a factor of two in a single Isx13 segment, the velocity change will be made
without any velocity undershoot.
Without this technique, large changes in vector velocity that have to be extended by lookahead can cause
significant velocity undershoot.
Setting I12 to 1 adds a small but potentially significant computational load to the lookahead calculations.
I13 Foreground In-Position Check Enable
Range: 0 - 1
Units: none
Default: 0
I13 controls whether the activated motors on Turbo PMAC check for in-position as a foreground servo-
interrupt task or not. If I13 is set to the default value of 0, in-position checking is done as a lower-priority
background task only. If I13 is set to 1, a basic in-position check operation is done for all active motors
every servo interrupt as well.
The foreground in-position check function is intended for very rapid move-and-settle applications for
which the background check is too slow. Enabling this function permits the fastest possible assessment of
whether a motor is in position.
For the foreground check to consider a motor to be in position, the following four conditions must all be
met:
1. The motor must be in closed-loop control;
2. The desired velocity must be zero;
3. The magnitude of the following error must be less than the motors Ixx28 parameter;
4. The move timer for the motor must not be active.
Note:
Unlike the background in-position check, there is no capability in the foreground
check to require these conditions be true for Ixx88+1 consecutive scans.
If the foreground check decides that the motor is in position, it sets bit 13 of the motor status word
(Y:$0000C0 for Motor 1) to 1; if it decides that the motor is not in position, it sets this bit to 0. This
foreground status bit is distinct from the background motor status bit at bit 0 of the same word. The
coordinate systems in-position status bit, which is the logical OR of the background motor in-position
bits for all of the motors in the coordinate system, is not affected by the foreground in-position check.
Setting I13 to 1 to enable the foreground in-position check adds about 5% to the required time of the
servo-interrupt tasks for each active motor.
I14 Temporary Buffer Save Enable
Range: 0 1
Units: none
Default: 0
I14 controls whether the structure of the temporary buffers on Turbo PMAC can be retained through a
board power-down or reset. The temporary buffers are those where the information in the buffer is never
retained through a power-down or reset. These buffers are:
The rotary motion program buffer (ROTARY) for each coordinate system
The segment lookahead buffer (LOOKAHEAD) for each coordinate system
The extended cutter radius compensation block buffer (CRCOMP) for each coordinate system
If I14 is set to 0 when a SAVE command is issued, the structure for these buffers is not stored to non-
volatile flash memory, and so will not be present after the next power-down or board reset. In this case,
any of these buffers to be used must be re-defined after each power-down or reset (e.g. DEFINE
ROTARY, DEFINE LOOKAHEAD).
If I14 is set to 1 when a SAVE command is issued, the structure for these buffers is stored to non-volatile
flash memory, although the contents of these buffers are not stored. In this case, any of these buffers that
existed at the time of the SAVE command will be present after the next power-down or reset, and so do not
need to be re-defined. However, these buffers will always be empty after a board power-down or reset.
The structure for the temporary data-gathering buffer is not retained through a power down or reset,
regardless of the setting of I14.
I15 Degree/Radian Control for User Trig Functions
Range: 0 to 1
Units: None
Default: 0 (degrees)
I15 controls whether the angle values for trigonometric functions in user programs (motion and PLC) and
on-line commands are expressed in degrees (I15=0) or radians (I15=1).
I16 Rotary Buffer Request On Point
Range: 0 to 8,388,607
Units: Program lines
Default: 5
I16 controls the point at which an executing rotary program will signal that it is ready to take more
command lines (BREQ line taken high, coordinate system Rotary Buffer Full status bit taken low). This
occurs when the executing point in the program has caught up to within fewer lines behind the last line
sent to Turbo PMAC than the value in this parameter. This can be detected as an interrupt to the host or
be checked by the host on a polled basis.
Note:
On Turbo PMAC, the BREQ line to the interrupt controller reflects the status of
the hardware-selected coordinate system (by JPAN pins FPDn/) if the control-
panel inputs are enabled (I2=0); it represents the status of the software-host-
addressed coordinate system if the control-panel inputs are disabled (I2=1). In
virtually all applications using this feature, the user will want to set I2 to 1 so the
BREQ line reflects the status of the coordinate system to which he is currently
talking. On Turbo PMAC2, the BREQ line always reflects the status of the
software-host-addressed coordinate system.
I17 Rotary Buffer Request Off Point
Range: 0 to 8,388,607
Units: Program lines
Default: 10
This parameter controls how many lines ahead of the executing line the host can provide a PMAC rotary
motion program buffer before it signals that it is not ready for more lines (BREQ line held low,
coordinate system status bit Rotary Buffer Full becomes 1). This status information can be detected
either by polling ?? or PR, by using the interrupt line to the host, or by polling the status register of the
interrupt controller.
If a program line is sent to the rotary buffer, the BREQ line will be taken low (at least momentarily). If
there are still fewer than I17 number of lines in the buffer ahead of the executing line, the BREQ line will
be taken high again (giving the ability to generate an interrupt) and the Rotary Buffer Full status bit will
stay 0. If there are greater than or equal to I17 lines in the buffer ahead of the executing line, the BREQ
line will be left low, and the Rotary Buffer Full status bit will become 1. Normally at this point, the host
will stop sending program lines (although this is not required) and wait for program execution to catch up
to within I16 lines and take BREQ high again.
Note:
On Turbo PMAC, the BREQ line to the interrupt controller reflects the status of
the hardware-selected coordinate system (by JPAN pins FPDn/) if the control-
panel inputs are enabled (I2=0); it represents the status of the software-host-
addressed coordinate system if the control-panel inputs are disabled (I2=1). In
virtually all applications using this feature, the user will want to set I2 to 1 so the
BREQ line reflects the status of the coordinate system to which he is currently
talking. On Turbo PMAC2, the BREQ line always reflects the status of the
software-host-addressed coordinate system.
I18 Fixed Buffer Full Warning Point
Range: 0 to 8,388,607
Units: Long memory words
Default: 10
I18 sets the level of open memory below which BREQ (Buffer Request) will not go true (global status bit
Fixed Buffer Full will become 0) during the entry of a fixed (non-rotary) buffer.
Every time a command line is downloaded to an open fixed buffer (PROG or PLC), the BREQ line will
be taken low (at least momentarily). If there are more than I18 words of open memory left, the BREQ
line will be taken high again (giving the ability to generate an interrupt), and Fixed Buffer Full will stay at
0. If there are I18 words or less, the BREQ line will be left low, and Fixed Buffer Full will become 1.
The number of available words of memory can be found using the SIZE command.
I19 Clock Source I-Variable Number (Turbo PMAC2 only)
Range: 6807, 6857 7907, 7957
Units: I-variable number
Default: 7007 (non-Ultralite Turbo PMAC2)
6807 (Turbo PMAC2 Ultralite)
Configuration-dependent (Turbo PMAC2-3U)
I19 contains the number of the servo/phase clock-direction I-variable whose value is set by default to 0,
indicating that the matching Servo IC or MACRO IC is the source of the servo and phase clock signals
for the Turbo PMAC2 system. This I-variable for all other Servo ICs and MACRO ICs in the system is
set to 3, indicating that these ICs will use servo and phase clock signals from a source external to them.
The clock-direction I-variables for MACRO ICs 0, 1, 2, and 3 are I6807, I6857, I6907, and I6957,
respectively. The clock direction I-variables for Servo ICs m and m* (m = 0 to 9) are I7m07 and I7m57,
respectively.
Note:
Only in 3U-format Turbo PMAC2 systems (UMAC Turbo and 3U Turbo Stack)
can the clock signals come from ICs on accessory boards. In other Turbo PMAC2
systems, the clock signals must come from an IC on the base PMAC board, or be
brought in through the serial port.
During system re-initialization (reset with E3 jumper ON, or $$$*** command), then Turbo PMAC2 first
determines the default value of I19 by searching for the presence of all possible Servo and MACRO ICs,
and assigning the clock source to the first IC it finds in the following list:
4. Servo IC 2 (Acc-24E2, 51E) (I19=7207)

11. Servo IC 9 (Acc-24E2, 51E) (I19=7907)
12. Servo IC 2* (Acc-24E2, 51E) (I19=7257)

19. Servo IC 9* (Acc-24E2, 51E) (I19=7957)
(MACRO ICs must be DSPGATE2 ICs to be used as a clock source.)
If the E1 external-clock-source jumper is ON during re-initialization, I19 is set to 0, indicating that no
Servo IC or MACRO IC will be the source of the system clocks.
If one of the clock-direction I-variables is commanded to be set to its default value (e.g. I7007=*),
Turbo PMAC2 looks to I19 to decide whether this variable will be set to 0 or not.
In 3U-format Turbo PMAC2 systems, I19 also operates at the systems power-up/reset. At this time, the
saved value of I19 determines which single one of the Servo-IC or MACRO-IC clock-direction I-
variables is set to 0 at reset to provide the system with that ICs servo and phase clock signals.
The clock-direction I-variables for all of the other Servo ICs and MACRO ICs are set to 3 at reset to tell
them to input the servo and phase clock signals, regardless of the saved values for these I-variables. (On
other Turbo PMAC2 boards, the saved values of the clock-direction I-variables are used.) If the Servo IC
or MACRO IC thus selected is not present, the watchdog timer will trip immediately.
In 3U-format Turbo PMAC2 systems, if the saved value of I19 is 0, the clock-direction I-variable for all
Servo ICs and MACRO ICs is set to 3. In this case, jumper E1 must be ON to admit externally generated
servo and phase clocks on the serial port, and these signals must be present immediately; otherwise the
watchdog timer will trip immediately.
On Turbo PMAC boards, the Servo and Phase clock signals are generated in the same discrete logic (or
come in from an external source), so I19 is not needed to control which ASIC provides the clock signals.
I20 MACRO IC 0 Base Address (Turbo PMAC2 only)
Range: $0, $078400 - $07B700
Units: Turbo PMAC2 Addresses
Default: Auto-detected
I20 sets the base address of the first MACRO IC (called MACRO IC 0) in the Turbo PMAC2 system,
normally the one with the lowest base address. A setting of 0 for I20 tells the Turbo PMAC2 CPU that no
MACRO IC 0 is present, and none of the firmwares automatic functions for that IC will be active.
On re-initialization either on resetting with the E3 re-initialization jumper ON or on issuing the
$$$*** command, Turbo PMAC2 will auto-detect which MACRO ICs are present, and set I20 to the
base address of the MACRO IC with the lowest base address. Turbo PMAC2 will also do this when
commanded to set I20 to its default value (I20=*). If no MACRO ICs are found, I20 will be set to 0
instead.
If automatic use of the multiplexer port or the display port is desired, I20 must be set to the base address
of the DSPGATE2 IC serving as MACRO IC that is connected to this port. In UMAC Turbo systems it is
possible to have multiple multiplexer and display ports, but only those ports connected to the single IC
selected by I20 support the automatic firmware functions for those ports. In other Turbo PMAC2
systems, the on-board multiplexer and display ports using the MACRO IC at $078400 are always used,
I-variables I6800 I6849 reference registers in MACRO IC 0, whose addresses are relative to the address
contained in I20. These addresses are established at power-up/reset. If the value of I20 is incorrect at
power-up/reset, these I-variables will not work. It is possible to set the value of I20 directly, saving the
value and resetting the card, but users are strongly encouraged just to let Turbo PMAC2 set I20 itself by
re-initialization or default setting, and to treat I20 as a status variable. If I20 is set to 0, these variables
will always return a value of 0.
A Turbo PMAC2 will look to find MACRO nodes 0 15 in MACRO IC 0, referenced to the address
power-up/reset, these MACRO nodes will not be accessed.
UMAC versions of the Turbo PMAC2 have the addressing capability for up to 16 MACRO ICs, but only
the 4 MACRO ICs referenced by I20 I23 can have I-variable support. Master-to-master MACRO
communications can only be done on MACRO IC 0, referenced by I20, when I84=0.
For a Turbo PMAC2 that is not Ultralite or UMAC, the only valid MACRO IC 0 base address is
$078400. For a Turbo PMAC2 Ultralite, the valid base addresses are $078400, $079400, $07A400, and
$07B400. For a UMAC Turbo system, the valid base addresses can be expressed as $07xy00, where x
can be 8, 9, A, or B, and y can be 4, 5, 6, or 7.
If the configuration of the MACRO ICs in a modular Turbo PMAC system, such as a UMAC Turbo rack,
is changed, the values of I20 I23 will need to be changed.
See Also:
I-Variables I21, I22, I23, I24, I4902 I4903, I4926 I4941, I6800 I6999.
Range: $0, $078400 - $07B700
Units: Turbo PMAC Addresses
I21 sets the base address of the second MACRO IC (called MACRO IC 1) in the Turbo PMAC2 system,
normally the one with the second-lowest base address. A setting of 0 for I21 tells the Turbo PMAC2
CPU that no MACRO IC 1 is present, and none of the firmwares automatic functions for that IC will be
active.
$$$*** command, Turbo PMAC2 will auto-detect which MACRO ICs are present, and set I21 to the
base address of the MACRO IC with the second-lowest base address. Turbo PMAC2 will also do this
when commanded to set I21 to its default value (I21=*). If less than two MACRO ICs are found, I21
will be set to 0 instead.
For a Turbo PMAC2 that is not Ultralite or UMAC, the only valid MACRO IC base address is $78400.
For a Turbo PMAC2 Ultralite, the valid base addresses are $78400, $79400, $7A400, and $7B400. For a
UMAC Turbo system, the valid base addresses can be expressed as $7xy00, where x can be 8, 9, A, or B,
and y can be 4, 5, 6, or 7.
See Also:
Range: $0, $078400 - $07B700
I22 sets the base address of the third MACRO IC (called MACRO IC 2) in the Turbo PMAC2 system,
normally the one with the third-lowest base address. On re-initialization either on resetting with the E3
re-initialization jumper ON or on issuing the $$$*** command, Turbo PMAC2 will auto-detect which
MACRO ICs are present, and set I22 to the base address of the MACRO IC with the third-lowest base
address. Turbo PMAC2 will also do this when commanded to set I22 to its default value (I22=*). If
less than three MACRO ICs are found, I22 will be set to 0 instead.
See Also:
Range: $0, $078400 - $07B700
I23 sets the base address of the fourth MACRO IC (called MACRO IC 3) in the Turbo PMAC2 system,
normally the one with the fourth-lowest base address. On re-initialization either on resetting with the
E3 re-initialization jumper ON or on issuing the $$$*** command, Turbo PMAC2 will auto-detect
which MACRO ICs are present, and set I23 to the base address of the MACRO IC with the fourth-lowest
base address. Turbo PMAC2 will also do this when commanded to set I23 to its default value (I23=*).
If less than four MACRO ICs are found, I23 will be set to 0 instead.
See Also:
I24 Main DPRAM Base Address
Range: $0, $060000 - $077000
I24 sets the base address of the dual-ported RAM IC in the Turbo PMAC system that is used for the
automatic DPRAM communications functions.
$$$*** command, Turbo PMAC will auto-detect which DPRAM ICs are present, and set I24 to the base
address of the DPRAM IC with the lowest base address. If no DPRAM ICs are found, I24 will be set to 0
instead.
The automatic DPRAM communications functions reference registers in a DPRAM IC, whose addresses
are relative to the address contained in I24. These addresses are established at power-up/reset. If the
value of I24 is incorrect at power-up/reset, these functions will not work. To select a new DPRAM IC
that the CPU will use for the automatic DPRAM IC functions, it is necessary to change I24, issue the
SAVE command, and reset the Turbo PMAC.
If the saved value of I24 is 0 at power-up/reset, the DPRAM addresses will be set up for a DPRAM base
address of $060000.
The following are Turbo PMAC addresses where DPRAM ICs can be found:
Address Location Address Location
$060000 Main board or CPU board $06F000 UBUS DPRAM board w/ SW=1100
$064000 UMAC-CPCI bridge board* $074000 UBUS DPRAM board w/ SW=0010
$06C000 UBUS DPRAM board w/ SW=0000 $075000 UBUS DPRAM board w/ SW=0110
$06D000 UBUS DPRAM board w/ SW=0100 $076000 UBUS DPRAM board w/ SW=1010
$06E000 UBUS DPRAM board w/ SW=1000 $077000 UBUS DPRAM board w/ SW=1110
*Not auto-detected on re-initialization.
See Also:
Dual-Ported RAM Communications
I-Variables I47 I50, I55 I58, I4904, I4942 I4949
I30 Compensation Table Wrap Enable
Range: 0 - 1
Units: none
Default: 0
I30 controls whether the compensation tables entered into Turbo PMAC will automatically wrap or not.
This affects position (leadscrew), backlash, and torque compensation tables. If I30 is set to 0, when a
table is downloaded to PMAC, the compensation correction at motor position 0 is always set to 0. In this
case, if smooth rollover of the table is desired, the last entry of the table must explicitly be set to 0.
If I30 is set to 1, the last entry of the table also becomes the correction at motor position 0, automatically
yielding a smooth rollover of the table, and permitting non-zero corrections at the rollover point.
I30 affects table values only as they are being downloaded to Turbo PMAC; it does not affect the values
of tables already in Turbo PMACs memory.
I37 Additional Wait States
Range: $000000 - $032403
Units: Instruction cycle wait states (by bit)
Default: $000000
I37 controls the number of wait states added to the factory default values when the Turbo PMAC
processor accesses external memory or memory-mapped I/O devices. Wait states are the number of
instruction cycles the processor idles when reading from or writing to a register of memory or I/O. On
power-up/reset, Turbo PMAC sets the number of wait states automatically based on the programmed
CPU frequency as set by I54. Under certain circumstances, particularly in accessing third-party devices,
more robust operation may be obtained by increasing the number of wait states from the factory default
values (at the cost of slightly slower operation.
I37 is divided into four parts, each controlling the wait states for a different area of the memory and I/O
map. Bits 0 and 1 control the number of added wait states for I/O devices (such as ASICs and A/D
converters; dual-ported RAM also counts as an I/O device) mapped into Y-registers. Bits 16 and 17
control the number of added wait states for I/O devices mapped into X-registers. With two bits each, up
to three wait states can be added to these accesses; generally, these are both set to the same value.
Bit 10 of I37 controls the number of added wait states for P (program, or machine-code) memory register
access. Bit 13 controls the number of added wait states for X and Y (data) memory register access. As
single-bit values, they can add only one wait state to these memory accesses. Generally, these are both
set to the same value.
I37 is used at power-up/reset only, so to change the number of I/O wait states, change the value of I37,
issue a SAVE command, and reset the Turbo PMAC. At power-up/reset, Turbo PMAC automatically
adds the value of I37 to the value from its internal look-up table to set the number of I/O wait states. The
resulting number of wait states for different areas of the memory and I/O map is in internal CPU register
X:$FFFFFB.
Examples:
I37=$020002 ; Add 2 wait states to X and Y I/O access.
I37=$002400 ; Add 1 wait state to X/Y and P memory access
I37=$032403 ; Add 3 wait states for I/O, 1 for memory
I39 UBUS Accessory ID Variable Display Control
Range: 0 5
Units: none
Default: 0
I39 controls which portions of the identification variables I4909 I4999, which provide information
about accessory boards on UMACs UBUS backplane expansion port, are reported. These variables are
36-bit variables in total, with 4 parts:
1. Vendor ID (Bits 0 7)
2. Options Installed (Bits 8 17)
3. Revision Number (Bits 18 21)
4. Card ID [Part #] (Bits 22 35)
The following list shows the possible values of I39, and which parts of these ID variables are reported for
each value:
I39 = 0: Vendor ID, Options Installed, Revision Number, Card ID (36 bits)
I39 = 1: Vendor ID only (8 bits)
I39 = 2: Options Installed only (10 bits)
I39 = 3: Revision number only (4 bits)
I39 = 4: Card ID only (14 bits)
I39 = 5: Base Address of Card (19 bits)
Note:
The base address of the card reported with I39 = 5 is not part of the card
identification variable, but it is still very useful in determining the configuration of
the system.
The value of I39 is not saved, and I39 is set to 0 automatically on power-up/reset.
Example:
I39=1 ; Report Vendor ID only
I4910 ; Query first axis card vendor ID
1 ; (Delta Tau is Vendor ID #1)
I39=2 ; Report Options Installed only
I4910 ; Query first axis card options installed
3 ; First 2 options installed (bits 0 and 1 set)
I39=3 ; Report revision number only
I4910 ; Query first axis card revision number
2 ; Revision 2 (-102 board)
I39=4 ; Report Card ID (part number) only
I4910 ; Query first axis card part number
3397 ; Card ID 3397 (Delta Tau part # 603397: Acc-24E2)
I39=5 ; Report base address only
I4910 ; Query first axis card base address
$78200 ; Base address $78200
I39=0 ; Report all of ID variable
I4910 ; Query first axis card full ID variable
14248575745 ; Full ID variable for card
See Also:
I-Variables I4909 I4999
I40 Watchdog Timer Reset Value
Range: 0 65,535
Units: servo cycles
Default: 0 (sets 4095)
I40 controls the value to which the watchdog timers counter is reset each background cycle. Each servo
interrupt cycle, Turbo PMAC decrements this counter by 1 automatically, and if the counter becomes less
than 0, the real-time interrupt task will no longer strobe the watchdog circuit, permitting it to trip and shut
down the card. Therefore, one background cycle must execute every I40 servo cycles, or the board will
shut down.
I40 permits the user to optimize the sensitivity of the watchdog timer for a particular application.
Register X:$25 contains the lowest value that the counter has reached before being reset since the last
power-on/reset.
For purposes of backward compatibility, if I40 is set to 0, Turbo PMAC will reset the watchdog timer
counter to 4095 each background cycle.
I41 I-Variable Lockout Control
Range: $0 $F (0 15)
Units: none
Default: 0
I41 permits the user to lock out changes to any of several sets of I-variables in Turbo PMAC. I41 is a 4-
bit value, and each bit independently controls access to a set of I-variables. If the bit of I41 is set to 1, the
corresponding I-variables cannot be changed with an {I-variable}={value} command. The
purpose of I41 is to prevent inadvertent changes to certain I-variable values.
The following table shows the I-variable set that each bit of I41 controls.
I41 Bit # Bit value I-Variable Range I-Variable Function
0 1 I100 I4899 Motor Setup
1 2 I5100 I6699 Coordinate System Setup
2 4 I6800 I7999 MACRO/Servo IC Setup
3 8 I8000 I8191 Conversion Table Setup
If there is an attempt to execute a command to set an I-variable value, either an on-line command or a
buffered program command, while the controlling bit is set to 1, the command is ignored (no error is
generated).
I41 does not prevent changes to an I-variable by means of an M-variable assignment or a direct memory
write command.
Care must be taken in downloading a complete set of I-variables with I41 at a non-zero value. Because
I41 is typically set before any of the variables it controls, if it has a non-zero value in this list, some of the
subsequent variables will not get set.
The restore function of the PEWIN32 Executive Program for 32-bit Windows operating systems Versions
2.30(?) and newer (September 1999 and later) automatically handle this situation, setting I21 to 0 at the
beginning of a download, then setting the files I41 value at the end of the download. Older versions of
the Executive will not perform a proper restore function with a non-zero value of I41.
If a Servo or MACRO IC is not present in the Turbo PMAC system, Turbo PMAC cannot set a value for
any of the setup I-variables for that IC, regardless of the setting of I41.
I42 Spline/PVT Time Control Mode
Range: 0 1
Units: none
Default: 0
I42 controls whether TM or TA is used to define the time for SPLINE and PVT-mode moves. For PVT-
mode moves, the PVT{data} command can be used to set the move time regardless of the setting of I42.
If I42 is set to 0, the TM{data} command must be used to define the time for SPLINE-mode moves, and
can be used to define the time for PVT-mode moves, once a PVT{data} command has been used to
establish that move mode.
If I42 is set to 1, the TA{data} command must be used to define the time for SPLINE-mode moves, and
can be used to define the time for PVT-mode moves, once a PVT{data} command has been used to
establish that move mode.
In both modes, the time has units of milliseconds, with a range of 0 4095.9998 milliseconds, and a
resolution of -microsecond.
See Also:
Spline Moves, PVT Moves
Program commands PVT{data}, TA{data}, TM{data}
I43 Auxiliary Serial Port Parser Disable
Range: 0 - 1
Units: none
Default: 0
I43 controls whether Turbo PMAC firmware automatically parses the data received on the Option 9T
serial port as commands or not. If I43 is set to the default value of 0, Turbo PMAC automatically tries to
interpret the data received on this port as Turbo PMAC commands. However, if I43 is set to 1, it will not
try to interpret this data as commands, permitting the users application to interpret this data as required
for the application. The queue of characters sent in over the auxiliary serial port is located at X:$001C00
X:$001CFF (low byte of each register).
This ability to disable the automatic command parser permits the auxiliary port to be interfaced to other
devices such as vision systems, which send out serial data.
I44 PMAC Ladder Program Enable {Special Firmware Only}
Range: 0 - 1
Units: none
Default: 0
I44 controls whether the PMAC Ladder graphical PLC programs that can be used with optional
firmware are running or not. If I44 is set to 1, any PMAC ladder programs that have been downloaded
into Turbo PMAC program memory are active. If I44 is set to 0, these programs will not execute, even if
they are present.
If the firmware does not support these PMAC Ladder PLC programs, I44 cannot be changed from 0.
I45 Foreground Binary Rotary Buffer Transfer Enable
Range: 0 - 1
Units: none
Default: 0
I45 controls whether the transfer of binary rotary buffer commands from dual-ported RAM to internal
memory is done as a background task or as a foreground task. If I45 is set to the default value of 0 when
the OPEN BIN ROT command is given, Turbo PMAC checks the DPRAM binary rotary buffer once per
background cycle (if the binary buffer is open) and copies commands received in the last cycle to the
buffer in internal memory. If I45 is set to 1 when the OPEN BIN ROT command is given, Turbo PMAC
checks the DPRAM buffer every real-time interrupt (every I8+1 servo cycles) instead.
Setting I45 to 1 permits a quicker and more predictable reaction to the receipt of binary rotary buffer
commands from the host computer.
I46 P & Q-Variable Storage Location
Range: 0 to 3
Units: None
Default: 0
I46 controls the memory locations that Turbo PMAC uses to store the P and Q-Variables. For each type
of variable, there is a choice between the main flash-backed memory and the optional supplemental
battery-backed memory. Option 16 must be purchased in order to be able to select the battery-backed
memory storage.
I46 can take four values: 0, 1, 2, and 3. The meaning of each is:
I46=0: P-Variables in flash-backed RAM; Q-Variables in flash-backed RAM
I46=1: P-Variables in battery-backed RAM; Q-Variables in flash-backed RAM
I46=2: P-Variables in flash-backed RAM; Q-Variables in battery-backed RAM
I46=3: P-Variables in battery-backed RAM; Q-Variables in battery-backed RAM
For variables stored in flash-backed RAM, values must be copied to flash memory with the SAVE
command in order to be retained through a power-down or reset. The SAVE command operation can take
up to 10 seconds. On power-up/reset, Turbo PMAC automatically copies the last saved values for the P
and Q-variables from flash memory to the flash-backed locations in main RAM memory.
For variables stored in battery-backed RAM, values are automatically retained in the RAM by the battery
voltage. No SAVE operation is required. These values are not affected by a SAVE command or a power-
up/reset.
Access to battery-backed RAM is significantly slower than access to flash-backed RAM, because either
read or write access to the battery-backed RAM requires two wait cycles of nine instruction cycles each,
but read or write access to the flash-backed RAM requires two wait cycles of only one instruction cycle
each.
Storing P and/or Q-variables in battery-backed RAM frees up flash-backed memory for user program and
buffer storage. Storing either P or Q-variables alone in battery-backed RAM allots 8K additional words
for user storage, on top of the standard 26K words (212K with the optional expanded user memory), for a
total of 34K words (optionally 220K); storing both P and Q-variables in battery backed RAM allots 16K
additional words, for a total of 42K words (optionally 228K).
A change in the value of I46 takes effect only at power-up/reset. Therefore, to change the location where
P and/or Q-variables are stored, the value of I46 must be changed, the SAVE command must be issued,
and then the board must be reset. If the new value of I46 would move the P and/or Q-variables from
battery-backed to flash-backed RAM, the SAVE operation copies the variable values from battery-backed
RAM into flash memory so that present values are not lost. At the reset, these values are copied from
flash memory to flash-backed RAM.
I47 DPRAM Motor Data Foreground Reporting Period
Range: 0 to 255
Units: Servo Cycles
Default: 0
I47 specifies the period, in servo cycles, that Turbo PMAC will copy data from servo control registers
into fixed registers in DPRAM for easy access by the host computer, if this function has been enabled by
setting I48 to 1. The data is reported for those motors specified by a mask word in DPRAM.
If I47 is set to 0, the reporting is on demand. In this mode, Turbo PMAC will check every servo cycle to
see if the host computer has set the request bit in DPRAM, signaling that it has read the previous cycles
data. Turbo PMAC will copy the latest data into DPRAM only if this bit is set, and it will clear the bit.
I48 DPRAM Motor Data Foreground Reporting Enable
Range: 0 to 1
Units: None
Default: 0
I48 enables or disables the dual-ported RAM (DPRAM) motor data reporting function as a foreground
task at the servo interrupt priority level. When I48=1, Turbo PMAC copies key data from the motor
control registers to fixed registers in the DPRAM every I47 servo cycles (or on demand if I47=0) for easy
access by the host computer. The data is reported for those motors specified by a mask word in DPRAM.
Reporting this data as a high-priority foreground task permits a reliable high-frequency transfer of motor
data to the host, but it can have a significant impact on the capabilities of lower priority tasks, such as
motion program trajectory calculations, and PLCs.
When I48=0, the DPRAM motor data reporting function in foreground is disabled.
If I57 is set to 1 to enable DPRAM reporting of the motor registers as a background task, Turbo PMAC
automatically sets I48 to 0 to disable the foreground reporting.
Refer to the description of DPRAM functions for more information.
I49 DPRAM Background Data Reporting Enable
Range: 0 to 1
Units: None
Default: 0
I49 enables or disables the dual-ported RAM (DPRAM) background data reporting function. When
I49=1, PMAC copies key data from coordinate-system and global data registers to fixed registers in the
DPRAM approximately every I50 servo cycles (or on demand if I50=0) for easy access by the host
computer. The data for coordinate systems up to the number specified by a designated register in
DPRAM are reported.
When I49=0, the DPRAM background data reporting function is disabled.
I50 DPRAM Background Data Reporting Period
Range: 0 to 255
Units: Servo Cycles
Default: 0
I50 specifies the minimum period, in servo cycles, that Turbo PMAC will copy data from coordinate-
system and global data registers into fixed registers in DPRAM for easy access by the host computer, if
this function has been enabled by setting I49 to 1. In addition, if I57 is set to 1, I50 specifies the
minimum period that Turbo PMAC will copy motor data registers into DPRAM. If I49 and/or I57, and
I50 are greater than 0, then each background cycle, Turbo PMAC will check to see if at least I50 servo
cycles have elapsed since the last reporting; if this is so, it will copy the current data into DPRAM. The
data for coordinate systems up to the number specified by a designate register in DPRAM are reported.
If I50 is set to 0, the reporting is on demand. In this mode, Turbo PMAC will check every background
cycle to see if the host computer has set the request bit in DPRAM, signaling that it has read the previous
cycles data. Turbo PMAC will copy the latest data into DPRAM only if this bit is set, and it will clear
the bit.
I51 Compensation Table Enable
Range: 0 to 1
Units: None
Default: 0 (disabled)
I51 the enabling and disabling of all of the compensation tables for all motors on Turbo PMAC:
leadscrew compensation tables, backlash compensation tables, and torque compensation tables. When
I51 is 0, all tables are disabled and there is no correction performed. When I51 is 1, all tables are enabled
and corrections are performed as specified in the tables.
The constant backlash as controlled by Ixx85 and Ixx86 is not affected by the setting of I51.
I52 CPU Frequency Control
Range: 0 to 31
Units: Multiplication factor
Default: 7 (80 MHz)
I52 controls the operational clock frequency of the Turbo PMACs CPU by controlling the multiplication
factor of the phase-locked loop (PLL) inside the CPU. The PLL circuit multiplies the input 10 MHz
(actually 9.83 MHz) clock frequency by a factor of (I52 + 1) to create the clock frequency for the CPU.
Formally, this is expressed in the equation:
CPU Frequency (MHz) = 10 * (I52 + 1)
I52 should usually be set to create the highest CPU frequency for which the CPU is rated. For the
standard 80 MHz CPU, it should be set to 7.
Note:
It may be possible to operate a CPU at a frequency higher than its rated frequency,
particularly at low ambient temperatures. However, safe operation cannot be
guaranteed under these conditions, and any such operation is done entirely at the
users own risk.
I52 is actually used at power-on/reset only, so to make a change in the CPU frequency with I52, change
the value of I52, store this new value to non-volatile flash memory with the SAVE command, and reset
the card with the $$$ command.
If too high a value of I52 has been set, the watchdog timer on the Turbo PMAC will likely trip
immediately after reset due to CPU operational failure. If this happens, the Turbo PMAC must be re-
initialized, using E51 on a Turbo PMAC, or E3 on a Turbo PMAC2.
I53 Auxiliary Serial Port Baud Rate Control
Range: 0 to 15
Units: None
I53 controls the baud rate for communications on the Option 9T auxiliary serial port. Turbo PMAC uses
I53 only at power-up/reset to set up the frequency of the clocking circuit for the auxiliary serial port. To
change the baud rate, it is necessary to change the value of I53, store this value to non-volatile flash
memory with the SAVE command, and reset the card. At this time, Turbo PMAC will establish the new
baud rate.
The possible settings of I53 and the baud rates they define are:
I53 Baud Rate I53 Baud Rate
0 Disabled 8 9600
1 600 9 14,400
2 1200 10 19,200
3 1800 11 28,800
4 2400 12 38,400
5 3600 13 57,600
6 4800 14 76,800
7 7200 15 115,200
If the optional auxiliary serial port is not present on a Turbo PMAC, or if it is not being used, it is best to
set I53 to 0 to disable the port, so that the computational overhead will not continually checking the port.
Baud rates set by odd values of I53 are not exact unless the CPU is running at an exact multiple of 30
MHz (I52 = 2, 5, 8, 11, 14, 17, 20, 23). For most of these baud rates, the errors are small enough not to
matter. However, for 115,200 baud, the CPU must be running at an exact multiple of 30 MHz to
establish serial communications.
If the host computer baud rate cannot be made to match the Turbo PMACs baud rate, the Turbo PMACs
baud rate must be changed through another communications port.
I54 Serial Port Baud Rate Control
Range: 0 to 15
Units: None
Default: 12 (38400 baud)
I54 controls the baud rate for communications on the main serial port. Turbo PMAC uses I54 only at
power-up/reset to set up the frequency of the clocking circuit for the serial port. To change the baud rate,
it is necessary to change the value of I54, store this value to non-volatile flash memory with the SAVE
command, and reset the card. At this time, Turbo PMAC will establish the new baud rate.
The possible settings of I54 and the baud rates they define are:
I54 Baud Rate I54 Baud Rate
0 600 8 9600
1 900 9 14,400
2 1200 10 19,200
3 1800 11 28,800
4 2400 12 38,400
5 3600 13 57,600
6 4800 14 76,800
7 7200 15 115,200
Baud rates set by odd values of I54 are not exact unless the CPU is running at an exact multiple of 30
MHz (I52 = 2, 5, 8, 11, 14, 17, 20, 23). For most of these baud rates, the errors are small enough not to
matter. However, for 115,200 baud, the CPU must be running at an exact multiple of 30 MHz to establish
serial communications.
If the host computer baud rate cannot be made to match the Turbo PMACs baud rate, either the Turbo
PMAC's baud rate must be changed through the bus communications port, or the Turbo PMAC must be
re-initialized by resetting or powering up with the E51 jumper ON for Turbo PMAC, or the E3 jumper
ON for Turbo PMAC2. This forces the Turbo PMAC to the default baud rate of 38,400.
I55 DPRAM Background Variable Buffers Enable
Range: 0 to 1
Units: None
I55 enables or disables the dual-ported RAM (DPRAM) background variable read and write buffer
function. When I55 is 0, this function is disabled. When I55 is 1, this function is enabled. When
enabled, the user can specify up to 128 Turbo PMAC registers to be copied into DPRAM each
background cycle to be read by the host (background variable read) and up to 128 Turbo PMAC registers
to be copied each background cycle from values written into the DPRAM by the host (background
variable write).
I56 DPRAM ASCII Communications Interrupt Enable
Range: 0 to 1
Units: None
This parameter controls the interrupt feature for the dual-ported RAM (DPRAM) ASCII communications
function enabled by I58=1. When I56=1, PMAC will generate an interrupt to the host computer each
time it loads a line into the DPRAM ASCII buffer for the host to read. When I56=0, it will not generate
this interrupt.
For the Turbo PMAC PC, the interrupt line used is the EQU4 interrupt. For this to reach the host, jumper
E55 must be ON, and jumpers, E54, E56, and E57 must be OFF. When using this feature, do not use the
EQU4 line for any other purpose, including position compare.
For the Turbo PMAC2 PC the interrupt line used is the EQU1 interrupt. When using this feature, do not
use the EQU1 line for any other purpose, including position compare.
For the VME-bus versions of Turbo PMAC (Turbo PMAC VME, Turbo PMAC2 VME and Turbo
PMAC2 VME Ultralite), the interrupt line used is the normal communications interrupt (the only interrupt
available). This line -- IRQn on the VME bus, is determined by the VME setup variable I95. The
interrupt vector provided to the host is one greater than the value in VME setup variable I96. For
example, if I96 is set to the default value of $A1, this interrupt will provide an interrupt vector of $A2.
For the Turbo PMAC2 PC Ultralite, this feature is not presently supported with the standard hardware.
I57 DPRAM Motor Data Background Reporting Enable
Range: 0 to 1
Units: None
Default: 0
I57 enables or disables the dual-ported RAM (DPRAM) motor data reporting as a background function.
When I57=1, Turbo PMAC copies key data from internal motor system and global data registers to fixed
registers in the DPRAM as a background task approximately every I50 servo cycles (or on demand if
I50=0) for easy access by the host computer. The data is reported for those motors specified by a mask
word in DPRAM at Turbo PMAC address $06001C.
If I57 is set to 1, then Turbo PMAC automatically sets I48 to 0, disabling the foreground reporting of the
same data.
When I57=0, the DPRAM background motor data reporting function is disabled. In this setting, I48 can
be set to 1 to enable foreground reporting of the motor data.
For most purposes, background reporting of the motor data will provide the data at a high enough rate,
and it will not degrade the performance of motion programs. Only if the data is required at a guaranteed
high frequency should the foreground reporting be used.
I58 DPRAM ASCII Communications Enable
Range: 0 to 1
Units: None
Default: 0 (disabled) if no DPRAM present
1 (enabled) if DPRAM present
I58 enables or disables the dual-ported RAM (DPRAM) ASCII communications function. When I58=1,
this function is enabled and the host computer can send ASCII command lines to the Turbo PMAC
through the DPRAM and receive ASCII responses from Turbo PMAC through the DPRAM. When
I58=0, this function is disabled.
At power-up/reset, if Turbo PMAC finds a DPRAM IC present in the system, I58 is automatically set to
1, immediately enabling this communications. If no DPRAM IC is found in the system at this time, I58 is
automatically set to 0.
I3 does not affect the handshaking characters used in DPRAM ASCII communications.
If I56 is also equal to 1, PMAC will provide an interrupt to the host computer when it provides a response
string.
I59 Motor/C.S. Group Select
Range: 0 3
Units: none
Default: 0
I59 controls which group of eight motors and eight coordinate systems can be selected by the FPDn
inputs on the Turbo PMAC control panel port. The possible values of I59 and the motors and coordinate
systems they select are:
I59 = 0: Motors 1 8; C.S. 1 8
I59 = 1: Motors 9 16; C.S. 9 16
I59 = 2: Motors 17 24; C.S. 1 8
I59 = 3: Motors 25 32; C.S. 9 16
The value of I59 can be set from the control panel of a Turbo PMAC. If none of the FPDn lines are
pulled low (selecting Motor/C.S. 0), then pulling any of four input lines low will cause the value of I59 to
be set:
HOME/: I59 = 0
PREJOG/: I59 = 1
START/: I59 = 2
STEP/: I59 = 3
Note:
In Turbo PMAC firmware versions 1.934 and older, I59 also controlled which
group of eight motors data was supplied in response to the on-line commands
<CTRL-B>, <CTRL-P>, <CTRL-V>, and <CTRL-F>, when issued from any
port. Starting in firmware version V1.935, each port can select a different group of
eight motors for these commands, as set by the most recent ## command sent over
that port.
See Also:
On-line commands <CTRL-B>, <CTRL-F>, <CTRL-P>, <CTRL-V>, ##{constant}
I60 Filtered Velocity Sample Time
Range: 0 to 15
Units: Servo Cycles - 1
Default: 15
I60 controls the frequency at which actual positions for each motor are placed into the 16-slot rotary
velocity calculation buffer for the motor. Every (I60+1) servo cycles, PMAC compares the actual
position for each active motor to the actual position from 16 * (I60+1) servo cycles before to compute a
filtered velocity for reporting purposes (with the V and <CTRL-V> commands), then overwrites that old
value in the 16-slot buffer.
I60 must be set equal to a value 2
n
-1 (0, 1, 3, 7, or 15) for proper operation. At the default value of 15,
Turbo PMAC stores a position value every 16 servo cycles and computes the velocity by comparing to
the position stored 256 servo cycles before. I61 must be set in the appropriate relationship to I60 in order
for the filtered velocity value to be scaled properly.
See Also:
I-variables I61, Ix09
On-line commands <CTRL-V>, V
Suggested M-variables Mxx74
Memory registers D:$0000EF, etc.
I61 Filtered Velocity Shift
Range: 0 to 255
Units: Bits
Default: 8
I61 controls the scaling of reported filtered velocity values for all motors in a Turbo PMAC. It does this
by telling the filtered velocity calculation routines how many bits to shift the difference between the latest
position stored in the buffer, and the position stored 16*(I60+1) servo cycles before.
To make the filtered velocity report as counts per servo cycle with the V and <CTRL-V> commands, and
store as 1 / (Ix09*32) counts per servo cycle, I61 should be set according to the following formula:
( ) 4 1 60 I
2
log 61 I + + =
The following table shows the typical relationship between I60 and I61:
I60 I60+1 log
2
(I60+1) I61
0 1 0 4
1 2 1 5
3 4 2 6
7 8 3 7
15 16 4 8
See Also:
I-variables I60, Ix09
On-line commands <CTRL-V>, V
Suggested M-variables Mxx74
Memory registers D:$0000EF, etc.
I62 Internal Message Carriage Return Control
Range: 0 to 1
Units: None
Default: 1
I62 permits the user to control whether internally generated messages sent from Turbo PMAC to the host
computer are terminated with the carriage return (<CR>) character or not. It affects only those messages
generated by a CMDx and SENDx statements (where x represents the port) in a PMAC motion or PLC
program. The ability to suppress the <CR> provides more flexibility in controlling the format display of a
terminal window or printer.
If I62 is set to the default value of 0, these messages are terminated with a <CR>. If I62 is set to 1, the
<CR> is suppressed. With I62 set to 1, if it desired for a Turbo PMAC program to cause a <CR> to be
sent, the SEND^M command must be used (the carriage return character is <CTRL-M>).
Note:
Do not set I62 to 1 if using dual-ported RAM ASCII communications (I58=1).
Example:
With program code:
I62=1 ; Suppress <CR> on SEND
SENDS THE VALUE OF P1 IS ; String sent with no <CR>
CMDS P1 ; Response string follows on same line, no <CR>
SENDS^M ........... ; Send a <CR>
PMAC responds with:
THE VALUE OF P1 IS 42<CR>
I63 Control-X Echo Enable
Range: 0 1
Units: None
Default: 1
I63 permits the PMAC to echo the <CONTROL-X> character back to the host computer when it is
received. If I63 is set to 1, PMAC will send a <CONTROL-X> character (ASCII value 24 decimal) back
to the host computer when it receives a <CONTROL-X> character.
If I63 is set to 0, PMAC will send nothing back to the host computer when it receives a <CONTROL-X>
character. This is equivalent to the action of older versions of PMAC firmware without an I63 variable.
The host computer can use the <CONTROL-X> character to clear out PMACs communications buffers
and make sure that no unintended responses are received for the next command. However, without an
acknowledgement that the buffers have been cleared, the host computer has to add a safe delay to ensure
that the operation has been done before the next command can be issued.
Setting I63 to 1 permits a more efficient clearing of the buffer, because the response character lets the
host computer know when the next command can safely be sent.
Versions of the Pcomm 32 communications library 2.21 and higher (March 1999 and newer) can take
advantage of this feature for more efficient communications. I63 should be set to 0 when using older
versions of Pcomm 32.
I64 Internal Response Tag Enable
Range: 0 1
Units: None
Default: 0
I64 permits PMAC to tag ASCII text lines that it sends to the host computer as a result of internal
commands, so these can easily be distinguished from responses to host commands.
If I64 is set to 1, a line of text sent to the host computer as a result of an internal SEND or CMD statement
is preceded by a <CONTROL-B> (start-transmission) character. In the case of an error report, the
<CONTROL-B> character replaces the leading <CONTROL-G> (bell) character. The text line is always
terminated by a <CR> (carriage return) character, regardless of the setting of I62.
If I64 is set to 0, a text line sent in response to an internal PMAC command is not preceded by any special
character. Reported errors are preceded by the <CONTROL-G> (bell) character. This is equivalent to the
action of older versions of PMAC firmware, before I64 was implemented.
Regardless of the setting of I64, if I6 = 2, errors on internal commands are not reported to the host
computer.
Example:
With I64=0, lines sent from PMAC are:
Motion Stopped on Limit<CR>
<BELL>ERR003<CR>
With I64=1, the same lines from PMAC are:
<CTRL-B>Motion Stopped on Limit<CR>
<CTRL-B>ERR003<CR>
I68 Coordinate System Activation Control
Range: 0 - 15
Units: None
Default: 15
I68 controls which coordinate systems are activated on a Turbo PMAC. A coordinate system must be
activated in order for it to be addressed and accept commands, to have its automatic user countdown
timers (Isx11 and Isx12) enabled (even if used by some other function), and for it to have some of the
Synchronous M-variable Assignment stack assigned to it.
I68 can take values from 0 to 15. The highest numbered coordinate system that is activated is Coordinate
System (I68 + 1). In other words, a given value of I68 activates Coordinate System 1 through Coordinate
System (I68 + 1).
The Synchronous M-Variable Stack allocation is binary; it can only be split by powers of 2. The stack
allocation per coordinate system is detailed in the following table:
I68
Value
Highest
Numbered
Coordinate
System Activated
Sync. M-Var.
Stack per C.S.
Max. Sync M-Var.
Assignments per
move, no cutter comp
Max. Sync M-Var.
Assignments per
move, cutter comp on
0 C.S. 1 256 words 63 42
1 C.S. 2 128 words 31 20
2 - 3 C.S. 3 - 4 64 words 15 10
4 - 7 C.S. 5 - 8 32 words 7 4
8 - 15 C.S. 9 - 16 16 words 3 2
The default I68 value of 15 (all coordinate systems activated) will always work, even if fewer coordinate
systems are actually being used. Lowering I68 from this default if fewer coordinate systems will be used
brings two advantages. First, there is a slight improvement in computational efficiency because de-
activated coordinate systems do not have to be checked periodically.
Second, each remaining active coordinate system has a bigger piece of the synchronous M-variable
assignment stack, so more synchronous M-variable assignments can be executed per move. Each
synchronous M-variable assignment requires two words of the stack; one additional word is required per
move. The above table lists how many synchronous M-variables assignments can be performed per move
in each active coordinate system.
If the special lookahead function is enabled, synchronous M-variable assignments made during lookahead
are stored in the area reserved in the lookahead buffer, and the number of assignments that can be
buffered is limited by the space reserved with the DEFINE LOOKAHEAD command.
I68 is actually used at power-on/reset only, so to make a change in the number of activated coordinate
systems, change the value of I68, store this new value to non-volatile flash memory with the SAVE
command, and reset the card with the $$$ command.
MACRO Ring Configuration I-Variables
I70 MACRO IC 0 Node Auxiliary Register Enable
Range: 0 .. $FFFF (0 .. 65,535)
Units: none
Default: 0
I70 controls which nodes of MACRO IC 0 for which Turbo PMAC performs automatic copying into and
out of the auxiliary registers. Enabling this function for a node is required to use the auxiliary register as
the flag register for a motor.
I70 is a 16-bit variable. Bits 0 to 15 control the enabling of this copying function for MACRO nodes 0 to
15, respectively. A bit value of 1 means the copying function is enabled; a bit value of 0 means the
copying function is disabled.
If the copying function is enabled for Node n (where n = 0 to F hex or 0 to 15 decimal), during each
background housekeeping software cycle, PMAC copies the contents of Y:$000344n to the Node n
auxiliary write register, and copies the contents of the Node n auxiliary read register into X:$00344n.
The copying function enabled by I70 permits the use of the auxiliary registers for command and status
flags plus Type 0 auxiliary read and write functions in PLC programs and on-line commands.
For each node whose auxiliary functions are enabled by I70, I71 must correctly specify for the node
whether the Type 0 or Type 1 MACRO protocol is used.
If a value of I78 greater than 0 has been saved into PMACs non-volatile memory to enable Type 1
MACRO master/slave auxiliary communications with Node 15, then at subsequent power-up/resets, bit
15 of I70 is automatically forced to 0 by PMAC firmware, regardless of the value saved for I70. This
reserves Node 15 for the Type 1 master/slave auxiliary communications alone.
MACRO master/master auxiliary communications with Node 14, then at subsequent power-up/resets, bit
14 of I70 is automatically forced to 0 by PMAC firmware, regardless of the value saved for I70. This
reserves Node 14 for the Type 1 master/master auxiliary communications alone.
I71 MACRO IC 0 Node Protocol Type Control
Range: 0 .. $FFFF (0 .. 65,535)
Units: none
Default: 0
I71 controls for each node (0 - 15) on MACRO IC 0 whether the Type 0 or Type 1 MACRO protocol is
used on that node. I71 is a 16-bit value; each bit 0 -15 controls the protocol type for the MACRO node of
the same number. A value of 0 in the bit selects the Type 0 protocol for the matching MACRO node; a
value of 1 in the bit selects the Type 1 protocol for the node.
The key difference between Type 0 and Type 1 protocols is in which node register is used for control and
status flags. In the Type 0 protocol, the first register (24 bits) is used for the flags; in the Type 1 protocol,
the fourth register (16 bits) is used for the flags. The bits of I71 must be set properly for any node whose
auxiliary flag function is enabled by I70.
Generally, the Type 0 protocol is used for single-node MACRO devices, such as the Performance
Controls FLX Drive. Generally, the Type 1 protocol is used for multi-node MACRO devices, such as
Delta Taus Compact MACRO Station.
Range: 0 .. $FFFF (0 .. 65,535)
Units: none
Default: 0
Note:
MACRO IC 1 can be present only on Turbo PMAC2 Ultralite boards with Option
1U1 ordered, or on a 3U Turbo PMAC2 with some configurations of its Acc-5E.
MACRO auxiliary communications with Node 15, then at subsequent power-up/resets, bit 15 of I72 is
automatically forced to 0 by PMAC firmware, regardless of the value saved for I72. This reserves Node
15 for the Type 1 auxiliary communications alone.

Range: 0 .. $FFFF (0 .. 65,535)
Units: none
Default: 0
Note:
MACRO IC 1 can only be present on Turbo PMAC2 Ultralite boards with Option
The Type 0 protocol is generally used for single-node MACRO devices, such as the Performance
Controls FLX Drive. The Type 1 protocol is generally used for multi-node MACRO devices, such as
Range: 0 .. $FFFF (0 .. 65,535)
Units: none
Default: 0
Note:
Range: 0 .. $FFFF (0 .. 65,535)
Units: none
Default: 0
used on that node. I75 is a 16-bit value; each bit 0-15 controls the protocol type for the MACRO node of
Note:
Range: 0 .. $FFFF (0 .. 65,535)
Units: none
Default: 0
Note:
Range: 0 .. $FFFF (0 .. 65,535)
Units: none
Default: 0
Note:
I78 MACRO Type 1 Master/Slave Communications Timeout
Range: 0 .. 255
Units: Servo Cycles
Default: 0
I78 permits the enabling of MACRO Type 1 master-slave auxiliary communications using Node 15,
which are executed with the MS, MSR, and MSW commands. If I78 is set to 0, these communications are
disabled. If I78 is set to a value greater than 0, these communications are enabled, and the value of I78
sets the timeout value for the auxiliary response, in Turbo PMAC servo cycles.
If Turbo PMAC has not received a response to the MACRO auxiliary communications command within
I78 servo cycles, it will stop waiting and register a MACRO Auxiliary Communications Error, setting
Bit 5 of global status register X:$000006. A value of 32 for I78 is suggested.
Bit 15 of I70, I72, I74, and I76 must be set to 0 to disable Node 15s Type 0 (node-specific) auxiliary
communications for each MACRO IC if I78 is greater than 0. If a value of I78 greater than 0 has been
saved into PMACs non-volatile memory, then at subsequent power-up/resets, bit 15 of I70, I72, I74, and
I76 are automatically forced to 0 by PMAC firmware, regardless of the value saved for I70.
This function is controlled by I1003 on non-Turbo PMACs.
I79 MACRO Type 1 Master/Master Communications Timeout
Range: 0 .. 255
Units: Servo Cycles
Default: 0
I79 permits the enabling of MACRO Type 1 master-to-master auxiliary communications using Node 14,
which are executed with the MM, MMR, and MMW commands. If I79 is set to 0, these communications are
disabled. If I79 is set to a value greater than 0, these communications are enabled, and the value of I79
sets the timeout value for the auxiliary response, in Turbo PMAC servo cycles.
If Turbo PMAC has not received a response to the MACRO auxiliary communications command within
I79 servo cycles, it will stop waiting and register a MACRO Auxiliary Communications Error, setting Bit
5 of global status register X:$000006. A value of 32 for I79 is suggested.
Bit 14 of I70 must be set to 0 to disable Node 14s Type 0 (node-specific) auxiliary communications if
I79 is greater than 0. If a value of I79 greater than 0 has been saved into PMACs non-volatile memory,
then at subsequent power-up/resets, bit 14 of I70 is automatically forced to 0 by PMAC firmware,
regardless of the value saved for I70.
Certain master-to-master communications registers are only set up at the Turbo PMAC power-up/reset, so
before master-to-master communications can be performed, a non-zero value of I79 must be stored in
flash memory with the SAVE command, and the board must be reset.
I80 MACRO Ring Check Period
Range: 0 .. 255
Units: servo cycles
Default: 0
I80 determines the period for Turbo PMAC to evaluate whether there has been a MACRO ring failure. If I80
is greater than 0, Turbo PMAC must receive the sync node packet (as specified by I6841) at least I82 times
within I80 servo cycles. It also must detect less than I81 ring errors (byte violation error, packet parity error,
packet overflow error, or packet underflow error) in this same period, and find no errors for at least one of its
checks during the period. If either of these conditions is not met, Turbo PMAC will assume it is a ring fault,
and will disable all motors.
If I80 is 0, Turbo PMAC does not perform these checks, even if MACRO is active.
A ring check period of about 20 milliseconds is recommended in a typical MACRO application. I80 can
be set as function of the desired period according to the formula:
I80 = Desired ring check period (msec) * Servo update frequency (kHz)
If I80 is greater than 0, activating this check function, bits 16 to 19 of I6841 (Sync Packet Number) must
specify the number of a packet that is regularly being received by this card. Otherwise, Turbo PMAC will
immediately detect a ring fault. Typically, Packet 15 ($F) is used as the sync packet, and it is always sent
because bit 15 of I6841 is set to 1 to activate the node to send the packet around the ring every cycle.
When a ring fault is detected, Turbo PMAC sets bit 4 of global status word X:$000006 to 1. It disables
all motors using the MACRO ring, and attempts to notify all of its MACRO slave stations that a ring fault
has occurred.
Turbo PMAC performs this check each real-time interrupt (every I8+1 servo cycles), so it will perform
I80 / (I8 + 1) checks during the check period. This value must be greater than I82, or ring failures will be
detected because not enough checks were done to detect the required number of sync packets received.
I81 MACRO Maximum Ring Error Count
Range: 0 .. 255
Units: Detected ring errors
Default: 2
I81 sets the maximum number of MACRO ring communications errors that can be detected in one ring
check period before a MACRO communications fault is declared. The ring check period is set at I80
servo cycles; if I80 is 0, this checking is not performed.
There are four types of ring communications errors that can be detected: byte violation errors, packet
parity errors, packet overflow errors, and packet underflow errors. If any one of these is detected during a
check, this counts as a ring error towards the I81 counts.
Turbo PMAC performs the check every real-time interrupt (every I8+1 servo cycles), so it will perform
I80 / (I8 + 1) checks during the check period. If I81 or more ring errors are detected during this period, a
ring fault is declared, and the ring is shut down. Regardless of the setting of I81, if a ring error is detected
on every check during the period, a ring fault is declared.
I82 MACRO Minimum Sync Packet Count
Range: 0 .. 255
Units: Detected sync packets
Default: 2
I82 sets the minimum number of MACRO sync packets that must be received in one ring check period for
Turbo PMAC to conclude that the ring is operating properly. The ring check period is set at I80 servo
cycles; if I80 is 0, this checking is not performed.
The number of the sync packet is determined by bits 16 19 of I6841. Usually Packet 15 is used as the
sync packet, and its transmission around the ring is enabled by setting bit 15 of I6841 to 1, activating
Node 15. If the sync packet is defined as a packet that is not regularly transmitted around the ring, this
check will shut down the ring immediately.
If fewer than I82 sync packets are detected during any ring check period of I80 servo cycles, Turbo
PMAC will shut down operation of the ring, declaring a ring fault. Turbo PMAC performs the check
during the real-time interrupt (every I8+1 servo cycles), so it will perform I80 / (I8 + 1) checks during the
check period. If I82 is set to a value greater than I80 / (I8 +1), Turbo PMAC will find a ring fault
immediately.
I83 MACRO Parallel Ring Enable Mask
Range: 0 15
Units: none
Default: 0
I83 specifies which MACRO ICs on Turbo PMAC2 control their own independent rings so independent
checking of ring communications using variables I80 to I82 is done using registers in that MACRO IC.
I83 is a 4-bit value. Bit n of I83 corresponds to MACRO IC n. If bit n is set to 1, ring checking is
performed using registers in MACRO IC n. If bit n is set to 0, no ring checking is performed using
registers in MACRO IC n. (However, if all bits are 0, checking can still be done on MACRO IC 0; see
below.)
I80 must be set greater than 0 to specify a ring-check period and activate any ring checking. If I80 is set
greater than 0, ring checking is done automatically on MACRO IC 0, so bit 0 if I83 is not used. However,
if multiple rings are used, it is recommended that Bit 0 be set to 1 for claritys sake.
Presently, only the UMAC configuration of the Turbo PMAC2 supports multiple rings (through multiple
Acc-5E boards). All other versions of Turbo PMAC2 can only support a single ring and do ring checking
on MACRO IC 0. For these boards, I83 can be left at the default value of 0.
If multiple MACRO ICs share a common ring, the lowest-numbered MACRO IC on the ring should be
used for ring checking. For example, if MACRO ICs 0 and 1 share one ring, and MACRO ICs 2 and 3
share another, bits 0 and 2 of I83 should be set to 1, yielding a value of 5.
I-variables I20 I23 specify the base addresses of MACRO ICs 0 3, respectively. These must be set
correctly in order for the ring-checking function on these ICs to work properly.
The following table shows which MACRO rings are enabled by the I83 bits.
I83 Bit #,
MACRO IC #
Bit Value I-Variable for
IC Address
0 1 I20
1 2 I21
2 4 I22
3 8 I23
See Also:
I-Variables I20 I23, I80 I82
I84 MACRO IC # for Master Communications
Range: 0 3
Units: MACRO IC #
Default: 0
I84 specifies which MACRO IC on the Turbo PMAC2 is used for MACRO Master communications
with the MACROMSTASCII, MACROSTASCII, MACROMSTREAD, and MACROMSTWRITE commands.
I84 can take a value from 0 to 3. The value of I84 specifies that the MACRO IC of that number will be
used. Variables I20 I23 specify the base addresses of MACRO ICs 0 3, respectively.
Note:
The UMAC Turbo firmware will support up to four parallel MACRO Rings and, if
desired up to sixteen by changing I20 I23 before initiating communication over
the MACRO Ring. Each parallel MACRO Ring will be a Ring Controller with the
MACRO IC tied to I20 being the source of the Phase and Servo clock.
See Also:
I-variables I20 I23
Commands MACROMASTASCII, MACROSTASCII, MACROMSTREAD, MACROMSTWRITE
I85 MACRO Ring Order Number
Range: 0 254
Units: none
Default: 0
I85 is used to store the order of the Turbo PMAC2 in the MACRO ring. The first device (Turbo PMAC2,
MACRO Station, or other device) downstream in the ring from the ring controller is 1, the next is 2,
and so on. If I85 is 0, the Turbo PMAC2 has not been assigned an order in the ring yet.
If I85 has a value from 1 to 254, the Turbo PMAC2 will respond when the {constant} in the
MACROSTASCII{constant} command matches the value of I85. The first device in the ring with I85
= 0 will respond to the MACROSTASCII255 command.
Note:
For the ring controller, I85 should remain at 0, even though it has no effect on the
ordered ring communications.
The STN command will return the value of I85.
See Also:
Commands MACROSTASCII, STN
VME/DPRAM Setup I-Variables
I90 VME Address Modifier
Range: $00 - $FF
Units: None
Default: $39
I90 controls which address modifier value Turbo PMAC will respond to when sent by the VME bus host.
I90 takes one of three valid values in normal use, depending on the address bus width used:
I90 = $29: 16-bit addressing
I90 is actually used at power-on/reset only, so to set or change the VME address modifier, change the
value of I90, store this new value to non-volatile flash memory with the SAVE command, and reset the
card with the $$$ command. The active register into which the value of I90 is copied at power-on/reset
is X:$070006 bits 0 7. It is permissible to write to this register directly (suggested M-variable M90) to
change the active setup without a SAVE and reset.
I91 VME Address Modifier Dont Care Bits
Range: $00 - $FF
Units: None
Default: $04
I91 controls which bits of the I90 VME address modifier are dont care bits. I91 is set to $04 in all
normal use, which permits both non-privileged and supervisory data access by the VME host.
I91 is actually used at power-on/reset only, so to set or change the VME address modifier dont care bits,
change the value of I91, store this new value to non-volatile flash memory with the SAVE command, and
reset the card with the $$$ command. The active register into which the value of I91 is copied at power-
on/reset is X:$070007 bits 0 7. It is permissible to write to this register directly (suggested M-variable
M91) to change the active setup without a SAVE and reset.
I92 VME Base Address Bits A31-A24
Range: $00 - $FF
Units: None
Default: $FF
I92 controls bits A31 through A24 of the VME bus base address of Turbo PMAC, both for the mailbox
registers, and the dual-ported RAM. It is only used if 32-bit addressing has been selected with I90 and
I99.
I92 is actually used at power-on/reset only, so to set or change bits 16-23 of the VME bus base address,
change the value of I92, store this new value to non-volatile flash memory with the SAVE command, and
reset the card with the $$$ command. The active register into which the value of I92 is copied at power-
on/reset is X:$070008 bits 0 7. It is permissible to write to this register directly (suggested M-variable
M92) to change the active setup without a SAVE and reset.
I93 VME Mailbox Base Address Bits A23-A16 ISA DPRAM Base Address Bits A23-
A16
Range: $00 - $FF
Units: None
Default: $7F (VME); $0D (ISA)
On VME bus systems, I93 controls bits A23 through A16 of the VME bus base address of the mailbox
registers for Turbo PMAC. Bit 7 of I93 corresponds to A23 of the base address, and bit 0 of I93
corresponds to A16. I93 is only used on VME systems if 24-bit or 32-bit addressing has been selected
with I90 and I99.
On ISA bus systems (PC, PC Ultralite, 3U Turbo with PC/104), I93 controls bits A23 through A16 of the
ISA bus base address of the DPRAM. Bit 7 of I93 corresponds to A23 of the base address, and bit 0 of
I93 corresponds to A16. A23 through A20 are only used on ISA bus systems if bit 2 of I94 is set to 1,
enabling 24-bit addressing.
Note:
When DPRAM is used on the PCI bus, Universal Serial Bus (USB), or Ethernet,
the host address is set by a plug-and-play process, and I93 is not used.
I93 is actually used at power-on/reset only, so to set or change the base address, change the value of I93,
store this new value to non-volatile flash memory with the SAVE command, and reset the card with the
$$$ command. The active register into which the value of I93 is copied at power-on/reset is X:$070009
bits 0 7. It is permissible to write to this register directly (suggested M-variable M93) to change the
active setup without a SAVE and reset.
I94 VME Mailbox Base Address Bits A15-A08 ISA DPRAM Base Address Bits A15-
A14 & Control
Range: $00 - $FF
Units: None
Default: $A0 (VME); $45 (ISA)
On VME bus systems, I94 controls bits A15 through A08 of the VME bus base address of the mailbox
registers of Turbo PMAC. Bit 7 of I93 corresponds to A23 of the base address, and bit 0 of I93
corresponds to A16. I94 is used whether 16-bit, 24-bit, or 32-bit addressing has been selected with I90
and I99.
On ISA bus systems (PC, PC Ultralite, 3U Turbo with PC/104), I94 controls the enable state and
addressing mode of the DPRAM. If the DPRAM is to appear as a 16k block of memory on the ISA bus,
it also sets bits A15 and A14 of the ISA bus base address.
The first hex digit of I94 contains bits 4 7. When the DPRAM is addressed as a 16k x 8 block of
memory on the ISA bus, bit 7 of I94 corresponds to A15, and bit 6 of I94 corresponds to A14. Bits 5 and
4 must be set to 0. When the extended 32k x 8 DPRAM is addressed as a 64k x 8 block of memory on
the ISA bus, bits 7 through 4 of I94 must all be set to 0.
The second hex digit of I94 contains bits 0 3. These are individual control bits. Bits 0 and 2 control the
addressing mode and block size. Bits 1 and 3 control the bank selection if the large DPRAM is addressed
as a small block of memory. Usually, these should be set to 0 in the I-variable. The commonly used
settings of the second hex digit of I94 are:
0: DPRAM not enabled
1: 20-bit addressing (below 1M), 16k x 8 address block
4: 24-bit addressing (above or below 1M), 64k x 8 address block
5: 24-bit addressing (above or below 1M), 16k x 8 address block
Note:
When DPRAM is used on the PCI bus, Universal Serial Bus (USB), or Ethernet,
the host address is set by a plug-and-play process, and I94 is not used.
Actually I94 is used at power-on/reset only, so to set or change, and keep, these settings, change the value
of I94, store this new value to non-volatile flash memory with the SAVE command, and reset the card
with the $$$ command. The active register into which the value of I94 is copied at power-on/reset is
X:$07000A bits 0 7. It is permissible to write to this register directly (suggested M-variable M94) to
If the large (32k x 16) DPRAM is addressed through a small (16k x 8) address block, it is necessary to
change the bank select bits (bits 1 and 3) of the active register to access all of the DPRAM from the PC.
This is best done through the active control register at X:$07000A using suggested M-variable M94. The
bit settings are:
Bit 1 = 0, Bit 3 = 0: Bank 0 (PMAC addresses $060000 - $060FFF)
I95 VME Interrupt Level
Range: $01 - $07
Units: None
Default: $02
I95 controls which interrupt level (1 to 7) Turbo PMAC will assert on the VME bus. Multiple boards on
the same VME bus may assert the same interrupt level if each one has a unique set of interrupt vectors as
set by I96.
I95 is actually used at power-on/reset only, so to set or change the VME interrupt level, change the value
X:$07000B bits 0 7. It is permissible to write to this register directly (suggested M-variable M95) to
I96 VME Interrupt Vector
Range: $00 - $FF
Units: None
Default: $A1
I96 controls which interrupt vectors will be provided when Turbo PMAC asserts a VME bus interrupt. If
Turbo PMAC asserts the interrupt to signify that it has read a set of mailbox registers and is ready to
accept another set, the interrupt vector value will be equal to (I96-1). If Turbo PMAC asserts the interrupt
to signify that it has written to a set of mailbox registers and is ready for the host computer to read these,
the interrupt vector value will be equal to I96. If Turbo PMAC asserts the interrupt to signify that it has
put a line of text in the DPRAM ASCII response buffer and is ready for the host computer to read this, the
interrupt vector value will be equal to (I96+1).
If there are multiple Turbo PMAC boards asserting the same interrupt level in the VME bus as set by I95,
they each must assert a unique, non-overlapping set of interrupt vectors.
I96 is actually used at power-on/reset only, so to set or change the VME interrupt vector, change the value
X:$07000C bits 0 7. It is permissible to write to this register directly (suggested M-variable M96) to

I97 VME DPRAM Base Address Bits A23-A20
Range: $00 - $FF
Units: None
Default: $00
I97 controls bits A23 through A20 of the VME bus base address of the dual-ported RAM of Turbo
PMAC. Bit 3 of I93 corresponds to A20 of the base address, and bit 0 of I93 corresponds to A16. I97 is
only used if 24-bit or 32-bit addressing has been selected with I90 and I99.
Bits A19 through A14 of the DPRAM VME base address must be set by the host computer after every
power-on/reset by writing a byte over the bus to the page select register in the Turbo PMACs VME
mailbox IC at the mailbox base address + $0121. This must be done even with the single-page 8k x 16
standard DPRAM option. With the extended DPRAM option, the host computer must write to the page
select register every time a new page is accessed.
Actually I97 is used at power-on/reset only, so to set or change bits 8 to 15 of the VME bus DPRAM base
address, change the value of I97, store this new value to non-volatile flash memory with the SAVE
command, and reset the card with the $$$ command. The active register into which the value of I97 is
copied at power-on/reset is X:$07000D bits 0 7. It is permissible to write to this register directly
(suggested M-variable M97) to change the active setup without a SAVE and reset.
I98 VME DPRAM Enable
Range: $00 - $FF
Units: None
Default: $60
I98 controls whether VME access to the DPRAM IC on the Turbo PMAC is enabled or not. It should be
set to $60 if DPRAM is not present to disable access; it should be set to $E0 if DPRAM is present to
enable access.
Actually I98 is used at power-on/reset only, so to set or change the DPRAM enabling, change the value of
I98, store this new value to non-volatile flash memory with the SAVE command, and reset the card with
the $$$ command. The active register into which the value of I98 is copied at power-on/reset is
X:$07000E bits 0 7. It is permissible to write to this register directly (suggested M-variable M98) to
I99 VME Address Width Control
Range: $00 - $FF
Units: None
Default: $10
I99 controls the VME bus address width, with or without DPRAM. It should take one of six values in
normal use:
I99 = $00: 32-bit addressing, no DPRAM
I99 = $80: 32-bit addressing, with DPRAM
I99 = $90: 24-bit addressing, with DPRAM
I99 = $B0: 16-bit addressing, with DPRAM
Actually I99 is used at power-on/reset only, so to set or change the VME bus address width, change the
value of I99, store this new value to non-volatile flash memory with the SAVE command, and reset the
card with the $$$ command.
The active register into which the value of I99 is copied at power-on/reset is X:$07000F bits 0 7. It is
permissible to write to this register directly (suggested M-variable M99) to change the active setup
without a SAVE and reset.
Motor Setup I-Variables
Motor Definition I-Variables
Ixx00 Motor xx Activation Control
Range: 0 - 1
Units: none
Default: I100 = 1, I200 .. I3200 = 0
Ixx00 determines whether Motor xx is de-activated (Ixx00 = 0) or activated (Ixx00 = 1). If activated,
position monitoring, servo, and trajectory calculations are performed for the motor. An activated motor
may be enabled either in open or closed loop or disabled (killed), depending on commands or events.
If Ixx00 is 0, no calculations are performed for Motor xx, not even position monitoring, so a position
query command would not reflect position changes. Any Turbo PMAC motor not used in an application
should be de-activated, so Turbo PMAC does not waste time doing calculations for that motor. The fewer
motors that are activated, the faster the servo-update time will be.
Do not try to de-activate an active and enabled motor by setting Ixx00 to 0. The motor outputs would be
left enabled with the last command level on them.
Ixx01 Motor xx Commutation Enable
Range: 0 - 3
Units: none
Default: 0
Ixx01 determines whether Turbo PMAC will perform the commutation calculations for Motor xx and
controls whether X or Y registers are accessed for the motor. If Ixx01 is set to 0 or 2, Turbo PMAC
performs no commutation calculations for this motor, and the single command output from the
position/velocity-loop servo is output to the register specified by Ixx02. If Ixx01 is 0, this register is a Y-
register; if Ixx01 is 2, this register is an X-register.
If Ixx01 is set to 1 or 3, Turbo PMAC performs the commutation calculations for the motor, and the
output from the position/velocity-loop servo is an input to the commutation algorithm. Commutation
position feedback is read from the register specified by Ixx83. If Ixx01 is 1, this register is an X-register;
if Ixx01 is 3, this register is a Y-register. Typically, X-registers are used for commutation feedback
directly on the Turbo PMAC; Typically, Y-registers are used for commutation feedback through the
MACRO ring.
If Ixx01 is set to 1 or 3, Ixx70 through Ixx84 must be set to perform the commutation as desired. If Ixx82
is set to 0, Turbo PMAC will not perform current-loop calculations, and it outputs two phase-current
commands. If Ixx82 is set greater than zero, then the Turbo PMAC performs current-loop calculations as
well as commutation, and it outputs three phase-voltage commands.
Summarizing the values of Ixx01, and their effect:
Ixx01 = 0: No Turbo PMAC commutation, command output to Y-register
Ixx01 = 1: Turbo PMAC commutation, commutation feedback from X-register
(used for commutating with PMAC encoder register feedback)
Ixx01 = 2: No Turbo PMAC commutation, command output to X-register
Ixx01 = 3: Turbo PMAC commutation, commutation feedback from Y-register
(used for commutating with feedback from MACRO ring)
Ixx02 Motor xx Command Output Address
Range: $000000 - $FFFFFF
Turbo PMAC Ixx02 Defaults
Ixx02 Value Register Ixx02 Value Register
I102 $078003 PMAC DAC1 I1702 $079203 Second Acc-24P/V DAC1
I302 $07800B PMAC DAC3 I1902 $07920B Second Acc-24P/V DAC3
I402 $07800A PMAC DAC4 I2002 $07920A Second Acc-24P/V DAC4
I702 $07810B PMAC DAC7 I2302 $07930B Second Acc-24P/V DAC7
I802 $07810A PMAC DAC8 I2402 $07930A Second Acc-24P/V DAC8
I902 $078203 First Acc-24P/V DAC1 I2502 $07A203 Third Acc-24P/V DAC1
I1102 $07820B First Acc-24P/V DAC3 I2702 $07A20B Third Acc-24P/V DAC3
I1202 $07820A First Acc-24P/V DAC4 I2802 $07A20A Third Acc-24P/V DAC4
I1502 $07830B First Acc-24P/V DAC7 I3102 $07A30B Third Acc-24P/V DAC7
I1602 $07830A First Acc-24P/V DAC8 I3202 $07A30A Third Acc-24P/V DAC8
Turbo PMAC2 Ixx02 Defaults
I102 $078002 PMAC2 DAC/PWM1A I1702 $079202 Second Acc-24P/V2 DAC/PWM1A
I202 $07800A PMAC2 DAC/PWM2A I1802 $07920A Second Acc-24P/V2 DAC/PWM2A
I902 $078202 First Acc-24P/V2 DAC/PWM1A I2502 $07A202 Third Acc-24P/V2 DAC/PWM1A
I1002 $07820A First Acc-24P/V2 DAC/PWM2A I2602 $07A20A Third Acc-24P/V2 DAC/PWM2A
Turbo PMAC2 Ultralite Ixx02 Defaults
I102 $078420 MACRO IC 0 Node 0 Reg. 0 I1702 $07A420 MACRO IC 2 Node 0 Reg. 0
I402 $07842C MACRO IC 0 Node 5 Reg. 0 I2002 $07A42C MACRO IC 2 Node 5 Reg. 0
Turbo PMAC2 Ultralite Ixx02 Defaults (Continued)
I902 $079420 MACRO IC 1 Node 0 Reg. 0 I2502 $07B420 MACRO IC 3 Node 0 Reg. 0
I1202 $07942C MACRO IC 1 Node 5 Reg. 0 I2802 $07B42C MACRO IC 3 Node 5 Reg. 0
UMAC Turbo Ixx02 Defaults
I102 $078202 First Acc-24E2x DAC/PWM1A I1702 $07A202 Fifth Acc-24E2x DAC/PWM1A
I202 $07820A First Acc-24E2x DAC/PWM2A I1802 $07A20A Fifth Acc-24E2x DAC/PWM2A
I302 $078212 First Acc-24E2x DAC/PWM3A I1902 $07A212 Fifth Acc-24E2x DAC/PWM3A
I402 $07821A First Acc-24E2x DAC/PWM4A I2002 $07A21A Fifth Acc-24E2x DAC/PWM4A
I502 $078302 Second Acc-24E2x DAC/PWM1A I2102 $07A302 Sixth Acc-24E2x DAC/PWM1A
I602 $07830A Second Acc-24E2x DAC/PWM2A I2202 $07A30A Sixth Acc-24E2x DAC/PWM2A
I702 $078312 Second Acc-24E2x DAC/PWM3A I2302 $07A312 Sixth Acc-24E2x DAC/PWM3A
I802 $07831A Second Acc-24E2x DAC/PWM4A I2402 $07A31A Sixth Acc-24E2x DAC/PWM4A
I902 $079202 Third Acc-24E2x DAC/PWM1A I2502 $07B202 Seventh Acc-24E2x DAC/PWM1A
I1002 $07920A Third Acc-24E2x DAC/PWM2A I2602 $07B20A Seventh Acc-24E2x DAC/PWM2A
I1102 $079212 Third Acc-24E2x DAC/PWM3A I2702 $07B212 Seventh Acc-24E2x DAC/PWM3A
I1202 $07921A Third Acc-24E2x DAC/PWM4A I2802 $07B21A Seventh Acc-24E2x DAC/PWM4A
I1302 $079302 Fourth Acc-24E2x DAC/PWM1A I2902 $07B302 Eighth Acc-24E2x DAC/PWM1A
I1402 $07930A Fourth Acc-24E2x DAC/PWM2A I3002 $07B30A Eighth Acc-24E2x DAC/PWM2A
I1502 $079312 Fourth Acc-24E2x DAC/PWM3A I3102 $07B312 Eighth Acc-24E2x DAC/PWM3A
I1602 $07931A Fourth Acc-24E2x DAC/PWM4A I3202 $07B31A Eighth Acc-24E2x DAC/PWM4A
Ixx02 tells Motor xx which register or registers to which it writes its command output values. It contains
the address of this register or the first (lowest addresses) of these multiple registers. This determines
which output lines transmit the command output signals.
No Commutation: If Turbo PMAC is not commutating Motor xx (Ixx01=0 or 2), only one command
output value is calculated, which is written to the register at the address specified in Ixx02. If Ixx01 is set
to 0, this register is a Y-register; if Ixx01 is set to 2, this register is an X-register. Almost all output
registers on PMAC are Y-registers; the only common use of X-register outputs is in the Type 0 MACRO
protocol.
On Turbo PMAC boards, if Ixx01 is set to 0 or 2 and Ixx96 is set to 1, then only the magnitude of the
command is written to the register specified by Ixx02; the sign of the command is written to bit 14 of the
flag register specified by Ixx25, which is usually the AENA/DIR output. If this sign-and-magnitude
mode is used, bit 16 of Ixx24 should be set to 1 so this bit is not used for the amplifier-enable function.
Sign-and-magnitude mode does not work with PMAC2-style Servo ICs.
The default values listed above are usually suitable for commanding single analog outputs (velocity or
torque mode) when the Turbo PMAC is not commutating the motor.
Commutation, No Current Loop: If Turbo PMAC is commutating Motor xx (Ixx01=1 or 3), but not
closing its current loop (Ixx82=0), two command output values are calculated, which are written to the Y-
register at the address specified in Ixx02, plus the Y-register at the next higher address.
The default values listed above are usually suitable for commanding analog output pairs when the Turbo
PMAC is commutating the motor, but not closing the current loop.
Commutation and Current Loop: If Turbo PMAC is commutating Motor xx (Ixx01=1 or 3) and
closing its current loop (Ixx82>0), three command output values are calculated, which are written to the
Y-register at the address specified in Ixx02, plus the Y-registers at the next two higher addresses.
The default values listed above are usually suitable for commanding three-phase PWM sets when the
Turbo PMAC is commutating the motor, and closing the current loop.
Pulse Frequency Output: One common application type for which the default value of Ixx02 cannot be
used is the direct pulse-and-direction output for stepper motor drives (Turbo PMAC2 only). This mode
uses the C output register alone for each channel, and I7mn6 for Servo IC m Channel n must be set to 2
or 3 to get pulse frequency output. In this case, the following values should be used:
Turbo PMAC2 Ixx02 Pulse Frequency Output Settings
Servo
IC #
Chan. 1 Chan. 2 Chan. 3 Chan. 4 Notes
0
$078004 $07800C $078014 $07801C
First IC on board PMAC2, 3U stack
1
$078104 $07810C $078114 $07811C
Second IC on board PMAC2, 3U stack
2
$078204 $07820C $078214 $07821C
First Acc-24E2x, first IC on first Acc-24P/V2
3
$078304 $07830C $078314 $07831C
Second Acc-24E2x, second IC on first Acc-24P/V2
4
$079204 $07920C $079214 $07921C
Third Acc-24E2x, first IC on second Acc-24P/V2
5
$079304 $07930C $079314 $07931C
Fourth Acc-24E2x, second IC on second Acc-24P/V2
6
$07A204 $07A20C $07A214 $07A21C
Fifth Acc-24E2x, first IC on third Acc-24P/V2
7
$07A304 $07A30C $07A314 $07A31C
Sixth Acc-24E2x, second IC on third Acc-24P/V2
8
$07B204 $07B20C $07B214 $07B21C
Seventh Acc-24E2x, first IC on fourth Acc-24P/V2
9
$07B304 $07B30C $07B314 $07B31C
Eighth Acc-24E2x, second IC on fourth Acc-24P/V2
MACRO Type 1 Command Outputs: To write command outputs to MACRO registers for Type 1
MACRO devices such as the Delta Tau MACRO Station, the values of Ixx02 shown above as defaults for
the Turbo PMAC2 Ultralite can be used.
MACRO Type 0 Command Outputs: To write single velocity or torque command outputs to MACRO
registers for Type 0 MACRO drives such as the Performance Controls FLX Drive and the Kollmorgen
FAST Drive, the values of Ixx02 in the following table should be used. Each value can select two
registers (e.g. for Node 0 and Node 2). To select the lower-numbered nodes register, which is a Y-
register in Turbo PMAC, Ixx01 should be set to 0; to select the higher-numbered nodes register, which is
a Y-register, Ixx01 should be set to 2.
Ixx02 for Type 0 MACRO Commands
I102 $078423 MACRO IC 0 Node 0/2 Reg. 3 I1702 $07A423 MACRO IC 2 Node 0/2 Reg. 3
I302 $07842B MACRO IC 0 Node 4/6 Reg. 3 I1902 $07A42B MACRO IC 2 Node 4/6 Reg. 3
I402 $07842F MACRO IC 0 Node 5/7 Reg. 3 I2002 $07A42F MACRO IC 2 Node 5/7 Reg. 3
I702 $07843B MACRO IC 0 Node 12/14 Reg. 3 I2302 $07A43B MACRO IC 2 Node 12/14 Reg. 3
I802 $07843F MACRO IC 0 Node 13/15 Reg. 3 I2402 $07A43F MACRO IC 2 Node 13/15 Reg. 3
I902 $079423 MACRO IC 1 Node 0/2 Reg. 3 I2502 $07B423 MACRO IC 3 Node 0/2 Reg. 3
I1102 $07942B MACRO IC 1 Node 4/6 Reg. 3 I2702 $07B42B MACRO IC 3 Node 4/6 Reg. 3
I1202 $07942F MACRO IC 1 Node 5/7 Reg. 3 I2802 $07B42F MACRO IC 3 Node 5/7 Reg. 3
I1502 $07943B MACRO IC 1 Node 12/14 Reg. 3 I3102 $07B43B MACRO IC 3 Node 12/14 Reg. 3
I1602 $07943F MACRO IC 1 Node 13/15 Reg. 3 I3202 $07B43F MACRO IC 3 Node 13/15 Reg. 3

Ixx03 Motor xx Position Loop Feedback Address
Turbo PMAC/PMAC2 Ixx03 Defaults
I103 $003501 Conversion Table Line 0 I1703 $003511 Conversion Table Line 16
I1003 $00350A Conversion Table Line 9 I2603 $00351A Conversion Table Line 25
I1103 $00350B Conversion Table Line 10 I2703 $00351B Conversion Table Line 26
I1203 $00350C Conversion Table Line 11 I2803 $00351C Conversion Table Line 27
I1303 $00350D Conversion Table Line 12 I2903 $00351D Conversion Table Line 28
I1403 $00350E Conversion Table Line 13 I3003 $00351E Conversion Table Line 29
I1503 $00350F Conversion Table Line 14 I3103 $00351F Conversion Table Line 30
Ixx03 tells the Turbo PMAC where to look for its position feedback value to close the position loop for
Motor xx. It contains the address of the register where the motor will read its position feedback value.
Usually this is a result register in the Encoder Conversion Table, where raw feedback values have been
pre-processed at the beginning of each servo cycle. Feedback data is expected in units of 1/32 count (5
bits of fractional data). The result registers in the Encoder Conversion Table are located at addresses
X:$003501 to X:$0035C0, corresponding to table setup I-variables I8000 to I8191, respectively.
For a control loop with dual feedback, motor and load, use Ixx03 to point to the encoder on the load, and
Ixx04 to point to the encoder on the motor.
Note:
To use Turbo PMACs hardware position-capture feature for homing search moves
or other types of automatic move-until-trigger (Ixx97=0), the encoder channel
number addressed by Ixx03 through the Encoder Conversion Table must match the
channel number of the flags addressed by Ixx25.
Ixx04 Motor xx Velocity Loop Feedback Address
Turbo PMAC/PMAC2 Ixx04 Defaults
I1104 $00350B Conversion Table Line 10 I2704 $00351B Conversion Table Line 26
I1304 $00350D Conversion Table Line 12 I2904 $00351D Conversion Table Line 28
I1504 $00350F Conversion Table Line 14 I3104 $00351F Conversion Table Line 30
Ixx04 tells the Turbo PMAC where to look for its position feedback value to close the velocity loop for
Motor xx. It contains the address of the register where the motor will read its position feedback value.
Usually this is a result register in the Encoder Conversion Table, where raw feedback values have been
pre-processed at the beginning of each servo cycle. Feedback data is expected in units of 1/32 count (5
bits of fractional data). The result registers in the Encoder Conversion Table are located at addresses
X:$003501 to X:$0035C0, corresponding to table setup I-variables I8000 to I8191, respectively.
For a control-loop with only a single feedback device the usual case Ixx03 and Ixx04 will have the
same value, so the same register is used for both position and velocity loops. For a control loop with dual
feedback, motor and load, use Ixx03 to point to the encoder on the load for the position loop, and Ixx04 to
point to the encoder on the motor for the velocity loop. If the velocity loop uses feedback with different
resolution from the position loop, the Ixx09 velocity-loop scale factor should be different from the Ixx08
position-loop scale factor.
Ixx05 Motor xx Master Position Address
Units: Turbo PMAC X Addresses
Default: $0035C0 (end of conversion table)
WARNING:
Never use the same register for master position and feedback position for the same
motor. A dangerous runaway condition may result.
Ixx05 specifies the address of the register for master position information of Motor xx for the position
following, or electronic gearing, function. Typically, this is a register in the encoder conversion table
(addresses $003501 to $0035C0), where processed input position data resides.
The position following function is only enabled if Ixx06 is set to 1 or 3.
Ixx06 Motor xx Position Following Enable and Mode
Range: 0 - 3
Units: none
Default: 0
Ixx06 controls the position following function for Motor xx. It determines whether following is enabled
or disabled, and whether the following function is in normal mode or offset (superimpose) mode.
Normal Mode: In normal following mode, motor position changes due to following are reported when
the motor position is queried, and subsequent programmed moves for the motor cancel out the position
changes due to the following function.
Offset Mode: In offset following mode, motor position changes due to following are not reported when
the motor position is queried (the position reference is effectively offset for the motor), and subsequent
programmed moves are added on top of the position changes due to the following function. This permits
the superimposition of programmed and following moves in offset mode.
Ixx06 is a two-bit value. Bit 0 controls the enabling of the following function (0 = disabled, 1 = enabled).
Bit 1 controls the following mode (0 = normal mode, 1 = offset mode). This yields four possible values
for Ixx06:
Ixx06 = 0: Following disabled, normal mode
Ixx06 = 1: Following enabled, normal mode
Ixx06 = 2: Following disabled, offset mode
Ixx06 = 3: Following enabled, offset mode
Note:
The following mode can be important even when following is disabled, because it
affects how subsequent programmed moves are calculated. If the following mode
is ever changed, a PMATCH position-matching command must be executed before
the next programmed move is calculated. Otherwise, that move will use the wrong
value for its starting position, and a potentially dangerous jump will occur.
(PMATCH is automatically executed on an R (run) or S (step) command.)
Ixx07 Motor xx Master (Handwheel) Scale Factor
Range: -8,388,608 - 8,388,607
Units: none
Default: 96
Ixx07 controls with what scaling the master (handwheel) register gets multiplied when extended into the
full-length register. In combination with Ixx08, it controls the following ratio of Motor xx for position
following (electronic gearing) according to the equation:
tion MasterPosi
08 Ixx
07 Ixx
ion MotorPosit =
For this position-following function, Ixx07 and Ixx08 can be thought of as the number of teeth on
meshing gears in a mechanical coupling.
Ixx07 may be changed on the fly to permit real-time changing of the following ratio, but Ixx08 may not.
Ixx08 should therefore be set to a large enough value to get the required fineness of ratio changes.
Ixx08 Motor xx Position Scale Factor
Range: 0 - 8,388,607
Units: none
Default: 96
Ixx08 specifies the multiplication scale factor for the internal position registers for Motor xx. Source
position registers are multiplied by Ixx08 as the get extended into the full-length motor position registers.
For most purposes, this is transparent to the user and Ixx08 does not need to be changed from the default.
There are two reasons that the user might want to change this from the default value. First, because it is
involved in the gear ratio of the position following function -- the ratio is Ixx07/Ixx08 the value of
Ixx08 might be changed (usually raised) to get a more precise ratio.
The second reason to change this parameter (usually lowering it) is to prevent internal saturation at very
high gains or count rates (velocity). PMAC's filter will saturate when the velocity in counts/sec
multiplied by Ixx08 exceeds 768M (805,306,368). This only happens in very rare applications -- the
count rate must exceed 8.3 million counts per second before the default value of Ixx08 gives a problem.
Note:
When changing this parameter, make sure the motor is killed (disabled).
Otherwise, a sudden jump will occur, because the internal position registers will
have changed. This means that this parameter should not be changed in the middle
of an application. If a real-time change in the position-following gear ratio is
desired, Ixx07 should be changed.
In most practical cases, Ixx08 should not be set above 1000 because higher values can make the servo
filter saturate too easily. If Ixx08 is changed, Ixx30 should be changed inversely to keep the same servo
performance (e.g. if Ixx08 is doubled, Ixx30 should be halved).
Ixx09 Motor xx Velocity-Loop Scale Factor
Range: 0 - 8,388,607
Units: none
Default: 96
Ixx09 specifies the multiplication scale factor for the internal actual velocity registers for Motor xx.
Source position registers for the velocity loop are multiplied by Ixx09 before they are compared and used
in the velocity loop. For most purposes, this is transparent to the user and Ixx09 does not need to be
changed from the default.
This parameter should not be changed in the middle of an application, because it scales many internal
values. If the same sensor is used to close both the position and velocity loops (Ixx03=Ixx04), Ixx09
should be set equal to Ixx08.
If different sensors are used, Ixx09 should be set such that the ratio of Ixx09 to Ixx08 is inversely
proportional to the ratio of the velocity sensor resolution (at the load) to the position sensor resolution. If
the value computed this way for Ixx09 does not come to an integer, use the nearest integer value.
Example:
If a 5000 line/inch (20,000 cts/in) linear encoder is used for position feedback, and a 500 line/rev (2000
cts/rev) rotary encoder is used for velocity loop feedback, and there is a 5-pitch screw, the effective
resolution of the velocity encoder is 10,000 cts/in (2000*5), half of the position sensor resolution, so
Ixx09 should be set to twice Ixx08.
Ixx10 Motor xx Power-On Servo Position Address
Units: Turbo PMAC or Multiplexer Port Addresses
Default: $0
Ixx10 controls whether Turbo PMAC reads an absolute position sensor for Motor xx on power-up/reset
and/or with the $* or $$* commands. If an absolute position read is to be done, Ixx10 specifies what
register is read for that absolute position data. Ixx95 specifies how the data in this register is interpreted.
If Ixx10 is set to 0, no absolute power-on/reset position read is performed. The power-on/reset position is
considered to be zero, even if an absolute sensor reporting a non-zero value is used. Ixx10 should be set
to 0 when an incremental position sensor is used; a homing search move is typically then executed to
establish a position reference.
If Ixx10 is set to a non-zero value, an absolute position read is performed for Motor xx at power-on/reset,
from the register whose location is specified in Ixx10 (unless Bit 2 of Ixx80 is set to 1). This is either the
address of a Turbo PMAC register, the multiplexed data address on the Multiplexer Port, or the number of
the MACRO node on the Turbo PMAC, depending on the setting of Ixx95. The motors position is set to
the value read from the sensor location the Ixx26 home offset value.
Ixx10 is used only on power-on/reset, when the $* command is issued for the motor, or when the $$*
command is issued for the coordinate system containing the motor. To get a new value of Ixx10 to take
effect, either the $* or $$* command must be issued, or the value must be stored to non-volatile flash
memory with the SAVE command, and the board must be reset.
Note:
Variable Ixx81 (with Ixx91) performs the same power-on position read function
for the phasing (commutation) algorithm.
R/D Converter Read: If Ixx95 is set to a value from $000000 to $070000, or from $800000 to $870000,
the address specified in Ixx10 is a Multiplexer Port address. Turbo PMAC will read the absolute position
from an Acc-8D Opt 7 Resolver-to-Digital Converter board at that port address, as set by DIP switches on
the board. Ixx95 specifies which R/D converter at that address is read, and whether it is treated as a
signed or unsigned value.
If Ixx99 is greater than 0, the next R/D converter at that port address is also read as a second geared-down
resolver, with Ixx99 setting the gear ratio. If Ixx98 is also greater than 0, the next R/D converter past that
one at the same port address is read as a third geared-down resolver, with Ixx98 setting the gear ratio.
In this mode, bits 1 through 7 of Ixx10 match the settings of DIP-switches SW1-2 through SW1-8,
respectively, on the Acc-8D Opt 7 R/D Converter board. A Closed (ON) switch represents a 0 value; an
Open (OFF) switch represents a 1 value. Bit 0 and bits 9 through 23 of Ixx10 are always set to 0 in this
mode; bit 8 is only set to 1 if all other bits are 0.
The following table shows the common Multiplexer Port addresses that can be used. Note that address 0
uses an Ixx10 value of $000100, because Ixx10=0 disables the absolute position read function.
Ixx10 for Acc-8D Option 7 Resolver/Digital Converter
(Ixx95=$000000 - $070000, $800000 - $870000) Addresses are Multiplexer Port Addresses
Board
Mux.
Addr.
Ixx10 Board
Mux.
Addr.
Ixx10 Board
Mux.
Addr.
Ixx10 Board
Mux.
Addr.
Ixx10
0 $000100 64 $000040 128 $000080 192 $0000C0
8 $000008 72 $000048 136 $000088 200 $0000C8
16 $000010 80 $000050 144 $000090 208 $0000D0
24 $000018 88 $000058 152 $000098 216 $0000D8
32 $000020 96 $000060 160 $0000A0 224 $0000E0
40 $000028 104 $000068 168 $0000A8 232 $0000E8
48 $000030 112 $000070 176 $0000B0 240 $0000F0
56 $000038 120 $000078 184 $0000B8 248 $0000F8
Parallel Word Read: If Ixx95 is set to a value from $080000 to $300000, from $480000 to $700000,
from $880000 to $B00000, or from $C80000 to $F00000, the address specified in Ixx10 is a Turbo
PMAC memory-I/O address, and Turbo PMAC will read the parallel word at that address. The least
significant bit (count) is expected at bit 0 of the address. The bit width (8 to 48 bits), the format (signed
or unsigned), and the register type (X or Y) are determined by Ixx95.
The common sources for this type of read are Acc-14 parallel I/O expansion boards, and the MLDT timer
registers. The following tables show the settings of Ixx10 for these devices.
Ixx10 Values for Acc-14D/V Registers
(Ixx95=$080000 to $300000 [unsigned], $880000 to $B00000 [signed])
Register Acc-14
Select
Jumper
Ixx10 Register Acc-14
Select
Jumper
Ixx10
First Acc-14D/V Port A E12 $078A00 Fourth Acc-14D/V Port A E15 $078D00
First Acc-14D/V Port B E12 $078A01 Fourth Acc-14D/V Port B E15 $078D01
Second Acc-14D/V Port A E13 $078B00 Fifth Acc-14D/V Port A E16 $078E00
Second Acc-14D/V Port B E13 $078B01 Fifth Acc-14D/V Port B E16 $078E01
Third Acc-14D/V Port A E14 $078C00
Sixth Acc-14D/V Port A
E17 $078F00
Third Acc-14D/V Port B E14 $078C01
Sixth Acc-14D/V Port B
E17 $078F01
Ixx10 for PMAC2-Style MLDT Timer Registers (Ixx95=$180000)
Servo
IC #
0
$078000 $078008 $078010 $078018
1
$078100 $078108 $078010 $078018
2
$078200 $078208 $078210 $078218
3
$078300 $078308 $078310 $078318
4
$079200 $079208 $079210 $079218
5
$079300 $079308 $079310 $079318
6
$07A200 $07A208 $07A210 $07A218
7
$07A300 $07A308 $07A310 $07A318
8
$07B200 $07B208 $07B210 $07B218
9
$07B300 $07B308 $07B310 $07B318
It can also be used for registers in the 3U-format Acc-3E1 (for 3U Turbo Stack systems) and Acc-14E
(for UMAC Turbo systems) boards. In this case, the last hex digit of Ixx91 must be set to a non-zero
value to specify the byte-wide bus of these boards. The following tables show Ixx10 values for these
boards.
Ixx10 Values for Acc-3E1 Registers in 3U Turbo Stack Systems
(Ixx95=$08000x to $30000x [unsigned], $88000x to $B0000x [signed])
Acc-3E1 Address Jumper E1 E2 E3 E4
Ixx10 Value $07880x $07890x $078A0x $078B0x
Ixx10 Values for Acc-14E Registers in UMAC Turbo Systems
(Ixx95=$08000x to $30000x [unsigned], $88000x to $B0000x [signed])
DIP-Switch
Setting
SW1-1 ON (0)
SW1-2 ON (0)
SW1-1 OFF (1)
SW1-2 ON (0)
SW1-1 ON (0)
SW1-2 OFF (1)
SW1-1 OFF (1)
SW1-2 OFF (1)
SW1-3 ON (0)
SW1-4 ON (0)
$078C0x $078D0x $078E0x $078F0x
SW1-3 OFF (1)
SW1-4 ON (0)
$079C0x $079D0x $079E0x $079F0x
SW1-3 ON (0)
SW1-4 OFF (1)
$07AC0x $07AD0x $07AE0x $07AF0x
SW1-3 OFF (1)
SW1-4 OFF (1)
$07BC0x $07BD0x $07BE0x $07BF0x
SW1-5 & 6 must be ON (0). ON means CLOSED; OFF means OPEN.
The final digit, represented by an x in both of these tables, can take a value of 0 to 5, depending on which
I/O point on the board is used for the least significant bit (LSB):
Ixx10 Last Hex
Digit x
Pin Used for LSB Pin Used for LSB Pin Used for LSB
x=0 I/O00-07 I/O48-55 I/O96-103
x=1 I/O08-15 I/O56-63 I/O104-111
x=2 I/O16-23 I/O64-71 I/O112-119
x=3 I/O24-31 I/O72-79 I/O120-127
x=4 I/O32-39 I/O80-87 I/O128-135
x=5 I/O40-47 I/O88-95 I/O136-143
Acc-28 A/D Converter Read: If Ixx95 is set to $310000 or $B10000, the address specified by Ixx10 is a
Turbo PMAC Y memory-I/O address, and Turbo PMAC will read the data in the high 16 bits of that
address as the absolute position (the LSB one count is in bit 8). This format is intended for the Acc-
28A and Acc-28B A/D converters.
The following table shows the settings of Ixx10 for these registers.
Ixx10 Values for PMAC-Style ADC Registers
(Ixx95=$B10000 for Acc-28A, Ixx95=$310000 for Acc-28B)
Register PMAC First
Acc-24P/V
Second
Acc-24P/V
Third
Acc-24P/V
Fourth
Acc-24P/V
ADC1 $078006 $078206 $079206 $07A206 $07B206
ADC2 $078007 $078207 $079207 $07A207 $07B207
ADC3 $07800E $07820E $07920E $07A20E $07B20E
ADC4 $07800F $07820F $07920F $07A20F $07B20F
ADC5 $078106 $078306 $079306 $07A306 $07B306
ADC6 $078107 $078307 $079307 $07A307 $07B307
ADC7 $07810E $07830E $07930E $07A30E $07B30E
ADC8 $07810F $07830F $07930F $07A30F $07B30F

Ixx10 Values for PMAC2-Style ADC Registers using Acc-28B
(Ixx95=$B10000)
Register PMAC2 First
Acc-24x2
Second
Acc-24x2
Third
Acc-24x2
Fourth
Acc-24x2
ADC 1A $078005 $078205 $079205 $07A205 $07B205
ADC 1B $078006 $078206 $079206 $07A206 $07B206
ADC 2A $07800D $07820D $07920D $07A20D $07B20D
ADC 2B $07800E $07820E $07920E $07A20E $07B20E
ADC 3A $078015 $078215 $079215 $07A215 $07B215
ADC 3B $078016 $078216 $079216 $07A216 $07B216
ADC 4A $07801D $07821D $07921D $07A21D $07B21D
ADC 4B $07801E $07821E $07921E $07A21E $07B21E
ADC 5A $078105 $078305 $079305 $07A305 $07B305
ADC 5B $078106 $078306 $079306 $07A306 $07B306
ADC 6A $07810D $07830D $07930D $07A30D $07B30D
ADC 6B $07810E $07830E $07930E $07A30E $07B30E
ADC 7A $078115 $078315 $079315 $07A315 $07B315
ADC 7B $078116 $078316 $079316 $07A316 $07B316
ADC 8A $07811D $07831D $07931D $07A31D $07B31D
ADC 8B $07811E $07831E $07931E $07A31E $07B31E
(Ixx95=$B10000)
DIP-Switch
Setting
SW1-1 ON (0)
SW1-2 ON (0)
SW1-1 OFF (1)
SW1-2 ON (0)
SW1-1 ON (0)
SW1-2 OFF (1)
SW1-1 OFF (1)
SW1-2 OFF (1)
SW1-3 ON (0)
SW1-4 ON (0)
$078C0x $078D0x $078E0x $078F0x
SW1-3 OFF (1)
SW1-4 ON (0)
$079C0x $079D0x $079E0x $079F0x
SW1-3 ON (0)
SW1-4 OFF (1)
$07AC0x $07AD0x $07AE0x $07AF0x
SW1-3 OFF (1)
SW1-4 OFF (1)
$07BC0x $07BD0x $07BE0x $07BF0x
SW1-5 and 6 must be ON (0). ON means CLOSED; OFF means OPEN.
ADC channel on the Acc-28E is used (x = Channel - 1).
Sanyo Absolute Encoder Read: If Ixx95 is set to $320000 or $B20000, the address specified in Ixx10 is
a Turbo PMAC memory-I/O address, and Turbo PMAC will read the absolute position from an Acc-49
Sanyo Absolute Encoder Converter board at that address. Ixx95 specifies whether this position is treated
as a signed or unsigned value.
The following table shows the possible settings of Ixx10 for Acc-49 Sanyo Absolute Encoder Converter
boards.
Ixx10 Values for Acc-49 Sanyo Absolute Encoder Converter (Ixx95=$320000, $B20000)
Addresses are Turbo PMAC Memory-I/O Addresses
Enc. # on
Board
Ixx10 for
E1 ON
Ixx10 for
E2 ON
Ixx10 for
E3 ON
Enc. # on
Board
Ixx10 for
E4 ON
Ixx10 for
E5 ON
Ixx10 for
E6 ON
Enc. 1 $078A00 $078B00 $078C00 Enc. 3 $078D00 $078E00 $078F00
Enc. 2 $078A04 $078B04 $078C04 Enc. 4 $078D04 $078E04 $078F04
Yaskawa Absolute Encoder Read: If Ixx95 is set to $710000 or $F10000, the address specified in
Ixx10 is a Multiplexer Port address, and Turbo PMAC will read the absolute position from an Acc-8D
Opt 9 Yaskawa Absolute Encoder Converter board at that port address, as set by DIP switches on the
board. Ixx95 specifies whether it is treated as a signed or unsigned value.
In this mode, bits 3 through 7 of Ixx10 match the settings of DIP switches SW1-1 through SW1-5,
respectively, of the Acc-8D Option 9 Yaskawa converter board.
A Closed switch represents a bit value of 0; an OPEN switch represents a bit value of 1. Bits 0 through 2,
and bits 8 though 23, of Ixx10 are always set to 0 in this mode.
The following table shows the Multiplexer Port addresses that can be used and the matching values of
Ixx10. Note that address 0 uses an Ixx10 value of $000100, because Ixx10=0 disables the absolute
position read function.
Ixx10 for Acc-8D Option 9 Yaskawa Absolute Encoder (Ixx95=$710000, $F10000)
Addresses are Multiplexer Port Addresses
Board
Mux.
Addr.
Ixx10 for
Enc. 1
Ixx10 for
Enc. 2
Ixx10 for
Enc. 3
Ixx10 for
Enc. 4
Board
Mux.
Addr.
Ixx10 for
Enc. 1
Ixx10 for
Enc. 2
Ixx10 for
Enc. 3
Ixx10 for
Enc. 4
0 $000100 $000002 $000004 $000006 128 $000080 $000082 $000084 $000086
8 $000008 $00000A $00000C $00000E 136 $000088 $00008A $00008C $00008E
16 $000010 $000012 $000014 $000016 144 $000090 $000092 $000094 $000096
24 $000018 $00001A $00001C $00001E 152 $000098 $00009A $00009C $00009E
32 $000020 $000022 $000024 $000026 160 $0000A0 $0000A2 $0000A4 $0000A6
40 $000028 $00002A $00002C $00002E 168 $0000A8 $0000AA $0000AC $0000AE
48 $000030 $000032 $000034 $000036 176 $0000B0 $0000B2 $0000B4 $0000B6
56 $000038 $00003A $00003C $00003E 184 $0000B8 $0000BA $0000BC $0000BE
64 $000040 $000042 $000044 $000046 192 $0000C0 $0000C2 $0000C4 $0000C6
72 $000048 $00004A $00004C $00004E 200 $0000C8 $0000CA $0000CC $0000CE
80 $000050 $000052 $000054 $000056 208 $0000D0 $0000D2 $0000D4 $0000D6
88 $000058 $00005A $00005C $00005E 216 $0000D8 $0000DA $0000DC $0000DE
96 $000060 $000062 $000064 $000066 224 $0000E0 $0000E2 $0000E4 $0000E6
104 $000068 $00006A $00006C $00006E 232 $0000E8 $0000EA $0000EC $0000EE
112 $000070 $000072 $000074 $000076 240 $0000F0 $0000F2 $0000F4 $0000F6
120 $000078 $00007A $00007C $00007E 248 $0000F8 $0000FA $0000FC $0000FE
MACRO Absolute Position Read: If Ixx95 contains a value from $720000 to $740000, or from
$F20000 to $F40000, the value specified in Ixx10 is a MACRO node number, and Turbo PMAC will
obtain the absolute power-on position through the MACRO ring. Ixx95 specifies what type of position
data is used, and whether it is treated as a signed or unsigned value.
The MACRO node number is specified in the last two hex digits of Ixx10. The second-to-last digit
specifies the MACRO IC number 0 to 3 (1, 2, and 3 exist only on Ultralite versions of the Turbo PMAC2,
or a UMAC Turbo with Acc-5E). Note that the MACRO IC number on the Turbo PMAC does not
necessarily match the ring master number for that IC, although it often will. The last digit specifies the
MACRO node number 0 to 15 (0 to F hex) in that IC. This function is only supported in nodes 0, 1, 4, 5,
8, 9, 12 (C), and 13 (D).
The following table shows the required values of Ixx10 for all of the MACRO nodes that can be used.
Note that MACRO IC 0 Node 0 uses an Ixx10 value of $000100, because Ixx10=0 disables the absolute
Ixx10 for MACRO Absolute Position Reads
(Ixx95=$720000 - $740000, $F20000 - $F40000)
Addresses are MACRO Node Numbers
MACRO
Node Number
Ixx10 for
MACRO IC 0
Ixx10 for
MACRO IC 1
Ixx10 for
MACRO IC 2
Ixx10 for
MACRO IC 3
0 $000100 $000010 $000020 $000030
1 $000001 $000011 $000021 $000031
4 $000004 $000014 $000024 $000034
5 $000005 $000015 $000025 $000035
8 $000008 $000018 $000028 $000038
9 $000009 $000019 $000029 $000039
12 $00000C $00001C $00002C $00003C
13 $00000D $00001D $00002D $00003D
If obtaining the absolute position through a Delta Tau MACRO Station or equivalent, MACRO Station
setup variable MI11x for the matching node must be set properly to obtain the type of information
desired.
Motor Safety I-Variables
Ixx11 Motor xx Fatal Following Error Limit
Range: 0 - 8,388,607
Units: 1/16 count
Default: 32,000 (2000 counts)
Ixx11 sets the magnitude of the following error for Motor xx at which operation will shut down. When
the magnitude of the following error exceeds Ixx11, Motor xx is disabled (killed). If the motors
coordinate system is executing a program at the time, the program is aborted. It is optional whether other
PMAC motors are disabled when this motor exceeds its following error limit; bits 21 and 22 of Ixx24
control what happens to the other motor (the default is that all PMAC motors are disabled).
A status bit for the motor, and one for the coordinate system (if the motor is in one) are set. On Turbo
PMAC, if this coordinate system is hardware-selected on JPAN (with I2=0), or software-addressed by the
host (with I2=1), the ERLD/ output on JPAN is turned on. On ISA bus cards, the following error input to
the interrupt controller is triggered.
Setting Ixx11 to zero disables the fatal-following error limit for the motor. This may be desirable during
initial development work, but it is strongly discouraged in an actual application. A fatal following error
limit is a very important protection against various types of faults, such as loss of feedback, that cannot be
detected directly, and that can cause severe damage to people and equipment.
Note:
The units of Ixx11 are 1/16 of a count. Therefore, this parameter must hold a value
16 times larger than the number of counts at which the limit will occur. For
example, if the limit is to be 1000 counts, Ixx11 should be set to 16,000.
Ixx12 Motor xx Warning Following Error Limit
Range: 0 - 8,388,607
Units: 1/16 count
Default: 16,000 (1000 counts)
Ixx12 sets the magnitude of the following error for Motor xx at which a warning flag goes true. If this
limit is exceeded, status bits are set for the motor and the motor's coordinate system (if any). The
coordinate system status bit is the logical OR of the status bits of all the motors in the coordinate system.
Setting this parameter to zero disables the warning following error limit function. If this parameter is set
greater than the Ixx11 fatal following error limit, the warning status bit will never go true, because the
fatal limit will disable the motor first.
If bit 1 of Ixx97 is set to 1, the motor can be triggered for homing search moves, jog-until-trigger moves,
and motion program move-until-trigger moves when the following error exceeds Ixx12. This is known as
torque-mode triggering, because the trigger will occur at a torque level corresponding to the Ixx12 limit.
Bit 0 of Ixx97 should also be set to 1 to enable software position capture, making the value of Ixx97 equal
to 3 in this mode.
At any given time, one coordinate system's status bit can be output to several places; which system
depends on what coordinate system is hardware-selected on the panel input port if I2=0, or what
coordinate system is software-addressed from the host (&n) if I2=1.
The outputs that work in this way are F1LD/ (pin 23 on connector J2 on Turbo PMAC only), F1ER (line
IR3 into the programmable interrupt controller (PIC) on Turbo PMAC PC) and, if E28 connects pins 1
and 2, FEFCO/ (on the JMACH1 connector on Turbo PMAC only).
Note:
The units of Ixx12 are 1/16 of a count. Therefore, this parameter must hold a value
16 times larger than the number of counts at which the limit will occur. For
example, if the limit is to be 1000 counts, Ixx12 should be set to 16,000.
Ixx13 Motor xx Positive Software Position Limit
Range: -2
35
- +2
35

Units: counts
Ixx13 sets the maximum permitted positive position value for Motor xx. It can work in two slightly
different ways.
1. Actual position limit: Turbo PMACs housekeeping functions repeatedly compare the actual position
of Motor xx to Ixx13. If the motor is closed-loop, and the actual position is greater in an absolute sense
(not magnitude) than Ixx13, Turbo PMAC automatically issues an Abort command, which causes this
motor to start decelerating to a stop at the rate set by Ixx15. If other motors are in coordinated motion,
they are also brought to a stop at their own Ixx15 rate.
Note:
In this mode, the deceleration starts after the limit has been reached, so the motion
will end outside the limit.
If the motor is in open-loop enabled mode (from an O-command) when it exceeds the Ixx13 limit, it will
be killed (open-loop disabled). If the limit has already been exceeded, no open-loop commands are
accepted for this motor, regardless of polarity.
While the Ixx13 limit is exceeded, Turbo PMAC will allow no more positive-direction commands,
whether from a programmed move, a jog command, or from the position-following function. However, it
will allow negative-direction commands of any of these types, permitting a controlled exit from the limit.
2. Desired position limit: If bit 15 of Ixx24 is set to 1, enabling desired position limit checking, Turbo
PMAC will compared the desired motor target as calculated by the motion program position either end
of programmed move, or end of intermediate segment to the limit. If this target position is not
calculated within the special lookahead buffer, when this position is greater in an absolute sense (not
magnitude) than Ixx13, Turbo PMAC automatically issues an Abort command, which causes this motor
to start decelerating to a stop at the rate set by Ixx15. If other motors are in coordinated motion, they are
also brought to a stop at their own Ixx15 rate.
If this target position is calculated within the special lookahead buffer, when this position is greater in an
absolute sense (not magnitude) than [Ixx13-Ixx41], Turbo PMAC modifies this position to [Ixx13-Ixx41].
Depending on the setting of bit 14 of Ixx24, it either brings the program to a controlled stop at this point
(bit 14=0) or continues the program with the motor position saturated to this value (bit 14=1).
If stopped at the limit in lookahead, reversal along the path is possible. Commands for forward execution
into the limit will execute one segment at a time in a point-to-point fashion. If the software limit is
extended, normal program execution may be resumed. Because program execution is technically only
suspended when stopped at the limit in this mode, an Abort command must be issued before another
program can be run.
Lookahead is active for LINEAR and CIRCLE mode moves, provided that the lookahead buffer is
defined, and with Isx13 and Isx20 set to values greater than 0.
If Ixx13 is set to 0, there is no positive software limit (if 0 should be the limit, use 1). This limit is
automatically de-activated during homing-search moves, until the home trigger is found. It is active
during the post-trigger move.
Ixx13 is referenced to the most recent power-up zero position or homing-move zero position. The
physical position at which this limit occurs is not affected by axis-offset commands (e.g. PSET,
{axis}=), although these commands will change the reported position value at which the limit occurs.
Note:
It is possible to set this parameter outside the range +2
35
(+64 billion) if a couple of
special things are done. First, the Ixx08 scale factor for the motor must be reduced
to give the motor the range to use this position (motor range is +2
42
/Ixx08).
Second, the variable value must be calculated inside Turbo PMAC, because the
command parser cannot accept constants outside the range +2
35
(e.g. to set I113 to
100 billion, use I113=1000000000*100).
Ixx14 Motor xx Negative Software Position Limit
Range: -2
35
- +2
35

Units: counts
Ixx14 sets the maximum permitted positive position value for Motor xx. It can work in two slightly
different ways.
1. Actual position limit: Turbo PMACs housekeeping functions repeatedly compare the actual
position of Motor xx to Ixx14. If the motor is closed-loop, and the actual position is less in an absolute
sense (not magnitude) than Ixx14, Turbo PMAC issues an Abort command automatically, which causes
this motor to start decelerating to a stop at the rate set by Ixx15. If other motors are in coordinated
motion, they are also brought to a stop at their own Ixx15 rate.
Note:
In this mode, the deceleration starts after the limit has been reached, so the motion
will end outside the limit.
If the motor is in open-loop enabled mode (from an O-command) when it exceeds the Ixx14 limit, it will
be killed (open-loop disabled). If the limit has already been exceeded, no open-loop commands are
accepted for this motor, regardless of polarity.
While the Ixx14 limit is exceeded, Turbo PMAC will allow no more negative-direction commands,
whether from a programmed move, a jog command, or from the position-following function. However, it
will allow positive-direction commands of any of these types, permitting a controlled exit from the limit.
2. Desired position limit: If bit 15 of Ixx24 is set to 1, enabling desired position limit checking, Turbo
PMAC will compared the desired motor target as calculated by the motion program position either end
of programmed move, or end of intermediate segment to the limit. If this target position is not
calculated within the special lookahead buffer, when this position is less in an absolute sense (not
magnitude) than Ixx14, Turbo PMAC automatically issues an Abort command, which causes this motor
to start decelerating to a stop at the rate set by Ixx15. If other motors are in coordinated motion, they are
also brought to a stop at their own Ixx15 rate.
If this target position is calculated within the special lookahead buffer, when this position is less in an
absolute sense (not magnitude) than [Ixx14+Ixx41], Turbo PMAC modifies this position to
[Ixx14+Ixx41]. Depending on the setting of bit 14 of Ixx24, it either brings the program to a controlled
stop at this point (bit 14=0) or continues the program with the motor position saturated to this value (bit
14=1). If stopped at the limit in lookahead, reversal along the path is possible. Commands for forward
execution will execute one segment at a time in a point-to-point fashion.
Lookahead is active for LINEAR and CIRCLE mode moves, provided that the lookahead buffer is
defined, and with Isx13 and Isx20 set to values greater than 0.
If Ixx14 is set to 0, there is no positive software limit (if 0 should be a limit, use 1). This limit is
automatically de-activated during homing-search moves, until the home trigger is found. It is active
during the post-trigger move.
Ixx14 is referenced to the most recent power-up zero position or homing-move zero position. The
physical position at which this limit occurs is not affected by axis-offset commands (e.g. PSET,
{axis}=), although these commands will change the reported position value at which the limit occurs.
Note:
It is possible to set this parameter outside the range +2
35
(+64 billion) if a couple of
special things are done. First, the Ixx08 scale factor for the motor must be reduced
to give the motor the range to use this position (motor range is +2
42
/Ixx08).
Second, the variable value must be calculated inside Turbo PMAC, because the
command parser cannot accept constants outside the range +2
35
(e.g. to set I114 to
-100 billion, use I114=-1000000000*100).
Ixx15 Motor xx Abort/Limit Deceleration Rate
Range: Positive Floating-Point
Units: counts / msec
2

Default: 0.25
CAUTION:
Do not set this parameter to zero, or the motor will continue indefinitely after an
abort or limit.
Ixx15 sets the rate of deceleration that Motor xx will use if it exceeds a hardware or software limit, or has
its motion aborted by command (A or <CONTROL-A>). This value should usually be set to a value
near the maximum physical capability of the motor. It is not a good idea to set this value past the
capability of the motor, because doing so increases the likelihood of exceeding the following error limit,
which stops the braking action, and could allow the axis to coast into a hard stop.
Example:
Suppose the motor had 125 encoder lines (500 counts) per millimeter, and it should decelerate at 4000
mm/sec
2
. Set Ixx15 to 4000 mm/sec
2
* 500 cts/mm * sec
2
/1,000,000 msec
2
= 2.0 cts/msec
2
.
Ixx16 Motor xx Maximum Program Velocity
Default: 32.0
Ixx16 sets a limit to the magnitude of the commanded velocity for certain programmed moves in certain
modes on Turbo PMAC.
1. Non-segmented LINEAR mode moves: If the Isx13 segmentation time parameter for the coordinate
system containing Motor xx is set to 0, which takes the coordinate system out of segmentation mode, then
Ixx16 serves as the maximum velocity for Motor xx in LINEAR-mode moves in the coordinate system. If
a LINEAR move command in a motion program requests a higher velocity magnitude of this motor, all
motors in the coordinate system are slowed down proportionately so that the motor will not exceed this
parameter, yet the path will not be changed.
If Isx13 is set to 0, CIRCLE mode moves and cutter radius compensation can not be performed.
2. Segmented LINEAR and CIRCLE mode moves with lookahead: If the Isx13 segmentation time
parameter for the coordinate system containing Motor xx is set greater than 0, put the coordinate system
in segmentation mode and the special multi-block lookahead function is active (lookahead buffer defined
and Isx20 greater than 0). Then Ixx16 serves as the maximum velocity for Motor xx in all segments of
LINEAR and CIRCLE mode moves in the coordinate system. If a segment of one of these programmed
moves requests a higher velocity magnitude of this motor, all motors in the coordinate system are slowed
down proportionately so that the motor will not exceed this parameter, yet the path will not be changed.
Note:
Ixx16 is not used for segmented LINEAR and CIRCLE mode moves when the
special lookahead buffer is not active.
3. RAPID mode moves: Ixx16 also sets the speed of a programmed RAPID mode move for the motor,
provided that variable Ixx90 is set to 1 (if Ixx90 is set to 0, jog speed parameter Ixx22 is used instead).
This happens regardless of the setting of Isx13.
The Ixx16 velocity limit calculations assume that the coordinate system is operating at the %100 override
value (real-time). The true velocity will vary proportionately with the override value.
Ixx17 Motor xx Maximum Program Acceleration
2

Default: 0.5
Ixx17 sets a limit to the magnitude of the commanded acceleration for certain programmed moves in
certain modes on Turbo PMAC.
1. Non-segmented LINEAR mode moves: If the Isx13 segmentation time parameter for the coordinate
system containing Motor xx is set to 0, which takes the coordinate system out of segmentation mode, then
Ixx17 serves as the maximum velocity for Motor xx in LINEAR-mode moves in the coordinate system. If
a LINEAR move command in a motion program requests a higher acceleration magnitude of this motor
given its TA and TS time settings, the acceleration time for all motors in the coordinate system is
extended so that the motor will not exceed this parameter, yet full coordination is maintained.
If Isx13 is set to 0, CIRCLE mode moves and cutter radius compensation can not be performed.
In this mode, Turbo PMAC cannot extend the acceleration time to a greater value than the incoming move
time, because to go further would require re-calculating already executed moves. If observing
acceleration limits (especially for deceleration) requires acceleration or deceleration over multiple
programmed moves, the Ixx17 limit in this mode cannot guarantee that the limits will be observed.
Special lookahead is required for this capability.
In this mode, the Ixx17 acceleration limit can lower the speed of short programmed moves, even if they
are intended to be blended together at high speed. The algorithm limits the speed of each move so that it
can decelerate to a stop within that move. Without special lookahead, it cannot assume that it will blend
at full speed into another move.
2. Segmented LINEAR and CIRCLE mode moves with lookahead: If the Isx13 segmentation time
parameter for the coordinate system containing Motor xx is set greater than 0, put the coordinate system
in segmentation mode and the special multi-block lookahead function is active (lookahead buffer defined
and Isx20 greater than 0). Then Ixx17 serves as the maximum acceleration for Motor xx in all segments
of LINEAR and CIRCLE mode moves in the coordinate system. If a segment of one of these
programmed moves requests a higher acceleration magnitude of this motor, the segment time for all
motors in the coordinate system is extended so that the motor will not exceed this parameter, yet full
coordination is maintained.
Furthermore, the Turbo PMAC will work back through already calculated, but not yet executed,
segments, to make sure the change in this segment does not cause violations in any of those segments.
Note:
Ixx17 is not used for segmented LINEAR and CIRCLE mode moves when the
special lookahead buffer is not active.
The Ixx17 acceleration limit calculations assume that the coordinate system is operating at the %100
override value (real-time). The true acceleration will vary proportionately with the square of the override
value.
The use of the Ixx17 limit permits the setting of very small TA and/or TS values (Ixx87 and Ixx88 by
default). Do not set both of these values to 0, or a division-by-zero calculation error could occur. It is
advised that the TA time is set no smaller the minimum programmed move block time that should occur.
Example:
Given axis definitions of #1->10000X, #2->10000Y, Isx13=0 and Ixx17 for each motor of 0.25, and
the following motion program segment:
INC F10 TA200 TS0
X20
Y20
The rate of acceleration from the program at the corner for motor #2 (X) is ((0-10)units/sec * 10000
cts/unit * sec/1000msec) / 200 msec = -0.5 cts/msec
2
. The acceleration of motor #2 (Y) is +0.5 cts/msec
2
.
Since this is twice the limit, the acceleration will be slowed so that it takes 400 msec.
With the same setup parameters and the following program segment:
INC F10 TA200 TS0
X20 Y20
X-20 Y20
The rate of acceleration from the program at the corner for motor #1 (X) is ((-7.07-7.07)units/sec * 10000
cts/unit * sec/1000msec) / 200 msec = -0.707 cts/msec
2
. The acceleration of motor #2 (Y) is 0.0. Since
motor #1 exceeds its limit, the acceleration time will be lengthened to 200 * 0.707/0.25 = 707 msec.
Note:
In the second case, the acceleration time is made longer (the corner is made larger)
for what is an identically shaped corner (90
o
). In a contouring XY application, this
parameter should not be relied upon to produce consistently sized corners without
the special lookahead algorithm.
Ixx19 Motor xx Maximum Jog/Home Acceleration
2

Default: 0.15625
Ixx19 sets a limit to the commanded acceleration magnitude for jog and home moves, and for RAPID-
mode programmed moves, of Motor xx. If the acceleration times in force at the time (Ixx20 and Ixx21)
request a higher rate of acceleration, this rate of acceleration will be used instead. The calculation does
not take into account any feedrate override (%value other than 100).
Since jogging moves are usually not coordinated between motors, many people prefer to specify jog
acceleration by rate, not time. To do this, simply set Ixx20 and Ixx21 low enough that the Ixx19 limit is
always used. Do not set both Ixx20 and Ixx21 to 0, or a division-by-zero error will result in the move
calculations, possibly causing erratic operations. The minimum acceleration time settings that should be
used are Ixx20=1 and Ixx21=0.
The default limit of 0.015625 counts/msec
2
is quite low and will probably limit acceleration to a lower
value than is desired in most systems; most users will eventually raise this limit. This low default was
used for safety reasons.
Example:
With Ixx20 (acceleration time) at 100 msec, Ixx21 (S-curve time) at 0, and Ixx22 (jog speed) at 50
counts/msec, a jog command from stop would request an acceleration of (50 cts/msec) / 100 msec, or 0.5
cts/msec
2
. If Ixx19 were set to 0.25, the acceleration would be done in 200 msec, not 100 msec.
With the same parameters in force, an on-the-fly reversal from positive to negative jog would request an
acceleration of (50-(-50) cts/msec) / 100 msec, or 1.0 cts/msec
2
. The limit would extend this acceleration
period by a factor of 4, to 400 msec.
Motor Motion I-Variables
Ixx20 Motor xx Jog/Home Acceleration Time
Range: 0 - 8,388,607
Units: msec
Default: 0 (so Ixx21 controls)
Ixx20 establishes the time spent in acceleration in a jogging, homing, or programmed RAPID-mode move
(starting, stopping, and changing speeds). However, if Ixx21 (jog/home S-curve time) is greater than half
this parameter, the total time spent in acceleration will be 2 times Ixx21. Therefore, if Ixx20 is set to 0,
Ixx21 alone controls the acceleration time in pure S-curve form. In addition, if the maximum
acceleration rate set by these times exceeds what is permitted for the motor (Ixx19), the time will be
increased so that Ixx19 is not exceeded.
Note:
Do not set both Ixx20 and Ixx21 to 0 simultaneously, even if relying on Ixx19 to
limit the acceleration, or a division-by-zero error will occur in the jog move
calculations, possibly resulting in erratic motion.
A change in this parameter will not take effect until the next move command. For instance, if a different
deceleration time is wanted from the acceleration time in a jog move, specify the acceleration time,
command the jog, change the deceleration time, then command the jog move again (e.g. J=), or at least
the end of the jog (J/).
Ixx21 Motor xx Jog/Home S-Curve Time
Range: 0 - 8,388,607
Units: msec
Default: 50
Ixx21 establishes the time spent in each half of the S for S-curve acceleration in a jogging, homing, or
RAPID-mode move (starting, stopping, and changing speeds). If this parameter is more than half of
Ixx20, the total acceleration time will be 2 times Ixx21, and the acceleration time will be pure S-curve (no
constant acceleration portion). If the maximum acceleration rate set by Ixx20 and Ixx21 exceeds what is
permitted for the motor (Ixx19), the time will be increased so that Ixx19 is not exceeded.
Note:
Do not set both Ixx20 and Ixx21 to 0 simultaneously, even if relying on Ixx19 to
limit the acceleration, or a division-by-zero error will occur in the jog move
calculations, possibly resulting in erratic motion.
A change in this parameter will not take effect until the next move command. For instance, to have a
different deceleration time from acceleration time in a jog move, specify the acceleration time, command
the jog, change the deceleration time, then command the jog move again (e.g. J=), or at least the end of
the jog (J/).
Ixx22 Motor xx Jog Speed
Range: Positive Floating Point
Default: 32.0
Ixx22 establishes the commanded speed of a jog move, or a programmed RAPID-mode move (if
Ixx90=0) for Motor xx. Direction of the jog move is controlled by the jog command.
A change in this parameter will not take effect until the next move command. For instance, to change the
jog speed on the fly, start the jog move, change this parameter, then issue a new jog command.
Ixx23 Motor xx Home Speed and Direction
Range: Floating Point
Default: 32.0
Ixx23 establishes the commanded speed and direction of a homing-search move for Motor xx. Changing
the sign reverses the direction of the homing move -- a negative value specifies a home search in the
negative direction; a positive value specifies the positive direction.
Ixx24 Motor xx Flag Mode Control
Units: none
Default: $000000 (Turbo PMAC boards)
$000001 (non-Ultralite Turbo PMAC2 boards)
$840001 (Turbo PMAC2 Ultralite boards)
Ixx24 specifies how the flag information in the registers specified by Ixx25, Ixx42, and Ixx43 is used.
Ixx24 is a set of 24 individual control bits bits 0 to 23. Currently bits 0 and 11 to 23 are used.
Note:
It is easier to specify this parameter in hexadecimal form. With I9 at 2 or 3, the
value of this variable will be reported back to the host in hexadecimal form.
Bit 0: Flag Register Type Bit: If bit 0 is set to zero, the Turbo PMAC expects the flag registers to be in
the format of a PMAC-style Servo IC. Bit 0 should be set to 0 for any flags on-board a Turbo PMAC, an
Acc-24P, or an ACC24V.
If bit 0 is set to one, the Turbo PMAC expects the flag registers to be in the format of a PMAC2-style
Servo IC. Bit 0 should be set to 1 for any flag register on-board a Turbo PMAC2, an Acc-24P2, an Acc-
24V2, an Acc-24E2, or coming from a MACRO Station.
If multiple flag registers are specified by non-zero settings of Ixx42 and/or Ixx43, all registers must be of
the same format.
Bit 11: Capture with High-Resolution Feedback Bit: If bit 11 is set to zero when hardware position
capture is used in a triggered move such as a homing-search move, the captured data (whether whole-
count only or including sub-count data) is processed to match servo feedback of normal resolution (five
bits of fractional count data per hardware whole count). This setting is appropriate for digital quadrature
feedback or for low-resolution interpolation of a sinusoidal encoder.
If bit 11 (value $800, or 2,048) is set to one when hardware position capture is used in a triggered move,
the captured data (whether whole-count only or including sub-count data) is processed to match servo
feedback of high resolution (10 bits of fractional count data per hardware whole count). This setting is
appropriate for high-resolution interpolation of a sinusoidal encoder through an Acc-51x interpolator.
Bit 12: Sub-Count Capture Enable Bit: If bit 12 is set to zero when hardware position capture is used
in a triggered move such as a homing-search move, only the whole-count captured position register is
used to establish the trigger position. This setting must be used with PMAC-style Servo ICs, and with
PMAC2-style Servo ICs older than Revision D (Revision D ICs started shipping in early 2002).
If bit 12 (value $1000, or 4,096) is set to one when hardware position capture is used in a triggered move,
both the whole-count captured position register and the estimated sub-count position register are used to
establish the trigger position. A PMAC2-style Servo IC of Revision D or newer must be used for this
mode, and I7mn9 for the channel used must be set to 1 to enable the hardware sub-count estimation. This
setting is typically used for registration or probing triggered moves with interpolated sinusoidal encoder
feedback. (Even with interpolated sinusoidal encoder feedback, homing search moves will probably be
done without sub-count captured data, to force a home position referenced to one of the four zero-
crossing positions of the sine/cosine signals.)
Bit 13 Error Saturation Control Bit: If bit 13 is set to zero, when the motors following error exceeds
the Ixx67 position-error limit, the error is simply truncated by the limit parameter.
If bit 13 (value $2000, or 8,192) is set to 1, when the motors following error exceeds the Ixx67 position-
error limit, the excess is put in the master position register for the motor, so it is eventually recoverable.
Bit 14: Continue on Desired Position Limit Bit: If bit 14 is set to zero when desired position limits are
enabled (bit 15=1), and desired position within the lookahead buffer exceeds a position limit, Turbo
PMAC will stop execution of the program at the point where the motor reaches the limit.
If bit 14 (value $4000, or 16,384) is set to one when desired position limits are enabled (bit 15=1) (e.g.
I224=$C000) and desired position within the lookahead buffer exceeds a position limit, Turbo PMAC
will continue execution of the program past the point where the motor reaches the limit, but will not let
the desired motor position exceed the limit.
Bit 15: Desired Position Limit Enable Bit: If bit 15 is set to zero, Turbo PMAC does not check to see
whether the desired position for this motor exceeds software overtravel limits.
If bit 15 (value $8000, or 32,768) is set to one (e.g. I324=$8001), Turbo PMAC will check desired
position values for this motor against the software overtravel limits as set by Ixx13, Ixx14, and Ixx41.
If inside the special lookahead buffer, Turbo PMAC will either come to a controlled stop along the path at
the point where the desired position reaches the limit, or continue the program with desired position
saturated at the limit, depending on the setting of bit 14. If not inside the special lookahead buffer, Turbo
PMAC will issue an Abort command when it sees that the desired position has exceeded a position limit.
Bit 16: Amplifier Enable Use Bit: With bit 16 equal to zero the normal case the AENAn output is
used as an amplifier-enable line: off when the motor is killed, on when it is enabled.
If bit 16 (value $10000, or 65,536) is set to one (e.g. I1924=$10001), this output is not used as an
amplifier-enable line. On PMAC-style channels, it could then be used as a direction output for magnitude
and direction command format if Ixx96 is set to 1. In addition, by assigning an M-variable to the AENAn
output bit, general-purpose use of this output is possible on either Turbo PMAC or PMAC2 if this bit is
set.
Bit 17: Overtravel Limit Use Bit: With bit 17 equal to zero the normal case the two hardware
overtravel limit inputs must read 0 (drawing current) to permit commanded motion in the appropriate
direction. If there are not actual (normally closed or normally conducting) limit switches, the inputs must
be hardwired to ground.
If bit 17 (value $20000, or 131,072) is set to one (e.g. I1924=$20000), Motor xx does not use these inputs
as overtravel limits. This can be done temporarily, as when using a limit as a homing flag. If the
hardware overtravel limit function is not used at all, these inputs can be used as general-purpose inputs by
assigning M-variables to them.
Bits 18 and 19: MACRO Node Use Bits: Bits 18 (value $40000, or 262,144) and 19 (value ($80000, or
524,288) of Ixx24 specify what flag information is connected directly to Turbo PMAC hardware
channels, and what information comes through the MACRO ring into a MACRO auxiliary register. The
following table shows the possible settings of these two bits and what they specify:
Bit 19 Bit 18 Capture Flags Amp Flags Limit Flags
0 0 Direct Direct (dont care)
0 1 Thru MACRO Thru MACRO (dont care)
1 0 Direct Thru MACRO (dont care)
1 1 Thru MACRO Direct (dont care)
If the amplifier flags are connected through the MACRO ring, bit 23 of Ixx24 must be set to 1 to
designate a high-true amplifier fault, which is the MACRO standard. When using a MACRO auxiliary
register for the flags, Ixx25, Ixx42, or Ixx43 should contain the address of a holding register in RAM, not
the actual MACRO register. Refer to the descriptions of those variables for a list of the holding register
addresses. Turbo PMAC firmware automatically copies between the holding registers and the MACRO
registers as enabled by I70, I72, I74 and I76, for MACRO ICs 0, 1, 2, and 3, respectively. I71, I73, I75,
and I77 must be set properly to determine whether the Type 0 or Type 1 MACRO protocol is being used
on the particular node (all Delta Tau products use Type 1).
Bit 20: Amplifier Fault Use Bit: If bit 20 of Ixx24 is 0, the amplifier-fault input function through the
FAULTn input is enabled. If bit 20 (value $100000, or 1,048,576) is 1 (e.g. I1924=$100000), this
function is disabled. General-purpose use of this input is then possible by assigning an M-variable to the
input.
Bits 21 & 22: Action-on-Fault Bits: Bits 21 (value $200000, or 2,097,152) and 22 (value $400000, or
4,194,304) of Ixx24 control what action is taken on an amplifier fault for the motor, or on exceeding the
fatal following error limit (as set by Ixx11) for the motor:
Bit 22 Bit 21 Function
Bit 22=0 Bit 21=0: Kill all PMAC motors
Bit 22=0 Bit 21=1: Kill all motors in same coordinate system
Bit 22=1 Bit 21=0: Kill only this motor
Bit 22=1 Bit 21=1: (Reserved for future use)
Regardless of the setting of these bits, a program running in the coordinate system of the offending motor
will be halted on an amplifier fault or the exceeding of a fatal following error.
Bit 23: Amplifier-Fault Polarity Bit: Bit 23 (value $800000, or 8,388,608) of Ixx24 controls the
polarity of the amplifier-fault input. A zero in this bit specifies that a zero read in the fault bit means a
fault; a one in this bit specifies that a one read in the fault bit means a fault. The actual state of the input
circuitry for a fault depends on the actual interface circuitry used. If a Delta Tau-provided optically
isolated fault interface is used, when the fault driver from the amplifier is drawing current through the
isolator, either sinking or sourcing, the fault bit will read as zero; when it is not drawing current through
the isolator, the fault bit will read as one.
In both the standard direct-PWM interface and the standard MACRO interface, bit 23 should be set to
one, to specify that a one in the fault bit means a fault. (The actual polarity of the signal into the remote
MACRO Station is programmable at the station).
Bit 23 is only used if bit 20 of Ixx24 is set to 0, telling Turbo PMAC to use the amplifier fault input.
Ixx25 Motor xx Flag Address
Default:
Ixx25 Value Register Ixx25
Value
Register
I125 $078000 PMAC Flag Set 1 I1725 $079200 2
nd
Acc-24P/V Flag Set 1
I225 $078004 PMAC Flag Set 2 I1825 $079204 2
nd
I325 $078008 PMAC Flag Set 3 I1925 $079208 2
nd
I425 $07800C PMAC Flag Set 4 I2025 $07920C 2
nd
I525 $078100 PMAC Flag Set 5 I2125 $079300 2
nd
I625 $078104 PMAC Flag Set 6 I2225 $079304 2
nd
I725 $078108 PMAC Flag Set 7 I2325 $079308 2
nd
I825 $07810C PMAC Flag Set 8 I2425 $07930C 2
nd
I925 $078200 First Acc-24P/V Flag Set 1 I2525 $07A200 3
rd
rd
rd
I1225 $07820C First Acc-24P/V Flag Set 4 I2825 $07A20C 3
rd
rd
rd
rd
I1625 $07830C First Acc-24P/V Flag Set 8 I3225 $07A30C 3
rd
Turbo PMAC2 Ixx25 Defaults
I125 $078000 PMAC2 Flag Set 1 I1725 $079200 Second Acc-24P/V2 Flag Set 1
I925 $078200 First Acc-24P/V2 Flag Set 1 I2525 $07A200 Third Acc-24P/V2 Flag Set 1

I125 $003440 MACRO Flag Register Set 0 I1725 $003460 MACRO Flag Register Set 32
I725 $00344C MACRO Flag Register Set 12 I2325 $00346C MACRO Flag Register Set 44
I825 $00344D MACRO Flag Register Set 13 I2425 $00346D MACRO Flag Register Set 45
Ixx02 Value Register Ixx0
2
Value Register
I102 $078200 First Acc-24E2x (IC 2) Flag Set 1 I1702 $07A200 Fifth Acc-24E2x (IC 6) Flag Set 1
I502 $078300 Second Acc-24E2x (IC 3) Flag Set 1 I2102 $07A300 Sixth Acc-24E2x (IC 7) Flag Set 1
I902 $079200 Third Acc-24E2x (IC 4) Flag Set 1 I2502 $07B200 Seventh Acc-24E2x (IC 8) Flag Set 1
I1302 $079300 Fourth Acc-24E2x (IC 5) Flag Set 1 I2902 $07B300 Eighth Acc-24E2x (IC 9) Flag Set 1
Ixx25 tells Turbo PMAC what registers it will access for its position-capture flags, and possibly its
overtravel-limit input flags and amplifier enable/fault flags, for Motor xx. If Ixx42 is set to 0, Ixx25
specifies the address of the amplifier flags; if Ixx42 is set to a non-zero value, Ixx42 specifies the address
of the amplifier flags. If Ixx43 is set to 0, Ixx25 specifies the address of the overtravel limit flags; if
Ixx43 if set to a non-zero value, Ixx43 specifies the address of the overtravel limit flags. Variable Ixx24
tells which of the flags from the specified registers are to be used, and how they are to be used.
The addresses for the standard flag registers are given in the default table, above. The following tables
show settings by register if changing from the default.
Ixx25 Addresses for PMAC-Style Servo ICs
Servo
IC #
0 $078000
$078004 $078008 $07800C First IC on board PMAC
1
$078100 $078104 $078108 $07810C Second IC on board PMAC
2
$078200 $078204 $078208 $07820C First IC on first Acc-24P/V
3
$078300 $078304 $078308 $07830C Second IC on first Acc-24P/V
4
$079200 $079204 $079208 $07920C First IC on second Acc-24P/V
5
$079300 $079304 $079308 $07930C Second IC on second Acc-24P/V
6
$07A200 $07A204 $07A208 $07A20C First IC on third Acc-24P/V
7
$07A300 $07A304 $07A308 $07A30C Second IC on third Acc-24P/V
8
$07B200 $07B204 $07B208 $07B20C First IC on 4
th
Acc-24P/V
9
$07B300 $07B304 $07B308 $07B30C Second IC on 4
th
Acc-24P/V
Bit 0 of Ixx24 must be set to 0 to use PMAC-style Servo ICs.
Ixx25 Addresses for PMAC2-Style Servo ICs
Servo
IC #
0
$078000 $078008 $078010 $078018 First IC on board PMAC2, 3U stack
1
$078100 $078108 $078110 $078118 Second IC on board PMAC2, 3U stack
2
$078200 $078208 $078210 $078218 First Acc-24E2x, first IC on first Acc-24P/V2
3
$078300 $078308 $078310 $078318 Second Acc-24E2x, second IC on first Acc-24P/V2
4
$079200 $079208 $079210 $079218 Third Acc-24E2x, first IC on second Acc-24P/V2
5
$079300 $079308 $079310 $079318 Fourth Acc-24E2x, second IC on second Acc-24P/V2
6
$07A200 $07A208 $07A210 $07A218 Fifth Acc-24E2x, first IC on third Acc-24P/V2
7
$07A300 $07A308 $07A310 $07A318 Sixth Acc-24E2x, second IC on third Acc-24P/V2
8
$07B200 $07B208 $07B210 $07B218 Seventh Acc-24E2x, first IC on fourth Acc-24P/V2
9
$07B300 $07B308 $07B310 $07B318 Eighth Acc-24E2x, second IC on fourth Acc-24P/V2
Bit 0 of Ixx24 must be set to 1 to use PMAC2-style Servo ICs.
Ixx25 Addresses for MACRO Flag Holding Registers
IC
Node #
MACRO
IC 1
MACRO
IC 2
MACRO
IC 3
MACRO
IC 4
Notes
0
$003440 $003450 $003460 $003470 MACRO Flag Register Sets 0, 16, 32, 48
1
4
5
8
9
12
$00344C $00345C $00346C $00347C MACRO Flag Register Sets 12, 28, 44, 60
13
$00344D $00345D $00346D $00347D MACRO Flag Register Sets 13, 29, 45, 61
Bit 0 of Ixx24 must be set to 1 to use MACRO flag holding registers
Bits 18 and 19 of Ixx24 specify what flag information comes directly into Turbo PMAC and what comes
through the MACRO ring. The following table explains the possible settings:

Bit 19 Bit 18 Capture Flags Amp Flags Limit Flags
0 0 Direct Direct (dont care)
0 1 Thru MACRO Thru MACRO (dont care)
1 0 Direct Thru MACRO (dont care)
1 1 Thru MACRO Direct (dont care)
Typically, the position-capture flags will be on the same hardware channel as the position feedback
encoder for the motor. To use the hardware-captured position for a Turbo PMAC triggered-move
function such as a homing search move, Ixx25 must specify flags of the same hardware channel as the
position feedback encoder specified with Ixx03 through the encoder conversion table, whether digital
quadrature feedback, or interpolated sinusoidal feedback.
In the case of sinusoidal-encoder feedback through an Acc-51x high-resolution interpolator, if hardware
position-capture capability is desired, the position-capture flags will be specified as being on the Acc-51x
using Ixx25 and the amplifier flags will be specified as being on the output channel using Ixx42; the
overtravel-limit flags will probably be specified as being on the same channel as the outputs, using Ixx43.
For the position-capture function, variables I7mn2 and I7mn3 for Servo IC m Channel n of the channel
selected (or node-specific variables MI912 and MI913 on a MACRO Station) specify which edges of
which signals for the channel will cause the position-capture trigger.
The overtravel-limit inputs specified by Ixx25 or Ixx43 must read as 0 in order for Motor xx to be able to
command movement in the direction of the limit unless bit 17 of Ixx24 is set to 1 to disable their action.
With Delta Tau interface circuitry with optical isolation on the flags, this means that the switches must be
drawing current through the opto-isolators, whether sinking or sourcing.
Whether the address of the amplifier flags is specified with Ixx25 or Ixx42, the polarity of the amplifier-
fault input is determined by bit 23 of Ixx24 and the polarity of the amplifier-enable output must be
determined with the hardware interface.
Ixx26 Motor xx Home Offset
Range: -8,388,608 - 8,388,607
Units: 1/16 count
Default: 0
Ixx26 specifies the difference between the zero position of sensors for the motor and the motors own
zero home position. For a motor that establishes its position reference with a homing search move, this
is the difference between the home trigger position and the motor zero position. For a motor that
establishes its position reference with an absolute position read (Ixx10 > 0), this is the difference between
the absolute sensors zero position and the motor zero position.
In a homing search move, Ixx26 specifies the distance between the actual position at which the home
trigger is found, and the commanded end of the post-trigger move, where the motor will come to a stop.
The commanded end position of the post-trigger move is considered motor position zero. (It is possible
to use other offsets to create a different axis position zero for programming purposes.)
A difference between the trigger position and the motor zero position is particularly useful when using an
overtravel limit as a home flag (offsetting out of the limit before re-enabling the limit input as a limit). If
Ixx26 is large enough (greater than 1/2 times home speed times acceleration time), it permits a homing
search move without any reversal of direction.
In an absolute position read done on board reset, the $* command, or the $$* command, Ixx26 specifies
the difference between the position read from the sensor as specified by Ixx10 and Ixx95, and the actual
motor position set as a result of this read. Ixx26 is subtracted from the sensor position to calculate motor
position. This offset is particularly useful when the absolute sensors zero position is outside the range of
travel for the motor, as with an MLDT sensor.
Note:
The units of this parameter are 1/16 of a count, so the value should be 16 times the
number of counts between the trigger position and the home zero position.
Example:
To change the motor zero position to 500 counts in the negative direction from the home trigger position,
set Ixx26 to -500 * 16 = -8000.

Ixx27 Motor xx Position Rollover Range
Range: -2
35
- +2
35

Units: counts
Default: 0
Ixx27 permits either of two position rollover modes on a Turbo PMAC rotary axis assigned to Motor xx
by telling Turbo PMAC how many encoder counts are in one revolution of the rotary axis. This lets
Turbo PMAC handle rollover properly. If Ixx27 is set to the default value of 0, no rollover mode is
active, and the axis is treated as a linear axis.
If Ixx27 is greater than zero, and Motor xx is assigned to a rotary axis (A, B, or C), the standard rollover
mode is active. With standard rollover active, for a programmed axis move in absolute (ABS) mode, the
motor will take the shortest path around the circular range defined by Ixx27 to get to the destination point.
No absolute-mode move will be longer than half of a revolution (Ixx27/2) with standard rollover.
If Ixx27 is set to a negative number, an alternate rollover mode for the rotary axis assigned to the motor is
activated that uses the sign of the commanded destination in absolute mode to specify the direction of
motion to that destination. In this mode, all moves are less than one revolution (with the size of the
revolution specified by the magnitude of Ixx27), but can be greater than one-half revolution. This mode
also does not affect the action of incremental-mode moves.
The sign of the commanded absolute destination in this mode is also part of the destination value.
Therefore, a command of A-90 in this mode is a command to go to -90 degrees (= +270 degrees) in the
negative direction. For commands to move in the positive direction, the + sign is not required, but it is
permitted (e.g. to command a move to 90 degrees in the positive direction, either A90 or A+90 can be
used).
PMAC cannot store the difference between a +0 and a 0 destination command, so a command with a
tiny non-zero magnitude for the end position must be used (e.g. A+0.0000001 and A-0.0000001).
This increment can be small enough not to have any effect on the final destination.
If the distance of the move commanded in alternate rollover mode is less than the size of the in-position
band defined for the motor with Ixx28, no move will be executed. This means that the minimum distance
for a move in this mode is Ixx28, and the maximum distance is 360 degrees minus Ixx28.
If using commands from a similar mode in which only the magnitude, and not the sign, of the value
specifies the destination position, then the destination values for negative-direction moves must be
modified so that the magnitude is 360 degrees minus the magnitude in the other mode. For example, if
the command were C-120, specifying a move to (+)120 degrees in the negative direction, the command
would have to be modified for PMAC to C-240, which specifies a move to -240 degrees (= +120 degrees)
in the negative direction. Commands for positive-direction moves do not have to be modified.
Axis moves in incremental (INC) mode are not affected by either rollover mode. Rollover should not be
attempted for axes other than A, B, or C. Jog moves are not affected by rollover. Reported motor
position is not affected by rollover. (To obtain motor position information rolled over to within one
motor revolution, use the modulo (remainder) operator, either in PMAC or in the host computer: e.g.
P4=(M462/(I408*32))%I427).
Note:
It is possible to set this parameter outside the range -2
35
to +2
35
(+64 billion) if a
couple of special things are done. First, the Ixx08 scale factor for the motor must
be reduced to give the motor the range to use this position (motor range is
+2
42
/Ixx08). Second, the variable value must be calculated inside Turbo PMAC,
because the command parser cannot accept constants outside the range +2
35
(e.g. to
set I127 to 100 billion, use I127=1000000000*100).
Example:
Motor #4 drives a rotary table with 36,000 counts per revolution. It is defined to the A-axis with #4-
>100A (A is in units of degrees). I427 is set to 36000. With motor #4 at zero counts (A-axis at zero
degrees), an A270 move in a program is executed in Absolute mode. Instead of moving the motor from 0
to 27,000 counts, which it would have done with I427=0, PMAC moves the motor from 0 to -9,000
counts, or -90 degrees, which is equivalent to +270 degrees on the rotary table.
Ixx28 Motor xx In-Position Band
Range: 0 - 8,388,607
Units: 1/16 count
Default: 160 (10 counts)
Ixx28 specifies the magnitude of the maximum following error at which Motor xx will be considered in
position when not performing a move.
Several things happen when the motor is in-position. First, a status bit in the motor status word (bit 0
of Y:$0000C0 for Motor 1) is set. Second, if all other motors in the same coordinate system are also in-
position, a status bit in the coordinate system status word (bit 17 of Y:$00203F for C.S. 1) is set.
Third, for the hardware-selected (FPD0/-FPD3/) coordinate system if I2=0 (Turbo PMAC only) or for
the software addressed (&n) coordinate system if I2=1 outputs to the control panel port (Turbo PMAC
only) and to the interrupt controller are set.
Technically, five conditions must be met for a motor to be considered in-position:
1. The motor must be in closed-loop control;
2. The desired velocity must be zero;
3. The magnitude of the following error must be less than this parameter;
4. The move timer must not be active;
5. The above four conditions must all be true for (Ixx88+1) consecutive scans.
The over timer is active (the motor running a program/definite-time move status bit is 1) during any
programmed or non-programmed move, including DWELLs and DELAYs in a program to have this bit
come true during a program, do an indefinite wait between some moves by keeping the program trapped
in a WHILE loop that has no moves or DWELLs.
To have a status bit indicating whether the magnitude of the following error is above or below a threshold
(condition 3 only), use the warning following error status bit with Ixx12 as the threshold.
If global variable I13 is set to 1, Turbo PMAC also performs an in-position check every servo cycle as
part of the foreground tasks. In this check, it only evaluates the first four conditions listed above. This
task controls a separate motor status bit: foreground in-position (bit 13 of Y:$0000C0 for Motor 1). This
function can be used when the background in-position check is not fast enough.
Note:
number of counts in the in-position band.
Example:
The following motion program segment shows how the in-position function could be used in a program to
set an output after coming in-position at a programmed point. M140 represents Motor 1s in-position
status bit (see suggested M-variable definitions).
X10 ; Commanded move
DWELL0 ; Stop lookahead in motion programs
WHILE (M140=0) WAIT ; Loop while not in position
M1=1 ; Set output
Ixx29 Motor xx Output/First Phase Offset
Range: -32,768 - 32,767
Units: 16-bit DAC/ADC bit equivalent
Default: 0
Ixx29 serves as an output or feedback offset for Motor xx; its exact use depends on the mode of operation
as described below. In any of the modes, it effectively serves as the digital equivalent of an offset pot.
Mode 1: When Turbo PMAC is not commutating Motor xx (Ixx01 Bit 0 = 0), Ixx29 serves as the offset
for the single command output value, usually a DAC command. Ixx29 is added to the output command
value before it is written to the command output register.
Mode 2: When Turbo PMAC (PMAC-style Servo ICs only) is not commutating Motor xx (Ixx01 Bit 0 =
0) but is in sign-and-magnitude output mode (Ixx96 = 1), Ixx29 is the offset of the command output value
before the absolute value is taken (Ixx79 is the offset after the absolute value is taken). Ixx29 is typically
left at zero in this mode, because it cannot compensate for real circuitry offsets.
Mode 3: When Turbo PMAC is commutating Motor xx (Ixx01 Bit 0 = 1) but not closing the current loop
(Ixx82 = 0), Ixx29 serves as the offset for the first of two phase command output values (Phase A), for the
address specified by Ixx02; Ixx79 serves the same purpose for the second phase (Phase B). Ixx29 is
added to the output command value before it is written to the command output register.
When commutating from a PMAC-style Servo IC, Phase A is output on the higher-numbered of the two
DACs (e.g. DAC2); Phase B on the lower-numbered (e.g. DAC1). When commutating from a PMAC2-
style Servo IC, Phase A is output on the A-channel DAC (e.g. DAC1A), Phase B on the B-channel DAC
(e.g. DAC1B).
As an output command offset, Ixx29 is always in units of a 16-bit register, even if the actual output device
is of a different resolution. For example, if a value of 60 had to be written into an 18-bit DAC to create a
true zero command, this would be equivalent to a value of 60/4=15 in a 16-bit DAC, so Ixx29 would be
set to 15 to cancel the offset.
Mode 4: When Turbo PMAC is commutating (Ixx01 Bit 0 = 1) and closing the current loop for Motor xx
(Ixx82 > 0), Ixx29 serves as an offset that is added to the phase current reading from the ADC for the first
phase (Phase A), at the address specified by Ixx82 minus 1. Ixx79 performs the same function for the
second phase. The sum of the ADC reading and Ixx29 is used in the digital current loop algorithms.
As an input feedback offset, Ixx29 is always in units of a 16-bit ADC, even if the actual ADC is of a
different resolution. For example, if a 12-bit ADC reported a value of -5 when no current was flowing in
the phase, this would be equivalent to a value of -5*16=-80 in a 16-bit ADC, so Ixx29 would be set to 80
to compensate for this offset.
Motor xx PID Servo Setup I-Variables
Note:
PID Servo Gains Ixx30 Ixx40 are only used if supplementary motor I-variable
Iyy00/Iyy50 is set to its default value of 0. If Iyy00/Iyy50 is set to 1, the Extended
Servo Algorithm gains in Iyy10-39/Iyy60-89 are used instead.
Ixx30 Motor xx PID Proportional Gain
Range: -8,388,608 - 8,388,607
Units: (Ixx08/2
19
) 16-bit output bits / count
Default: 2000
WARNING:
Changing the sign of Ixx30 on a motor that has been closing a stable servo loop
will cause an unstable servo loop, leading to a probable runaway condition.
Ixx30 provides a control output proportional to the position error (commanded position minus actual
position) of Motor xx. It acts effectively as an electronic spring. The higher Ixx30 is, the stiffer the
spring is. Too low a value will result in sluggish performance. Too high a value can cause a buzz
from constant over-reaction to errors.
If Ixx30 is set to a negative value, this has the effect of inverting the command output polarity for motors
not commutated by PMAC, when compared to a positive value of the same magnitude. This can
eliminate the need to exchange wires to get the desired polarity. On a motor that is commutated by
PMAC, changing the sign of Ixx30 has the effect of changing the commutation phase angle by 180
o
.
Negative values of Ixx30 currently cannot be used with the auto tuning programs in the PMAC Executive
program.
This parameter is usually set initially using the Tuning utility in the PMAC Executive Program. It may be
changed on the fly at any time to create types of adaptive control.
Note:
The default value of 2000 for this parameter is exceedingly weak for most
systems (all but the highest resolution velocity-loop systems), causing sluggish
motion and/or following error failure. Most users will immediately want to raise
this parameter significantly even before starting serious tuning.
If the servo update time is changed, Ixx30 will have the same effect for the same numerical value.
However, smaller update times (faster update rates) should permit higher values of Ixx30 (stiffer systems)
without instability problems.
Ixx30 is not used if Iyy00/50 for the motor has been set to 1 to enable the Extended Servo Algorithm
(ESA) for the motor.
Ixx31 Motor xx PID Derivative Gain
Range: -8,388,608 - 8,388,607
Units: (Ixx30*Ixx09)/2
26
16-bit output bits / (counts/servo update)
Default: 1280
Ixx31 subtracts an amount from the control output proportional to the measured velocity of Motor xx. It
acts effectively as an electronic damper. The higher Ixx31 is, the heavier the damping effect is.
If the motor is driving a properly tuned velocity-loop amplifier, the amplifier will provide sufficient
damping, and Ixx31 should be set to zero. If the motor is driving a current-loop (torque) amplifier, or if
PMAC is commutating the motor, the amplifier will provide no damping, and Ixx31 must be greater than
zero to provide damping for stability.
On a typical system with a current-loop amplifier and PMAC's default servo update time (~440 sec), an
Ixx31 value of 2000 to 3000 will provide a critically damped step response.
If the servo update time is changed, Ixx31 must be changed proportionately in the opposite direction to
keep the same damping effect. For instance, if the servo update time is cut in half, from 440 sec to 220
sec, Ixx31 must be doubled to keep the same effect.
Ixx32 Motor xx PID Velocity Feedforward Gain
Range: -8,388,608 - 8,388,607
26
16-bit output bits / (counts/servo update)
Default: 1280
Ixx32 adds an amount to the control output proportional to the desired velocity of Motor xx. It is
intended to reduce tracking error due to the damping introduced by Ixx31, analog tachometer feedback, or
physical damping effects.
If the motor is driving a current-loop (torque) amplifier, Ixx32 will usually be equal to (or slightly greater
than) Ixx31 to minimize tracking error. If the motor is driving a velocity-loop amplifier, Ixx32 will
typically be substantially greater than Ixx31 to minimize tracking error.
If the servo update time is changed, Ixx32 must be changed proportionately in the opposite direction to
keep the same effect. For instance, if the servo update time is cut in half, from 440 sec to 220 sec,
Ixx32 must be doubled to keep the same effect.
Ixx33 Motor xx PID Integral Gain
Range: 0 - 8,388,607
42
16-bit output bits / (counts*servo update)
Default: 1280
Ixx33 adds an amount to the control output proportional to the time integral of the position error for
Motor xx. The magnitude of this integrated error is limited by Ixx63. With Ixx63 at a value of zero, the
contribution of the integrator to the output is zero, regardless of the value of Ixx33.
No further errors are added to the integrator if the output saturates (if output equals Ixx69), and, if
Ixx34=1, when a move is being commanded (when desired velocity is not zero). In both of these cases,
the contribution of the integrator to the output remains constant.
If the servo update time is changed, Ixx33 must be changed proportionately in the same direction to keep
the same effect. For instance, if the servo update time is cut in half, from 440 sec to 220 sec, Ixx33
must be cut in half to keep the same effect.
Ixx34 Motor xx PID Integration Mode
Range: 0 - 1
Units: none
Default: 1
Ixx34 controls when the position-error integrator is turned on. If it is 1, position error integration is
performed only when Motor xx is not commanding a move (when desired velocity is zero). If it is 0,
position error integration is performed all the time.
If Ixx34 is 1, it is the input to the integrator that is turned off during a commanded move, which means
the output control effort of the integrator is kept constant during this period (but is generally not zero).
This same action takes place whenever the total control output saturates at the Ixx69 value.
This parameter is usually set initially using the Tuning utility in the PMAC Executive Program. When
performing the feedforward tuning part of that utility, it is important to set Ixx34 to 1 so the dynamic
behavior of the system may be observed without integrator action. Ixx34 may be changed on the fly at
any time to create types of adaptive control.
Ixx35 Motor xx PID Acceleration Feedforward Gain
Range: -8,388,608 - 8,388,607
26
16-bit output bits / (counts/servo update
2
)
Default: 0
Ixx35 adds an amount to the control output proportional to the desired acceleration for Motor xx. It is
intended to reduce tracking error due to inertial lag.
If the servo update time is changed, Ixx35 must be changed by the inverse square to keep the same effect.
For instance, if the servo update time is cut in half, from 440 sec to 220 sec, Ixx35 must be quadrupled
to keep the same effect.
Ixx36 Motor xx PID Notch Filter Coefficient N1
Range: -2.0 - 2.0
Units: none (unit-less z-transform coefficient)
Default: 0.0
Ixx36, along with Ixx37-Ixx39, is part of the second-order notch filter for Motor xx, whose main purpose
is to damp out a resonant mode in the motor/load dynamics. This filter can also be used as a low-pass
filter and a velocity-loop integrator. This parameter can be set according to instructions in the Servo
Loop Features section of the manual.
The notch filter parameters Ixx36-Ixx39 are 24-bit variables, with 1 sign bit, 1 integer bit, and 22
fractional bits, providing a range of -2.0 to +2.0.
The equation for the notch filter is:
2
z 2 D
1
z 1 D 1
2
z 2 N
1
z 1 N 1
) z ( F
+
=
Ixx37 Motor xx PID Notch Filter Coefficient N2
Range: -2.0 - 2.0
Default: 0.0
Ixx37 is part of the notch filter for Motor xx. See Ixx36 and the Servo Loop Features section of the
manual for details.
Usually, this parameter is set initially using the Tuning utility in the PMAC Executive Program. It may
be changed on the fly at any time to create types of adaptive control.
Ixx38 Motor xx PID Notch Filter Coefficient D1
Range: -2.0 - 2.0
Default: 0.0
manual for details.
Ixx39 Motor xx PID Notch Filter Coefficient D2
Range: -2.0 - 2.0
Default: 0.0
manual for details.
Ixx40 Motor xx Net Desired Position Filter Gain
Range: 0.0 0.999999
Units: none
Default: 0.0
Ixx40 permits the introduction of a first-order low-pass filter on the net desired position for Motor xx.
This can be useful to smooth motion that comes from a rough source, such as master following from a
noisy sensor, or quantization error in very closely spaced programmed points that are commonly found in
lookahead applications.
If Ixx40 is set to its default value of 0.0, this filter function is disabled. If Ixx40 is set to any value greater
than 0.0, the filter is enabled.
Ixx40 can be expressed in terms of the filter time constant by the following equation:
where T
f
is the filter time constant, and T
s
is the servo update time.
f
T
s
T
f
T
40 Ixx
+
=
The filter time constant can be expressed in terms of Ixx40 by the following equation:
40 Ixx 1
s
T * 40 Ixx
f
T
=
Filter time constants can range from a fraction of a servo cycle (when Ixx40 ~ 0) to infinite (when Ixx40
~ 1). As with any low-pass filter, there is a fundamental trade-off between smoothness and delay.
Generally, when the filter is used, filter time constants of a few milliseconds are set. In an application
where multiple motors are executing a path, the same time constant should be used for all of the motors.
Example:
To set a filter time constant of 2 msec on a system with the default servo update time of 442 sec, Ixx40
can be computed as:
819 . 0
2 442 . 0
2
40 Ixx =
+
=
Ixx41 Motor xx Desired Position Limit Band
Range: 0 8,388,607
Units: counts
Default: 0
Ixx41 specifies the difference between the software position limits using desired position at lookahead
time and those using actual position at move execution time.
Turbo PMAC will check the motor desired position at lookahead time if bit 15 of Ixx24 is set to 1. If the
lookahead desired position is greater than (Ixx13-Ixx41), or less than (Ixx14+Ixx41), Turbo PMAC will
limit the desired position at this value, and either stop the program on the path at this point or continue the
program while saturating the motor position at this value, depending on the setting of bit 14 of Ixx24.
Turbo PMAC also checks the motor actual position at move execution time. If the actual position is
greater than Ixx13, or less than Ixx14, Turbo PMAC issues an Abort command, bringing the motors to a
stop, but not along the path. This checking is done even if Turbo PMAC is already stopping on the path
because lookahead desired position was exceeded.
The purpose of Ixx41 is to permit the lookahead desired position limit to operate, stopping or limiting the
program in a recoverable fashion, without also tripping the actual position limit and creating an
unrecoverable stop. If the two limits are the same, a slight overshoot during the deceleration for desired
position limit would trip the actual position limit. Ixx41 should be set slightly greater than the magnitude
of the largest following error expected when decelerating at the Ixx17 maximum deceleration rate.
Ixx42 Motor xx Amplifier Flag Address
Default: $0
Ixx42, if set to a non-zero value, specifies the address of the amplifier-enable output flag and amplifier-
fault input flag, independently of position-capture flags and overtravel-limit flags, for Motor xx. If Ixx42
is set to 0, Ixx25 specifies the address of the amplifier flags as well as the position-capture flags, and
possibly the overtravel-limit flags, for Motor xx. This maintains backward compatibility with older
firmware revisions in which Ixx42 was not implemented.
Whether the address of the amplifier flags is specified with Ixx25 or Ixx42, the polarity of the amplifier-
fault input is determined by bit 23 of Ixx24 and the polarity of the amplifier-enable output must be
determined with the hardware interface.
If amplifier flags are specified separately using Ixx42, they must use the same type of ICs as does Ixx25,
those specified by bit 0 of Ixx24.
Bits 18 and 19 of Ixx24 specify whether the amplifier flags and the capture flags are connected directly to
Turbo PMAC circuitry, or interface to it through the MACRO ring as shown in the following table:
Bit 19 Bit 18 Capture Flags Amp Flags
0 0 Direct Direct
0 1 Thru MACRO Thru MACRO
1 0 Direct Thru MACRO
1 1 Thru MACRO Direct
The following tables show the standard addresses that can be used for Ixx42.
Servo IC # Chan. 1 Chan. 2 Chan. 3 Chan. 4 Notes
0 $078000
1
2
3
4
5
6
7
8
$07B200 $07B204 $07B208 $07B20C First IC on fourth Acc-24P/V
9
$07B300 $07B304 $07B308 $07B30C Second IC on fourth Acc-24P/V
0
1
2
$078200 $078208 $078210 $078218 First Acc-24E2x, first IC on first Acc-24P/V2
3
4
5
6
7
8
9
Bit 0 of Ixx24 must be set to 1 to use PMAC2-style Servo ICs.
IC Node
#
MACRO
IC 1
MACRO
IC 2
MACRO
IC 3
MACRO
IC 4
Notes
0
1
4
5
8
9
12
13
Bit 0 of Ixx24 must be set to 1 to use MACRO flag holding registers.
Ixx43 Motor xx Overtravel-Limit Flag Address
Default: $0
Ixx43, if set to a non-zero value, specifies the address of the overtravel-limit input flags, independently of
position-capture flags and amplifier flags, for Motor xx. If Ixx43 is set to 0, Ixx25 specifies the address
of the overtravel-limit flags as well as the position-capture flags, and possibly the amplifier flags, for
Motor xx. This maintains backward compatibility with older firmware revisions in which Ixx43 was not
implemented.
If overtravel limit flags are specified separately using Ixx43, they must use the same type of ICs as Ixx25,
as specified by bit 0 of Ixx24.
The following tables show the standard addresses that can be used for Ixx42.
0 $078000
1
2
3
4
5
6
7
8
$07B200 $07B204 $07B208 $07B20C First IC on fourth Acc-24P/V
9
$07B300 $07B304 $07B308 $07B30C Second IC on fourth Acc-24P/V
Servo
IC #
0
1
2
$078200 $078208 $078210 $078218 First Acc-24E2x, first IC first Acc-24P/V2
3
4
5
6
7
8
9
Bit 0 of Ixx24 must be set to 1 to use PMAC2style Servo ICs.
IC
Node #
MACRO
IC 1
MACRO
IC 2
MACRO
IC 3
MACRO
IC 4
Notes
0
1
4
5
8
9
12
13
Bit 0 of Ixx24 must be set to 1 to use MACRO flag holding registers.

Motor Servo and Commutation Modifiers
Ixx55 Motor xx Commutation Table Address Offset
Units: Turbo PMAC Address Offsets from $003800
Default: $0
Ixx55 permits the user to create and use a custom commutation table for Motor xx in Turbo PMAC,
instead of using the default commutation sine/cosine table. Ixx55 contains the offset from the start of the
default table at address $003800 to the start of the users custom table.
Custom tables are usually located in the UBUFFER at the end of flash-backed memory ($0107FF for
standard data memory configuration, $03FFFFF for the extended data memory configuration).
Alternately, they can be located in the optional battery-backed memory ($050000 - $053FFF for the basic
option, $050000 - $05FFFF for the extended option), but access is significantly slower to the battery-
backed memory.
Custom tables must occupy 2048 consecutive double words of memory, covering the 360 degrees of the
commutation cycle. The first register (lowest-numbered address) is the entry for 0 degrees. The address
of this register must be divisible by $800, which means that the last three hex digits of this address must
be $000 or $800, and the last three hex digits of Ix55 must be $800 or $000. The signed 24-bit X
registers contain cosine-type values multiplied by 2
23
; the signed 24-bit Y-registers contain sine-type
values multiplied by 2
23
.
Examples:
The custom commutation table for Motor 1 is located in the UBUFFER from $00F800 to $00FFFF. I155
should be set to $00F800 - $003800 = $00C000.
The custom commutation table for Motor 12 is located in battery-backed RAM from $052000 to
$0527FF. I1255 should be set to $052000 - $003800 = $048800.
Ixx56 Motor xx Commutation Delay Compensation
Range: 0.0 1.0
Units: (Ixx09*32/2048) commutation cycles/(counts/servo update)
Default: 0
Ixx56 permits the Turbo PMAC to compensate lags in the electrical circuits of the motor phases, and/or
for calculation delays in the commutation of Motor xx, therefore improving high-velocity performance.
The compensation is simply Ixx56 multiplied by the motor velocity.
Ixx56 is only used if Turbo PMAC is commutating Motor xx (Ixx01=1). It should be only be used for the
commutation of synchronous motors (Ixx78=0) such as permanent magnet brushless motors. Ixx56
should be set to 0 for asynchronous motors (Ixx78>0) such as AC induction motors.
If Turbo PMAC is commutating Motor xx, but not closing the current loop (Ixx82=0), Ixx56 can improve
performance typically starting at a few thousand RPM, because it compensates for inductive lags in the
motor windings. If Turbo PMAC is also closing the current loop for Motor xx (Ixx82>0; Turbo PMAC2
only), the DC field-frame current loop closure compensates for inductive lags, and only small calculation
delays need to be compensated; these are usually not significant until well over 10,000 rpm.
This parameter is best set experimentally by running the motor at high speeds, and finding the setting that
minimizes the current draw of the motor.
Ixx57 Motor xx Continuous Current Limit
Range: -32,768 32,767
Default: 0
Ixx57 sets the magnitude of the maximum continuous current limit for Turbo PMACs integrated current
limiting function, when that function is active (Ixx58 must be greater than 0 for the integrated current
limit to be active). If Turbo PMAC is closing a digital current loop for the motor, it uses actual current
measurements for this function; otherwise, it uses commanded current values. If the magnitude of the
actual or commanded current level from Turbo PMAC is above the magnitude of Ixx57 for a significant
period of time, as set by Ixx58, Turbo PMAC will trip this motor on an integrated-current amplifier fault
condition.
The integrated current limit can either be an I
2
T (I-squared-T) limit, or an |I|T (I-T) limit. If Ixx57 is set
to a positive value, Turbo PMAC performs I
2
T limiting, squaring the value of current before integrating
and comparing to Ixx58. If Ixx57 is set to a negative value, Turbo PMAC performs |I|T limiting, just
taking the absolute value of the current before integrating and comparing to Ixx58.
I
2
T limiting is best used if the system device with the shortest thermal time constant is resistive (and so
has I
2
R heating), as in motor windings and MOSFET drivers. |I|T limiting is best used if the system
device with the shortest thermal time constant has a fixed voltage drop (and so has IV heating), as in
IGBT drivers.
Ixx57 is in units of a 16-bit DAC or ADC (maximum possible value of 32,767), even if the actual output
or input device has a different resolution. Typically, Ixx57 will be set to between 1/3 and 1/2 of the Ixx69
(instantaneous) output limit. Consult the amplifier and motor documentation for their specifications on
instantaneous and continuous current limits.
Technically, Ixx57 is the continuous limit of the vector sum of the quadrature and direct currents. The
quadrature (torque-producing) current is the output of the position/velocity-loop servo. The direct
(magnetization) current is set by Ixx77.
In sine-wave output mode (Ixx01 bit 0 = 1, Ixx82 = 0), typically, amplifier gains are given in amperes of
phase current per volt of PMAC output, but motor and typically amplifier limits are given in RMS
amperage values. In this case, it is important to realize that peak phase current values are 2 (1.414)
times greater than the RMS values.
In direct-PWM mode (Ixx01 bit 0 = 1, Ixx82 > 0) of 3-phase motors (Ixx72 = 683 or 1365), the
corresponding top values of the sinusoidal phase-current ADC readings will be 1/cos(30
o
), or 1.15, times
greater than the vector sum of quadrature and direct current. Therefore, once the top values have been
established in the A/D converters the phase currents on a continuous basis, this value should be multiplied
by cos(30
o
), or 0.866, to get the value for Ixx57. Remember that if current limits are given as RMS
values, multiply these by 2 (1.414) to get peak phase current values.
Examples:
1. Turbo PMAC Motor 1 is driving a torque-mode DC brush-motor amplifier that has a gain of 3
amps/volt with a single analog output voltage. The amplifier has a continuous current rating of 10
amps; the motor has a continuous current rating of 12 amps.
PMACs maximum output of 32,768, or 10 volts, corresponds to 30 amps.
The amplifier has the lower continuous current rating, so we use its limit of 10 amps.
I157 is set to 32,768 * 10 / 30 = 10,589.
2. Motor 3 is driving a self-commutating brushless-motor amplifier in current (torque) mode with a
single analog output. The amplifier has a gain of 5 amps (RMS)/volt and an continuous current limit
of 20 amps (RMS). The motor has a continuous current limit of 25 amps (RMS).
PMACs maximum output of 32,768, or 10V, corresponds to 50 amps (RMS).
The amplifier has the lower continuous current rating, so we use its limit of 20 amps (RMS).
I357 is set to 32,768 * 20/50 = 13,107.
3. Turbo PMAC Motor 4 is driving a sine-wave mode amplifier that has a gain for each phase input of 5
amps/volt. The amplifier has a continuous rating of 20 amps (RMS); the motor has a continuous
rating of 22 amps (RMS).
PMACs maximum output of 32,768, or 10 volts, corresponds to 50 amps peak in a phase.
The amplifier has the lower continuous current rating, so we use its limit of 20 amps (RMS).
20 amps (RMS) corresponds to peak phase currents of 20*1.414 = 28.28 amps.
I457 is set to 32,768 * 28.28 / 50 = 18,534.
4. Turbo PMAC Motor 6 is driving a direct-PWM power block amplifier for an AC motor. The A/D
converters in the amplifier are scaled so that a maximum reading corresponds to 50 amps of current in
the phase. The amplifier has a continuous current rating of 20 amps (RMS), and the motor has a
continuous rating of 15 amps (RMS).
PMACs maximum ADC phase reading of 32,768 corresponds to 50 amps.
The motor has the lower continuous current rating, so we use its limit of 15 amps (RMS).
21.21 amps corresponds to an ADC reading of 32,768 * 21.21/50 = 13,900.
I657 should be set to 13,900 * 0.866 = 12,037.
See Also:
Integrated Current Protection (Making an Application Safe)
I-Variables Ixx58, Ixx69
Ixx58 Motor xx Integrated Current Limit
Range: 0 - 8,388,607
Units: 2
30
(DAC bits)
2
servo cycles
{Bits of a 16-bit DAC/ADC}
Default: 0
Ixx58 sets the maximum integrated current limit for Turbo PMACs I
2
T or |I|T integrated current limiting
function. If Ixx58 is 0, the I
2
T limiting function is disabled. If Ixx58 is greater than 0, Turbo PMAC will
compare the time-integrated difference between the commanded or actual current and the Ixx57
continuous current limit to Ixx58. If Ixx57 is greater than 0, Turbo PMAC uses the squares of these
current values for I
2
T limiting; if Ixx57 is less than 0, Turbo PMAC uses the absolute value of these
current values for |I|T limiting. If the integrated value exceeds the limit set by Ixx58, then Turbo PMAC
faults the motor just as it would for receiving an amplifier fault signal, setting both the amplifier-fault and
the integrated-current-fault motor status bits.
Typically, the Ixx58 limit is set by taking the relationship between the instantaneous current limit (Ixx69
on Turbo PMAC, in units of a 16-bit DAC), the magnetization current (commanded by Ixx77; typically 0
except for vector control of induction motors) and the continuous current limit (|Ixx57| on Turbo PMAC,
in units of a 16-bit DAC) and multiplying by the time permitted at the instantaneous limit.
When using I
2
T limiting (Ixx57 > 0), the formula is:
(sec) ime PermittedT ) Hz ( eRate ServoUpdat
2
32768
2
57 Ixx
2
77 Ixx
2
69 Ixx
58 Ixx
+
=
When using |I|T limiting (Ixx57 < 0), the formula is:
(sec) ime PermittedT ) Hz ( eRate ServoUpdat
32768
57 Ixx
2
77 Ixx
2
69 Ixx
58 Ixx
+
=
Refer to the Making the Application Safe section in the User manual for a more detailed explanation of
I
2
T and |I|T protection.
Example:
For I
2
T limiting, with the instantaneous current limit Ixx69 at 32,767, the magnetization current Ixx77 at
0, the continuous current limit Ixx57 at 10,589 (1/3 of max), the time permitted with maximum current at
1 minute, and the servo update rate at the default of 2.25 kHz, Ixx58 would be set as
120000 60 2250 )
2
33 . 0
2
0 . 0
2
0 . 1 ( 58 Ixx = + =
For |I|T limiting, with the instantaneous current limit Ixx69 at 24,576, the magnetization current Ixx77 at
0, the continuous current limit at 8192 (Ixx57 = -8192), the time permitted with maximum current at 3
seconds, and the servo update rate at 4 kHz, Ixx58 would be set as:
6000 3 4000 ) 25 . 0
2
0 . 0
2
75 . 0 ( 58 Ixx = + =
Ixx59 Motor xx User-Written Servo/Phase Enable
Range: 0 - 3
Units: none
Default: 0
Ixx59 controls whether the built-in servo and commutation routines, or user-written servo and
commutation routines, are used for Motor xx. The following table shows the possible values of Ixx59 and
their effects:
Ixx59 Servo Algorithm Commutation Algorithm
0 Built-in (PID or ESA) Built-in
1 User-written Built-in
2 Built-in (PID or ESA) User-written
3 User-written User-written
Any user-written servo or commutation (phase) algorithms will have been coded and cross-assembled in a
host computer, and downloaded into PMACs program memory. These algorithms are retained by the
battery on battery-backed RAM versions, or saved into flash memory on flash-backed versions.
Ixx00 must be 1 in order for the user-written servo to execute. Ixx01 must be 1 or 3 in order for the user-
written commutation to execute. The servo algorithm can be changed immediately between the built-in
algorithm and a user-written algorithm by changing Ixx59. PMAC only selects the phasing algorithm to
be used at power-on reset, so in order to change the commutation algorithm, Ixx59 must be changed, this
new value stored to non-volatile memory with the SAVE command, and the board reset.
It is possible to use the user-written algorithms for purposes other than servo or commutation, making
them essentially very fast and efficient PLC programs. This is very useful for fast, position-based
outputs. Simply load the code, activate an extra motor with Ixx00 and/or Ixx01, and set Ixx59 for this
pseudo-motor to use this algorithm.

Ixx60 Motor xx Servo Cycle Period Extension Period
Range: 0 - 255
Units: Servo Interrupt Periods
Default: 0
Ixx60 permits an extension of the servo update time for Motor xx beyond a single servo interrupt period.
The servo loop will be closed every (Ixx60 + 1) servo interrupts. With the default value of zero, the loop
will be closed every servo interrupt. An extended servo update time can be useful for motors with slow
dynamics, and/or limited feedback resolution. It can also be useful if the control loop is used for a slow
process-control function.
On Turbo PMAC boards, the servo interrupt period is controlled by hardware settings (jumpers E3-E6,
E29-E33, and E98). On Turbo PMAC2 boards, it is controlled by I-variables (I7000, I7001, and I7002 for
non-Ultralite boards; I6800, I6801, and I6802 for Ultralite boards).
Other update times, including trajectory update and phase update, are not affected by Ixx60. I10 does not
need to be changed with Ixx60.
The filtered motor velocity values reported with the V and <CTRL-V> commands are not affected by
Ixx60. They still will report in counts per servo interrupt. However, the raw actual velocity register will
store velocity in terms of counts per servo loop closure.
Ixx61 Motor xx Current-Loop Integral Gain
Range: 0.0 - 1.0 (24-bit resolution)
Units: Output = 8 * Ixx61 * Sum [i=0 to n] (I
cmd
[i]-I
act
[i])
Default: 0
Ixx61 is the integral gain term of the digital current loops, multiplying the difference between the
commanded and actual current levels and adding the result into a running integrator that adds into the
command output. It is only used if Ixx82>0 to activate digital current loop execution.
Ixx61 can be used with either Ixx62 forward-path proportional gain, or Ixx76 back-path proportional gain.
If used with Ixx62, the value can be quite low, because Ixx62 provides the quick response, and Ixx61 just
needs to correct for biases. If used with Ixx76, Ixx61 is the only gain that responds directly to command
changes, and it must be significantly higher to respond quickly.
Ixx61 is typically set using the current loop auto-tuner or interactive tuner in the Turbo PMAC Executive
or Setup program. Typical values of Ixx61 are near 0.02.
Digital current loop closure on the Turbo PMAC requires a set of three consecutive command output
registers. Generally, this requires writing to either a PMAC2-style Servo IC or a MACRO IC.
Ixx61 is only used if Ixx82>0 to activate digital current-loop execution.
Ixx62 Motor xx Current-Loop Forward-Path Proportional Gain
Range: 0.0 - 2.0 (24-bit resolution)
Units: Output = 4 * Ixx62 * (I
cmd
- I
act
)
Default: 0
Ixx62 is the proportional gain term of the digital current loops that is in the forward path of the loop,
multiplying the difference between the commanded and actual current levels. Either Ixx62 or Ixx76 (back
path proportional gain) must be used to close the current loop. Generally, only one of these proportional
gain terms is used, although both can be. Ixx62 is only used if Ixx82>0 to activate digital current loop
execution.

Ixx62 can provide more responsiveness to command changes from the position/velocity loop servo, and
therefore a higher current loop bandwidth, than Ixx76. However, if the command value is very noisy,
which can be the case with a low-resolution position sensor, using Ixx76 instead can provide better
filtering of the noise.
Typically, Ixx62 is set using the current loop auto-tuner or interactive tuner in the Turbo PMAC
Executive or Setup program. Typical values of Ixx62, when used, are around 0.9.
Ixx62 is only used if Ixx82>0 to activate digital current-loop execution.
Ixx63 Motor xx Integration Limit
Range: -8,388,608 - 8,388,607
Units: (Ixx33 / 2
19
) counts * servo cycles
Default: 4,194,304
Ixx63 limits the magnitude of the integrated position error (the output of the integrator) for the PID servo
algorithm, which can be useful for anti-windup protection, when the servo loop output saturates. The
default value of Ixx63 provides essentially no limitation. (The integral gain Ixx33 controls how fast the
error is integrated.)
A value of zero in Ixx63 forces a zero output of the integrator, effectively disabling the integration
function in the PID filter. This can be useful during periods when applying a constant force and are
expecting a steady-state position error. (In contrast, setting Ixx33 to 0 prevents further inputs to the
integrator, but maintains the output.)
The Ixx63 integration limit can also be used to create a fault condition for the motor. If Ixx63 is set to a
negative number, then PMAC will also check as part of its following error safety check whether the
magnitude of integrated following error has saturated at the magnitude of Ixx63. With Ixx63 negative, if
the integrator has saturated, PMAC will trip (kill) the motor with a following error fault. Both the normal
fatal following error motor status bit and the integrated following error status bit are set when this fault
occurs. If Ixx63 is 0 or positive, the motor cannot trip on integrated following error fault.
To set Ixx63 to a value such that the integrator saturates at the same point that its contribution to the
command output causes saturation at the Ixx69 level, use the following formula:
|
|
.
|
\
|
=
30 Ixx 08 Ixx
23
2 69 Ixx
63 Ixx
To cause trips, the magnitude of Ixx63 must be set to less than this value due to other potential
contributions to the output. Remember that the integrator stops increasing when the output saturates at
Ixx69.
Ixx63 is not used if the Extended Servo Algorithm for Motor xx is being executed (Iyy00=1).
Ixx64 Motor xx Deadband Gain Factor
Range: -32,768 - 32,767
Units: none
Default: 0 (no gain adjustment)
Ixx64 is part of the PMAC feature known as deadband compensation, which can be used to create or
cancel deadband. It controls the effective gain within the deadband zone (see Ixx65). When the
magnitude of the following error is less than the value of Ixx65, the proportional gain (Ixx30) is
multiplied by (Ixx64+16)/16. At a value of -16, Ixx64 provides true deadband.
Values between -16 and 0 yield reduced gain within the deadband. Ixx64 = 0 disables any deadband
effect.
Values of Ixx64 greater than 0 yield increased gain within the deadband; a value of 16 provides double
gain in the deadband. A small band of increased gain can be used to reduce errors while holding position,
without as much of a threat to make the system unstable. It is also useful in compensating for physical
deadband in the system.
Note:
Values of Ixx64 less than -16 will cause negative gain inside the deadband, making
it impossible for the system to settle inside the band. These settings have no
known useful function.
Outside the deadband, gain asymptotically approaches Ixx30 as the following error increases.
Ixx64 is not used if the Extended Servo Algorithm for Motor xx is being executed (Iyy00/50=1).
Ixx65 Motor xx Deadband Size
Range: -32,768 - 32,767
Units: 1/16 count
Default: 0
Ixx65 defines the size of the position error band, measured from zero error, within which there will be
changed or no control effort, for the PMAC feature known as deadband compensation. Ixx64 controls the
effective gain relative to Ix30 within the deadband.
Note:
number of counts in the deadband. For example, if modified gain is desired in the
range of +/-5 counts of following error, Ixx65 should be set to 80.
Ixx65 is not used if the Extended Servo Algorithm for Motor xx is being executed (Iyy00/50=1).
Ixx66 Motor xx PWM Scale Factor
Range: 0 - 32,767
Units: PWM_CLK cycles
Default: 6527
Ixx66 multiplies the output of the digital current loops for Motor x (which are values between -1.0 and
1.0) before they are written to the PWM output registers. As such, it determines the maximum value that
can be written to the PWM output register. Ixx66 is only used if Ixx82>0 to activate digital current loop
execution.
The PWM output value for each phase is compared digitally to the PWM up-down counter, which
increments or decrements once per PWM_CLK cycle to determine whether the outputs are on or off. The
limits of the up-down counter are set by the PWM maximum count variable, I6m00 for Servo IC m on
PMAC, and MI900, MI906, or MI992 on the MACRO Station.
Generally, Ixx66 is set to about 10% above the PWM maximum count value. This permits a full-on
command of the phase for a substantial fraction of the commutation cycle, providing maximum possible
utilization of the power devices at maximum command. If Ixx66 is set to a smaller value than PWM
maximum count, it serves as a voltage limit for the motor (Vmax = VDC * PWM_Max_Count / Ixx66).
Note that Ixx69 serves as the current limit.

Ixx67 Motor xx Position Error Limit
Range: 0 8,388,607
Units: 1/16 count
Default: 4,194,304 (= 262,144 counts)
Ixx67 defines the biggest position error that will be allowed into the servo filter. This is intended to keep
extreme conditions from upsetting the stability of the filter. However, if it is set too low, it can limit the
response of the system to legitimate commands (this situation can particularly be noticed on very fine
resolution systems).
If pure velocity control is desired for the motor, Ixx67 can be set to 0, effectively disabling the position
loop.
This parameter is not to be confused with Ixx11 or Ixx12, the following error. Those parameters take
action outside the servo loop based on the real (before limiting) following error.
Note:
number of counts in the limit.
Ixx67 is not used if the Extended Servo Algorithm for Motor xx is being executed (Iyy00=1).
Ixx68 Motor xx Friction Feedforward
Range: 0 .. 32,767
Units: 16-bit DAC bits
Default: 0
Ixx68 adds a bias term to the servo loop output of Motor xx that is proportional to the sign of the
commanded velocity. That is, if the commanded velocity is positive, Ixx68 is added to the output. If the
commanded velocity is negative, Ixx68 is subtracted from the output. If the commanded velocity is zero,
no value is added to or subtracted from the output.
This parameter is intended primarily to help overcome errors due to mechanical friction. It can be
thought of as a friction feedforward term. Because it is a feedforward term that does not utilize any
feedback information, it has no direct effect on system stability. It can be used to correct the error
resulting from friction, especially on turnaround, without the time constant and potential stability
problems of integral gain.
Ixx68 is used with both the PID servo algorithm executed if Iyy00=0, and the Extended Servo Algorithm
executed if Iyy00=1. If Turbo PMAC is commutating this motor, the Ixx68 bias is applied before the
commutation algorithm and so will affect the magnitude of both analog outputs.
Note:
This direction-sensitive bias term is independent of the constant bias introduced by
Ixx29 and/or Ixx79.
Example:
For a control loop with +10V analog output, starting with a motor at rest, if Ixx68 = 1600, then as soon as
a commanded move in the positive direction is started, a value of +1600 (~0.5V) is added to the servo
loop output. As soon as the commanded velocity goes negative, a value of -1600 is added to the output.
When the commanded velocity becomes zero again, no bias is added to the servo output because of this
term.
Ixx69 Motor xx Output Command Limit
Range: 0 .. 32,767 (0 to 10V or equivalent)
Units: 16-bit DAC bits
Default: 20,480 (6.25V or equivalent)
Ixx69 defines the magnitude of the largest output that can be sent from Turbo PMACs PID
position/velocity servo loop. If the servo loop computes a larger value, Turbo PMAC clips it to this
value. When the PID output has saturated at the Ixx69 limit, the integrated error value will not increase,
providing anti-windup protection.
For the Extended Servo Algorithm (ESA) that is enabled if Iyy00/50 for the motor is set to 1, Ixx69 is
used to multiply a normalized command (-1.0 <= Normalized Command < +1.0) before outputting it or
using it for commutation. As such, it acts as both a scale factor and an output command limit for the
ESA.
Ixx69 is always in units of a 16-bit DAC, even if the actual output device is of a different resolution, or
the command value is used for Turbo PMACs own internal current loop commands.
If using differential analog outputs (DAC+ and DAC-), the voltage between the two outputs is twice the
voltage between an output and AGND, so the Ixx69 value should be set to half of what it would be for a
single-ended analog output.
This parameter provides a torque (current) limit in systems with current-loop amplifiers, or when using
Turbo PMACs internal commutation; it provides a velocity limit with velocity-mode amplifiers. Note
that if this limit kicks in for any amount of time, the following error will start increasing.
Use when Commutating: When Turbo PMAC is commutating Motor xx, Ixx69 corresponds to peak
values of the sinusoidal phase currents. Motor and amplifier current limits are usually given as RMS
values. Peak phase values are 2, or 1.414, times greater than RMS values. For instance if an amplifier
has a 10 amp (RMS) instantaneous current limit, the instantaneous limit for the peak of the phase currents
is 14.14 amps.
Use with Magnetization Current: When commutating (Ixx01 bit 0 = 1), Ixx69 is technically the limit
of only the quadrature, or torque-producing, current. Ixx77 sets the magnitude of the direct, or
magnetization current, and the total current limit is the vector sum of these two variables. If the Ixx77
magnetization current for the motor is set to a value other than 0, Ixx69 should be set such that:
767 , 32
max
I
2
77 Ixx
2
69 Ixx +
Use in Direct-PWM Mode: When commutating (Ixx01 bit 0 = 1) and closing the current loop (Ixx82 >
0) of a 3-phase motor (Ixx72 = 683 or 1365), it is important to understand the relationship between the
quadrature current limited by Ixx69 and the phase currents measured by the A/D converters. This
difference is due to the nature of the conversion between direct and quadrature current components, which
are 90
o
apart, and the phase currents, which are 120
o
apart. This difference introduces a factor of cos(30
o
)
into the calculations.
For a given level of DC quadrature current with zero direct (magnetization) current, the peak value of AC
sinusoidal current measured in the phases will be 1/cos(30
o
), or 1.15 times, greater. When quadrature
current is commanded at its limit of Ixx69, the peak phase currents can be 15% higher that this value. For
instance, with Ixx69 at 10,000, and Ixx77 at 0, the A/D converters can provide readings (normalized to
16-bit resolution) up to 11,547.
With non-zero direct current, the peak value of AC sinusoidal current measured in the phases will be 1.15
times greater than the vector sum of the direct and quadrature currents. Therefore, in order not to saturate
the current in the phases, Ixx69 should be set such that:
( ) 377 , 28 866 . 0 * 767 , 32
o
30 cos
max
I
2
77 Ixx
2
69 Ixx +
Examples:
1. Motor 1 is driving a velocity-mode amplifier with differential analog inputs that are limited to +/-10V
between the inputs. This means that the PMAC outputs should each be limited to +/-5V with respect to
the AGND reference. I169 should therefore be limited to 32,768/2 = 16,384.
2. Motor 3 is driving a DC brush motor amplifier in current (torque) mode with an analog output. The
amplifier has a gain of 2 amps/volt and an instantaneous current limit of 20 amps. The motor has an
instantaneous current limit of 15 amps.
PMACs maximum output of 32,768, or 10 volts, corresponds to 20 amps.
The motor has the lower instantaneous current rating, so we use its limit of 15 amps.
I369 is set to 32,768 * 15/20 = 24,576.
3. Motor 5 is driving a self-commutating brushless-motor amplifier in current (torque) mode with a
single analog output. The amplifier has a gain of 5 amps(RMS)/volt and an instantaneous current
limit of 50 amps (RMS). The motor has an instantaneous current limit of 60 amps (RMS).
PMACs maximum output of 32,768, or 10 volts, corresponds to 50 amps (RMS).
The amplifier has the lower instantaneous current rating, so we use its limit of 50 amps (RMS).
I569 is set to 32,768 * 50/50 = 32,767 (note that the maximum permitted value is 32,767).
4. Motor 7 is driving a sine-wave amplifier for a brushless servo motor with two analog outputs. The
Ixx77 magnetization current limit is set to 0. The amplifier has a gain on each phase of 4 amps/volt.
The amplifier has an instantaneous current limit of 25 amps (RMS). The motor has an instantaneous
current limit of 30 amps (RMS).
PMACs maximum output of 32,768, or 10 volts, corresponds to 40 amps peak in the phase.
I769 is set to 32,768 * 35.35/40 = 28,958.
5. Motor 9 is driving a direct-PWM power-block amplifier and an AC induction motor. The Ixx77
magnetization current parameter is set to 3000. The A/D converters in the amplifier are scaled so that
a maximum reading corresponds to 100 amps of current in the phase. The amplifier has an
instantaneous current limit of 60 amps (RMS), and the motor has an instantaneous current limit of 75
amps (RMS).
PMACs maximum ADC phase reading of 32,768 corresponds to 100 amps in the phase.
84.84 amps corresponds to an ADC reading of 32,768 * 84.84/100 = 27,800.
The vector sum of Ixx69 and Ixx77 should equal 27,800 * 0.866 = 24,075.
I969 should be set to sqrt(24,075
2
-3,000
2
) = 23,887.
Motor Commutation Setup I-Variables
Ixx70 Motor xx Number of Commutation Cycles (N)
Range: 0 255
Units: Commutation Cycles
Default: 1
For a PMAC-commutated motor (Ixx01=1), Ixx70 is used in combination with Ixx71 to define the size of
the commutation cycle, as Ixx71/Ixx70 counts. Usually, Ixx70 is set to one, and Ixx71 represents the
number of counts in a single commutation cycle. However, many people will use Ixx70 to represent the
number of commutation cycles (pole pairs) per mechanical revolution, and Ixx71 to represent the counts
per mechanical revolution. Ixx70 needs to be set greater than one if the number of counts in a single
cycle is not an integer.
A commutation cycle, or electrical cycle, consists of two poles (one pole pair) of a multiphase motor.
Setting Ixx70 to 0 effectively defeats the creation of the AC commutation cycle. This setting can be
useful when doing direct PWM control of DC brush motors which requires the use of the Turbo PMAC
commutation algorithms, but cannot use an AC output.
Example:
A 6-pole brushless motor has three commutation cycles per mechanical revolution. If a feedback device
with 4096 counts per mechanical revolution (a number not divisible by three) is used, Ixx70 should be set
to 3, and Ixx71 to 4096.
See Also:
I-variables Ixx01, Ixx71-Ixx83
Setting Up PMAC Commutation
Ixx71 Motor xx Counts per N Commutation Cycles
Range: 0 16,777,215
Units: counts
Default: 1000
For a Turbo PMAC-commutated motor, this parameter defines the size of a commutation cycle in
conjunction with Ixx70 (counts/cycle = Ixx71/Ixx70). The meaning of a count used in this parameter is
defined by the encoder-decode variable I7mn0 for the commutation feedback device. If a times-4 decode
is used, a count is one-fourth of an encoder line.
When the commutation position feedback is received over the MACRO ring, the units of the feedback are
typically 1/32 of a count, so Ixx71 should be in units of 1/32 count in this case.
A commutation cycle, or electrical cycle, consists of two poles (one pole pair) of a multiphase motor.
Note:
In firmware revisions V1.938 and older, the maximum value of Ixx71 was
8,388,607.
Examples:
1. A four-pole brushless motor with a 1000-line-per-revolution encoder and times-4 decode has 2
commutation cycles per revolution and 4000 counts per revolution. Therefore, either Ixx70=2 and
Ixx71=4000 could be used, or Ixx70=1 and Ixx71=2000.
2. A linear motor has a 60.96-mm (2.4-inch) electrical cycle. An encoder with a 40 micron pitch is
wired directly into PMAC and times-4 decode is used. Ixx70 can be set to 1 and Ixx71 can be
calculated as:
cycle
counts
6096
line
counts
4 *
mm 04 . 0
line
*
cycle
mm
96 . 60 71 Ixx = =
3. An 8-pole brushless motor has an 8192-line encoder that is wired into a Compact MACRO Station
with times-4 decode. The position data is sent back to PMAC in the MACRO Type 1 protocol,
with units of 1/32 count. If Ixx70 is set to 4 (for 4 electrical cycles per revolution), Ixx71 can be
calculated as:
line
) count 32 / 1 (
144 , 262
count
) count 32 / 1 (
32 *
line
counts
4 *
cycles 4
rev
*
rev
lines
8192 71 Ixx =
=
See Also:
I-variables Ixx01, Ixx70, Ixx72-Ixx83
Setting Up Turbo PMAC Commutation
Ixx72 Motor xx Commutation Phase Angle
Range: 0 2047
Units: 360/2048 elec. deg. (1/2048 commutation cycle)
Default: 1365 (= -120
o
e or 240
o
e)
For a Turbo PMAC-commutated motor, Ixx72 sets the angular distance between the phases of a
multiphase motor. The units of Ixx72 are 1/2048 of an electrical cycle. The usual values to be used are:
3-phase: 683 or 1365 (+/- 120
o
e)
2- or 4-phase: 512 or 1536 (+/- 90
o
e)
For a given number of phases, the proper choice of the two possible values is determined by the polarity
match between the output commands and the feedback, as detailed below. Typically, the choice is made
automatically by the Turbo Setup expert-system program on the PC.
Ixx72 is used slightly differently depending on whether Turbo PMAC is performing current-loop
calculations as well as commutation. Both cases are explained below:
1. Turbo PMAC performing commutation, but not current loop: When Turbo PMAC is not
performing digital current loop closure for Motor xx (Ixx82=0), the output direction sense determined
by this parameter and the motor and amplifier phase wiring must match the feedback direction sense
as determined by the encoder-decode variable I7mn0 and the encoder wiring. If the direction senses
do not match, proper commutation and servo control will be impossible; the motor will lock into a
given position.
For these systems, changing between the two values for a given number of phases has the same effect
as exchanging motor leads, which changes the motor's direction of rotation for a given sign of a
PMAC2 torque command.
Refer to the section Setting up Turbo PMAC Commutation for tests to determine the proper Ixx72
setting. For systems without Turbo PMAC digital current loop closure, once this
commutation/feedback polarity has been properly matched, the servo/feedback polarity will
automatically be properly matched.
2. Turbo PMAC performing commutation and current loop: When Turbo PMAC (PMAC2-style
interface only) is performing digital current loop closure for Motor xx (Ixx82 > 0), the output
direction sense determined by this parameter must match the polarity of the phase current sensors and
the analog-to-digital conversion (ADC) circuitry that brings this data into Turbo PMAC. It is
independent of motor or amplifier phase wiring, encoder wiring, and Turbo PMAC encoder-decode
direction sense.
WARNING:
Do not attempt to close the digital current loops on Turbo PMAC (O commands or
closing the position loop) until sure of the proper sense of the Ixx72 setting. An
Ixx72 setting of the wrong sense will cause positive feedback in the current loop,
leading to saturation of the PMAC outputs and possible damage to the motor and
or amplifier.
For systems with a Turbo PMAC digital current loop, if the phase-current ADC registers report a positive
value for current flowing into the phase (i.e. the PWM voltage command value and the current feedback
value have the same sign), Ixx72 must be set to a value greater than 1024 (usually 1365 for a 3-phase
motor or 1536 for a 2- or 4-phase motor).
If the phase-current ADC registers report a positive value for current flowing out of the phase (i.e. the
PWM voltage command value and the current feedback value have opposite signs), Ixx72 must be set to a
value less than 1024 (usually 683 for a 3-phase motor, or 512 for a 2- or 4-phase motor).
For systems with Turbo PMAC digital current loop closure, the commutation/feedback polarity match is
independent of the servo/feedback polarity. Once Ixx72 has been set for proper commutation/feedback
polarity, the proper position-loop servo/feedback polarity must still be established.
Ixx73 Motor xx Phase Finding Output Value
Range: -32,768 32,767
Units: bits of 16-bit DAC
Default: 0
WARNING:
An unreliable phasing search method can lead to a runaway condition. Test the
phasing search method carefully to make sure it works properly under all
conceivable conditions. Make sure the Ix11 fatal following error limit is active
and as tight as possible so the motor will be killed quickly in the event of a serious
phasing search error.
Ixx73 defines the magnitude of the open-loop output to be used if a power-on phasing search is done for a
Turbo PMAC-commutated motor (Ixx01 bit 0 = 1). A phasing search is required for a synchronous motor
(Ixx78=0) such as a permanent-magnet brushless motor with no absolute position sensor (Ixx81=0). The
phasing search is done automatically as part of the power-on phasing search if Ixx80 is 1 or 3; if Ixx80 is
0 or 2, the on-line $ or $$ command must be used must be used to initiate the phasing search.
Ixx73 is in units of a 16-bit DAC, so that 32,767 represents full current command to the phases, even if a
different output device and/or different resolution is used.
If Ixx80 is 0 or 1, the two-guess phasing search is used, and Ixx73 controls the vector magnitude of
the open-loop output that is distributed among the phases according to the guessed phasing angle.
If Ixx80 is 2 or 3, the stepper-motor phasing search is used, and Ixx73 controls the magnitude of current
forced into individual phases to lock the motor to a position like a stepper motor. In this method, if the
Turbo PMAC is not performing current loop closure for the motor (Ixx82=0) and Ixx72 > 1024, then
Ixx73 should be set to a negative number of the desired magnitude. In all other cases it should be set to a
positive number. If the sign of Ixx73 is wrong for a setup, the motor will run away when the loop is
closed.
A negative value of Ixx73 must be used for sinewave-output commutation (Ixx82 = 0) with Ixx72 > 1024
and the stepper-motor phase search method (Ixx80 bit 0 = 1).
Typically, values of magnitude 2000 to 6000 are used for Ixx73 in either method.
See Also:
Power-Up Phasing Search (Setting Up PMAC Commutation)
I-Variables Ixx01, Ixx74, Ixx78, Ixx80, Ixx81
Ixx74 Motor xx Phase Finding Time
Range: 0 255
Units: Servo Interrupt Cycles (for Ixx80 = 0 or 1)
or
Servo Interrupt Cycles * 256 (for Ixx80 = 2 or 3)
Default: 0
WARNING
conceivable conditions. Make sure the Ixx11 fatal following error limit is active
Ixx74 defines the time that an open-loop output is to be used if a power-on phasing search is done for a
PMAC-commutated motor (Ixx01 bit 0 = 1). A phasing search is required for a synchronous motor
(Ixx78=0) such as a permanent-magnet brushless motor with no absolute position sensor (Ixx81=0). The
phasing search is done automatically as part of the power-on phasing search if bit 0 of Ixx80 is 1; if bit 0
of Ixx80 is 0, the on-line $ or $$ command must be used must be used to initiate the phasing search.
If Ixx74 is set to 0, no phasing search move will be done, even if one is requested and required. In this
case, the phase reference error motor status bit will stay set, preventing the servo loop from closing.
If bit 1 of Ixx80 is 0 (Ixx80 = 0 or 1), the two-guess phasing search is used; Ixx74 has units of servo
cycles and controls the time for the open-loop command at each guess of the phase angle. Typical
values are three to ten servo cycles; a value of 5 is a good starting point.
If bit 1 of Ixx80 is 1 (Ixx80 = 2 or 3), the stepper-motor phasing search is used; Ixx74 has units of (servo
cycles*256) and controls the time current is forced into each phase and Turbo PMAC waits for the motor
to settle into the step position. With the default servo cycle rate of 2.25 kHz, each unit of Ixx74
represents about 0.1 seconds in this mode; typical values are 10 to 20.
See Also:
Ixx75 Motor xx Phase Position Offset
Range: 0 Ixx71 (up to 16,777,215)
Units: Counts * Ixx70
Default: 0
Ixx75 tells Turbo PMAC the distance between the zero position of an absolute sensor used for power-on
phase position (specified by Ixx81 and Ixx91) and the zero position of Turbo PMAC's commutation
cycle.
It is used to reference the phasing algorithm for a PMAC-commutated motor with an absolute sensor
(Ixx81 > 0). If Ixx80 bit 0 is 1 (Ixx80 = 1 or 3), this is done automatically during the power-up/reset
cycle. It will also be done in response to a $ on-line command to the motor, or a $$ on-line command to
the coordinate system containing the motor.
Ixx75 is also used by the SETPHASE command (on-line, motion-program, or PLC-program). When the
SETPHASE command is given, the value of Ixx75 is immediately copied directly into the motors phase
position register. Typically, this operation is used to correct the phasing, usually at the encoder index
pulse, after an initial rough phasing (e.g. from Hall commutation sensors).
The proper value for this parameter can be found with a simple procedure that should be done with an
unloaded motor, after satisfactory operation has been achieved using a power-on phasing search.
Define an M-variable to the absolute sensor if using one.
Define an M-variable to the internal phase position register. Mxx71 is the suggested M-variable.
Give the motor an O0 command.
Put a bias (a magnitude of 2000 is usually good) on the A phase (higher-numbered DAC of a pair for
Turbo PMAC) by setting Ixx29; use a positive bias if Ixx82>0 for digital current loop closure or if
Ixx82=0 and Ixx72>1024 (e.g. 1365 or 1536); use a negative bias if Ixx82=0 and Ixx72<1024 (e.g.
683 or 512).
Also, put a bias in the opposite direction of the same magnitude on the B phase by setting Ixx79. The
motor should lock in on a position like a stepper motor.
Now remove the A-phase bias by setting Ixx29 back to zero, or at least to the value found to force
zero current in the phase, and the motor should lock in on another position. This position is the zero
position of the phasing cycle.
If there is an absolute sensor, after sure that the motor has settled, read the position of the absolute
sensor by querying its M-variable value. Then:
Take the negative of this value, multiply it by Ixx70, and put the resulting value in Ixx75.
Now, with Ixx79 returned to zero or the proper bias, and Ixx81 pointing to the absolute sensor, give
the motor a $ command. The motor should be properly phased.
If doing this to use the SETPHASE command at a known position such as the index, set the internal
phase position register to 0 with Mxx71. Then:
Return Ixx79 to zero or the proper bias, and close the loop with a J/ command.
Now move to the reference position (e.g. do a homing search move with the index pulse as the
trigger) and make sure it is settled there with minimal following error (some integral gain should be
used).
Read the value of Mxx71 at this point and set Ixx75 to this value.
Remember to save these variable values before doing a full reset on the card.
See Also
I-variables Ixx01, Ixx70 Ixx74, Ixx76 Ixx83
Setting Up Turbo PMAC Commutation
Ixx76 Motor xx Current-Loop Back-Path Proportional Gain
Range: 0.0 2.0 (24-bit resolution)
Units: PWMout = -4 * Ixx62 * (Iact)
Default: 0.0
Ixx76 is the proportional gain term of the digital current loop that is in the back path of the loop,
multiplying the actual current level, and subtracting the result from the command output. Either Ixx76 or
Ixx62 (forward path proportional gain) must be used to close the current loop. Generally, only one of
these proportional gain terms is used, although both can be.
If Ixx76 is used as the only proportional gain term, only the Ixx61 integral gain term reacts directly to
command changes. The act of integration acts as a low-pass filter on the command, which eliminates a
lot of noise, but lowers the responsiveness to real changes. Generally, Ixx76 is only used when the
command value from the position/velocity loop servo have high noise levels (usually due to low position
resolution), and the actual current measurements have low noise levels.
Ixx76 is typically set using the current loop auto-tuner or interactive tuner in the Turbo PMAC Executive
Program. Typical values of Ixx76, when used, are around 0.9.
Ixx76 is only used if Ixx82>0 to activate digital current loop execution.

Ixx77 Motor xx Magnetization Current
Range: -32,768 32,767
Units: Bits of a 16-bit DAC
Default: 0
This parameter is used in induction motors to provide a stator current component parallel to the estimated
rotor magnetic field (the direct current -- the control loop determines the magnitude of the quadrature
current perpendicular to this component). This should generally be set to zero for non-induction motors,
unless advanced field weakening algorithms are desired.
The proper value for an induction motor is system dependent, but 2500 is a good starting value for most
motors. Refer to the Setting up Commutation section of the manual for instructions in optimizing the
setting of this parameter. The Turbo Setup expert-system program for PCs is typically used to set the
proper value of Ixx77 for induction motors.
If Ixx77 is set to a non-zero value, Ixx69 should be reduced from what it would be with Ixx77 set to 0.
The effective current limit is:
2
77 Ixx
2
69 Ixx
max
I + =
See Also:
Setting Induction Motor Parameters (Setting Up PMAC Commutation)
I-variables Ixx01, Ixx70-Ixx72, Ixx78
Ixx78 Motor xx Slip Gain
Range: 0.0 1.0 (24-bit resolution)
Units: none (ratio of times)
Default: 0.0
Ixx78 controls the relationship between the torque command and the slip frequency of magnetic field on
the rotor of an AC asynchronous (induction) motor. While it is usually set experimentally, it can be
calculated as the ratio between the phase update period and the rotor (not stator) L/R electrical time
constant.
Turbo PMAC computes the slip frequency each phase update by multiplying the torque command from
the position/velocity-loop servo (or O-command magnitude) by Ixx78 and dividing by the magnetization
current value controlled by Ixx77.
Ixx78 is typically set through use of the Turbo Setup expert-system program running on PCs. This
program excites the motor and analyzes its response to derive an optimum Ixx78 value.
Ixx78 can also be set experimentally by giving the motor an O-command and watching the velocity
response, probably with the data-gathering feature. As the velocity saturates because the back EMF
reaches the supply voltage, the velocity should fall back about 5% to reach a steady-state value. If it falls
back more than this, the slip time constant is too high; if it falls back less than this, or not at all, the slip
time constant is too low.
0.00015 is a typical value of Ixx78 for a standard induction motor at a phase update rate of about 9 kHz.
Ixx78 is only active if Ixx01 is set to 1 to specify Turbo PMAC commutation of Motor xx. It should be
set to 0 for AC synchronous motors such as permanent-magnet brushless motors and switched (variable)
reluctance motors.
Ixx79 Motor xx Second Phase Offset
Range: -32,768 32,767
Default: 0
Ixx79 serves as an output or feedback offset for Motor xx; its exact use depends on the mode of operation
as described below:
Mode 1: When Turbo PMAC is not commutating Motor xx (Ixx01 bit 0 = 0), Ixx79 is not used. Ixx29 is
the offset for this mode.
Mode 2: When Turbo PMAC is not commutating Motor xx (Ixx01 bit 0 = 0) but is in sign-and-
magnitude output mode (Ixx96 = 1 PMAC-style outputs only), Ixx79 is the offset of the command
output value after the absolute value is taken (Ixx29 is the offset before the absolute value is taken).
Typically, Ixx79 is used in this mode to compensate for analog offsets in interface circuitry, either in
DACs or in voltage-to-frequency converters.
Mode 3: When Turbo PMAC is commutating Motor xx (Ixx01 bit 0 = 1) but not closing the current loop
(Ixx82 = 0), Ixx79 serves as the offset for the second of two phase command output values (Phase B), for
the address specified by Ixx02 plus 1; Ixx29 serves the same purpose for the first phase. Ixx79 is added
to the output command value before it is written to the command output register.
When commutating from a PMAC-style Servo IC, Phase A is output on the higher-numbered of the two
DACs (e.g. DAC2) and Phase B on the lower-numbered (e.g. DAC1). When commutating from a
PMAC2-style Servo IC, Phase A is output on the A-channel DAC (e.g. DAC1A), Phase B on the B-
channel DAC (e.g. DAC1B).
As an output command offset, Ixx79 is always in units of a 16-bit register, even if the actual output device
is of a different resolution. For example, if a value of 60 had to be written into an 18-bit DAC to create a
true zero command, this would be equivalent to a value of 60/4=15 in a 16-bit DAC, so Ixx79 would be
set to 15 to cancel the offset.
Mode 4: When Turbo PMAC is commutating (Ixx01 bit 0 = 1) and closing the current loop for Motor xx
(Ixx82 > 0), Ixx79 serves as an offset that is added to the phase current reading from the ADC for the
second phase (Phase B), at the address specified by Ixx82. Ixx29 performs the same function for the first
phase. The sum of the ADC reading and Ixx79 is used in the digital current loop algorithms.
As an input feedback offset, Ixx79 is always in units of a 16-bit ADC, even if the actual ADC is of a
different resolution. For example, if a 12-bit ADC reported a value of -5 when no current was flowing in
the phase, this would be equivalent to a value of -5*16=-80 in a 16-bit ADC, so Ixx79 would be set to 80
to compensate for this offset.
Ixx80 Motor xx Power-Up Mode
Range: 0 7
Units: none
Default: 0
Ixx80 controls the power-up mode, including the phasing search method (if used), for Motor xx. It
consists of three independent control bits, each determining one aspect of the state of the motor at power-
up or full board reset:
Bit 0 controls whether the motor is enabled at power-up/reset or not. If bit 0 is set to 0, the motor is
left in the killed (disabled) state at power-up/reset, and a command must be issued to the motor to
enable it. If bit 0 is set to 1, the motor is enabled at power-up/reset automatically, and if a phasing
search move is required to establish the commutation position reference, this is automatically done.
Bit 1 controls what type of phasing search move is performed, if one is required (Ixx01 bit 0 = 1,
Ixx78 = 0, Ixx74 > 0), either during power-up/reset, or on a subsequent $ motor reset command. If
bit 1 is 0 and a phasing search move is required, Turbo PMAC will use the two-guess phasing search
method. If bit 1 is 1 and a phasing search move is required, Turbo PMAC will use the stepper-motor
phasing search method. The state of bit 1 does not matter unless a phasing search move is to be done.
Bit 2 controls whether an absolute position read for the motor is done at power-up/reset or not, if one
is required (Ixx10 > 0). If bit 2 is set to 0 and an absolute position read is specified, this read
operation will be performed automatically at the board power-up/reset. If bit 2 is set to 1 and an
absolute position read is specified, this read operation will not be done automatically at power-
up/reset, and the $* or $$* command must be issued to perform the absolute position read. The state
of bit 2 does not matter unless an absolute position read is to be done.
The possible values of Ixx80 and the function of each are described in the following table:
Ixx80 Absolute Position Read
at Power-up/Reset?
Phasing Search
Method
Power-up/Reset
Enable State
0 Yes Two-Guess Disabled
1 Yes Two-Guess Enabled
2 Yes Stepper-Motor Disabled
3 Yes Stepper-Motor Enabled
4 No Two-Guess Disabled
5 No Two-Guess Enabled
6 No Stepper-Motor Disabled
7 No Stepper-Motor Enabled
Power-up/reset enable state: If the motor is not automatically enabled at power-up/reset, a command
must be used subsequently to enable the motor. If Turbo PMAC is commutating the motor (Ixx01 bit 0 =
1) and it is a synchronous motor (Ixx78 = 0), a phase reference must be established with the $ or $$
command as part of the enabling process. The motor cannot be enabled before a successful phase
reference is established, because the motor phase reference error status bit that is automatically set on
power-up/reset will not have been cleared.
If the motor is either not commutated by Turbo PMAC (Ixx01 bit 0 =0) or it is not a synchronous motor
(Ixx78 > 0), a simple enabling command can be used. The J/ command enables a single motor; the A
command enables all of the motors in a coordinate system; the <CTRL-A> command enables all of the
motors on Turbo PMAC.
The phase reference, whether executed at power-up/reset or on the $ command, can be done either by
reading an absolute position sensor (Ixx81 > 0) or by a phasing search move (Ixx74 > 0) if only an
incremental sensor is used.
WARNING:
Phasing search move method: The two-guess phasing search is very quick and requires little
movement, but can be adversely affected if there are significant external loads such as friction and
gravity. The stepper-motor phasing search takes more time and causes more movement, but it is more
reliable in the presence of significant external loads.
Absolute motor position read: If Ixx10 is set to 0, the position reference for a motor comes from a
homing search move. If Ixx10 is greater than 0, the position reference comes from reading an absolute
position sensor at the address specified by Ixx10 and with the format specified by Ixx95. In this case,
Ixx80 bit 2 specifies whether this read is done automatically at power-up/reset.
If the absolute position read is not done automatically at power-up/reset, the motor position will be set to
0 at this time. This does not prevent full operation of the motor. The $* or $$* command must be used
later to read the sensor and establish absolute position. Even if the absolute position is read automatically
at power-up/reset, it may be read again later with the $* or $$* command.
See Also:
On-line commands $, $$, $* $$*, $$$
Ixx81 Motor xx Power-On Phase Position Address
Units: Turbo PMAC or multiplexer-port addresses
Default: 0
WARNING:
An unreliable phasing reference method can lead to a runaway condition. Test the
phasing reference method carefully to make sure it works properly under all
Ixx81 tells Turbo PMAC what address to read for absolute power-on phase-position information for
Motor xx, if such information is present. This can be a different address from that of the ongoing phase
position information, which is specified by Ixx83, but it must have the same resolution and direction
sense. Ixx81 is set to zero if no special power-on phase position reading is desired, as is the case for an
incremental encoder.
If Ixx81 is set to zero, a power-on phasing search routine is required for synchronous fixed-field brushless
motors (permanent magnet, and switched reluctance); those that have a slip gain (Ixx78) of zero. Turbo
PMACs automatic phasing search routines based on Ixx73 and Ixx74 can be used, or a custom power-on
PLC routine can be written.
Note:
Ixx81 is used for PMACs commutation algorithms alone, to locate position within
one electrical cycle of the motor. It is not used for any servo loop position
information, even for power-up. Ixx10 and Ixx95 are used for that purpose.
Ixx91 tells how the data at the address specified by Ixx81 is to be interpreted. It also determines whether
the location specified by Ixx81 is a multiplexer (thumbwheel) port address, an address in Turbo PMACs
own memory and I/O space, or a MACRO node number.
Note:
It is easier to specify this parameter in hexadecimal form ($ prefix). If I9 is set to 2
or 3, the value of this variable will be reported back to the host in hexadecimal
form.
R/D Converter Read: If Ixx91 contains a value from $000000 to $070000, Ixx81 contains the
multiplexer port address of an Acc-8D Option 7 R/D-converter board. The value of Ixx81 matches the
base address of the board (0 to 248 decimal, $0 to $F8 hex) on the port as set by its DIP switches. If the
base address is 0, Ixx81 should be set to $100, because a value of 0 in Ixx81 disables the absolute read.
The following table lists the possible values of Ixx81 in this mode.
Ixx81 for Acc-8D Option 7 Resolver/Digital Converter
(Ixx91=$000000 - $070000)
Addresses are Multiplexer Port Addresses
Board
Mux.
Addr.
Ixx81 Board
Mux.
Addr.
Ixx81 Board
Mux.
Addr.
Ixx81 Board
Mux.
Addr.
Ixx81
0 $000100 64 $000040 128 $000080 192 $0000C0
8 $000008 72 $000048 136 $000088 200 $0000C8
16 $000010 80 $000050 144 $000090 208 $0000D0
24 $000018 88 $000058 152 $000098 216 $0000D8
32 $000020 96 $000060 160 $0000A0 224 $0000E0
40 $000028 104 $000068 168 $0000A8 232 $0000E8
48 $000030 112 $000070 176 $0000B0 240 $0000F0
56 $000038 120 $000078 184 $0000B8 248 $0000F8
Parallel Data Read: If Ixx91 contains a value from $080000 to $180000 or from $480000 to $580000,
Ixx81 specifies the address of a Turbo PMAC memory or I/O register where it will read the power-on
phase position. Bits 16 to 21 of Ixx91, which can take a value of $08 to $18 (8 to 24) in this mode,
specify the number of bits, starting at bit 0, of the register to be read for the absolute position.
Bit 22 of Ixx91 controls whether the address specified in Ixx81 is an X-register or a Y-register. If bit 22
of Ixx91 is set to 0, it is a Y-register. If bit 22 of Ixx91 is set to 1, it is an X-register.
There are four common sources of parallel data for absolute power-on phase position read. The first
source is an Acc-14D/V parallel I/O board. Acc-14D/V boards map into Y-registers, so bit 22 of Ixx91 is
set to 0. The settings of Ixx81 for each port of each possible Acc-14DV board are shown in the following
table:
Ixx81 Values for Acc-14D/V Registers
(Ixx91=$080000 to $18000)
Register Ixx81 Register Ixx81
First Acc-14D/V Port A $078A00 Fourth Acc-14D/V Port A $078D00
First Acc-14D/V Port B $078A01 Fourth Acc-14D/V Port B $078D01
Second Acc-14D/V Port A $078B00 Fifth Acc-14D/V Port A $078E00
Second Acc-14D/V Port B $078B01 Fifth Acc-14D/V Port B $078E01
Third Acc-14D/V Port A $078C00 Sixth Acc-14D/V Port A $078F00
Third Acc-14D/V Port B $078C01 Sixth Acc-14D/V Port B $078F01
The second common source of parallel data for an absolute power-on phase position read is the encoder
counter phase position register when an Acc-8D Option 9 Yaskawa Absolute Encoder converter board is
used. This board synthesizes quadrature signals into the Turbo PMAC at power-on until the power-on
position within one revolution is reached, so the value of the encoder counter can simply be read.
Encoder phase position counters map into X-registers, so bit 22 of Ixx91 is set to 1. The settings of Ixx81
for typical encoder registers on Turbo PMAC and PMAC2 boards are shown in the following tables:
Turbo PMAC Ixx81 Encoder Register Settings
(Ixx91=$480000 - $580000)
Encoder
Register
Channel #
PMAC First
Acc-24P/V
Second
Acc-24P/V
Third
Acc-24P/V
Fourth
Acc-24P/V
Channel 1 $078001 $078201 $079201 $07A201 $07B201
Channel 3 $078009 $078209 $079209 $07A209 $07B209
Channel 5 $078101 $078301 $079301 $07A301 $07B301
Channel 7 $078109 $078309 $079309 $07A309 $07B309
Turbo PMAC2 Ixx81 Typical Encoder Register Settings
(Ix91=$480000 - $580000)
Servo
IC #
0 $078001 $078009 $078011 $078019 First IC on board PMAC2, 3U stack
1 $078101 $078109 $078011 $078019 Second IC on board PMAC2, 3U stack
2 $078201 $078209 $078211 $078219 First Acc-24E2x, first IC on first Acc-24P/V2
3 $078301 $078309 $078311 $078319 Second Acc-24E2x, second IC on first Acc-24P/V2
4 $079201 $079209 $079211 $079219 Third Acc-24E2x, first IC on second Acc-24P/V2
5 $079301 $079309 $079311 $079319 Fourth Acc-24E2x, second IC on second Acc-24P/V2
6 $07A201 $07A209 $07A211 $07A219 Fifth Acc-24E2x, first IC on third Acc-24P/V2
7 $07A301 $07A309 $07A311 $07A319 Sixth Acc-24E2x, second IC on third Acc-24P/V2
8 $07B201 $07B209 $07B211 $07B219 Seventh Acc-24E2x, first IC on fourth Acc-24P/V2
9 $07B301 $07B309 $07B311 $07B319 Eighth Acc-24E2x, second IC on fourth Acc-24P/V2
The third common source of parallel data for power-on phasing is the Acc-49 Sanyo Absolute Encoder
Converter Board. The Acc-49 maps into Turbo PMACs expansion port, at the addresses shown in the
following table.
Ixx81 Values for Acc-49 Sanyo Absolute Encoder Converter (Ixx91=$0D0000)
Addresses are Turbo PMAC Memory-I/O Addresses
Enc. # on
Board
Ixx10 for
E1 ON
Ixx10 for
E2 ON
Ixx10 for
E3 ON
Enc. # on
Board
Ixx10 for
E4 ON
Ixx10 for
E5 ON
Ixx10 for
E6 ON
Enc. 1 $078A00 $078B00 $078C00 Enc. 3 $078D00 $078E00 $078F00
Enc. 2 $078A04 $078B04 $078C04 Enc. 4 $078D04 $078E04 $078F04
The fourth common source is a register in the 3U-format Acc-3E1 (for 3U Turbo Stack systems) or Acc-
14E (for UMAC Turbo systems) board. In this case, the last hex digit of Ixx91 must be set to a non-zero
value to specify the byte-wide bus of these boards. The following tables show Ixx81 values for these
boards.
Ixx81 Values for Acc-3E1 Registers in 3U Turbo Stack Systems
(Ixx91=$08000x to $18000x [unsigned], $88000x to $98000x [signed])
Acc-3E1 Address Jumper E1 E2 E3 E4
Ixx81 Value $07880x $07890x $078A0x $078B0x

(Ixx91=$08000x to $18000x [unsigned], $88000x to $98000x [signed])
DIP-Switch
Setting
SW1-1 ON (0)
SW1-2 ON (0)
SW1-1 OFF (1)
SW1-2 ON (0)
SW1-1 ON (0)
SW1-2 OFF (1)
SW1-1 OFF (1)
SW1-2 OFF (1)
SW1-3 ON (0)
SW1-4 ON (0)
$078C0x $078D0x $078E0x $078F0x
SW1-3 OFF (1)
SW1-4 ON (0)
$079C0x $079D0x $079E0x $079F0x
SW1-3 ON (0)
SW1-4 OFF (1)
$07AC0x $07AD0x $07AE0x $07AF0x
SW1-3 OFF (1)
SW1-4 OFF (1)
$07BC0x $07BD0x $07BE0x $07BF0x
SW1-5 and 6 must be ON (0). ON means CLOSED; OFF means OPEN.
I/O point on the board is used for the least significant bit (LSB):
Ixx10 Last Hex Digit x Pin Used for LSB Pin Used for LSB Pin Used for LSB
x=0 I/O00-07 I/O48-55 I/O96-103
x=1 I/O08-15 I/O56-63 I/O104-111
x=2 I/O16-23 I/O64-71 I/O112-119
x=3 I/O24-31 I/O72-79 I/O120-127
x=4 I/O32-39 I/O80-87 I/O128-135
x=5 I/O40-47 I/O88-95 I/O136-143
Hall Sensor Read: If Ixx91 contains a value from $800000 to $FF0000, Ixx81 specifies the address of a
Turbo PMAC X-memory or I/O register where it will read the power-on phase position in bits 20, 21, and
22 of the register. It is expecting these three bits to be encoded as U, V, and W hall sensors with 120
o
e
spacing. Typically, Ixx81 will contain the address of a flag register of a Servo IC.
Note:
Hall-style commutation sensors give only an approximate phase position, with a
+/-30
o
e error. Generally, it is necessary to correct the phase position value at a
known position such as the encoders index pulse, either using the SETPHASE
command or by writing directly into the phase position register (suggested M-
variable Mxx71).
If the flag register is in a PMAC-style Servo IC, the flags used are HMFLn, +LIMn, and -LIMn. Usually,
the flag register is for the spare (even-numbered) set of flags corresponding to the second DAC output
used for the commutation. The following table shows the values of Ixx81 used here.
Turbo PMAC Ixx81 Typical Hall Phasing Settings
(Ixx91=$800000 - $FF0000)
Hall Flag
Channel #
PMAC First
Acc-24P/V
Second
Acc-24P/V
Third
Acc-24P/V
Fourth
Acc-24P/V
Channel 2 $078004 $078204 $079204 $07A204 $07B204
Channel 4 $07800C $07820C $07920C $07A20C $07B20C
Channel 6 $078104 $078304 $079304 $07A304 $07B304
Channel 8 $07810C $07830C $07930C $07A30C $07B30C
If the flag register is in a PMAC2-style Servo IC, the flags used are CHUn, CHVn, and CHWn. Usually
the flag register is the same register as used for the main flags as specified by Ixx25.
The following table shows the values of Ixx81 used here.
Turbo PMAC2 Ixx81 Typical Hall Phasing Settings
(Ix91=$800000 - $FF0000)
Servo
IC #
If the flag register is obtained through the MACRO ring, Ixx81 will contain the address of a MACRO
auxiliary image register in RAM. The following table shows the typical values of Ixx81 used here.
Turbo PMAC2 Ultralite Ixx81 Typical Hall Phasing Settings
(Ixx91=$800000 - $FF0000)
Because phase position needs only to be known within a single revolution, any geared-down secondary
absolute sensors are not relevant for this purpose. They may still be used for power-on position
information for the servo loop, with Ixx10, Ixx99, and Ixx98
In general, the zero position of the absolute sensor will not be the same as the zero position of the
commutation cycle. Parameter Ixx75 is used to hold the offset between these two reference positions.
MACRO Absolute Position Read: If Ixx91 contains a value from $720000 to $740000, the value
specified in Ixx81 is a MACRO node number, and Turbo PMAC will obtain the absolute power-on
position through the MACRO ring. Ixx91 specifies what type of position data is used.
The MACRO node number is specified in the last two hex digits of Ixx81. The second-to-last digit
specifies the MACRO IC number 0 to 3 (1, 2, and 3 exist only on Ultralite versions of the Turbo PMAC2,
or on UMAC Turbo systems with Acc-5E).
Note that the MACRO IC number on the Turbo PMAC does not necessarily match the ring master
number for that IC, although it often will. The last digit specifies the MACRO node number 0 to 15 (0 to
F hex) in that IC. This function is only supported in nodes 0, 1, 4, 5, 8, 9, 12 (C), and 13 (D).
The following table shows the required values of Ixx81 for all of the MACRO nodes that can be used.
Note that MACRO IC 0 Node 0 uses an Ixx81 value of $000100, because Ixx81=0 disables the absolute
Ixx81 for MACRO Absolute Position Reads
(Ixx91=$720000 - $740000)
Addresses are MACRO Node Numbers
MACRO Node
Number
Ixx81 for
MACRO IC 0
Ixx81 for
MACRO IC 1
Ixx81 for
MACRO IC 2
Ixx81 for
MACRO IC 3
0 $000100 $000010 $000020 $000030
1 $000001 $000011 $000021 $000031
4 $000004 $000014 $000024 $000034
5 $000005 $000015 $000025 $000035
8 $000008 $000018 $000028 $000038
9 $000009 $000019 $000029 $000039
12 $00000C $00001C $00002C $00003C
13 $00000D $00001D $00002D $00003D
If obtaining the absolute position through a Delta Tau MACRO Station or equivalent, MACRO Station
setup variable MI11x for the matching node must be set properly to obtain the type of information
desired.
Ixx82 Motor xx Current-Loop Feedback Address
Range: $000000 $FFFFFF
Units: Turbo PMAC Y-addresses
Default: $0
Ixx82 tells Turbo PMAC which addresses to read to get its current feedback values for Motor xx if Turbo
PMAC is closing the current loop for this motor. Turbo PMAC must be performing the commutation for
the motor (Ixx01=1) if it is to close the current loop as well.
A zero value for Ixx82 tells PMAC not to close the current loop for this motor. In this case, PMAC
outputs either one velocity or torque command value (Ixx01 bit 0 = 0), or two phase-current command
values (Ixx01 bit 0 = 1), usually represented as analog voltages.
A non-zero value for Ixx82 automatically triggers current loop execution in the phase interrupt using the
current values found in the registers specified by Ixx82. Typically, these registers are analog-to-digital
converter (ADC) registers in a PMAC2-style Servo IC, or MACRO feedback registers containing copies
of ADC registers in a MACRO Station.
When Ixx01 is set to 1, Turbo PMAC performs the phase commutation for this motor, computing two
phase current commands based on the position/velocity servo command and the magnetization current
value. If Ixx82>0, these commands are compared to the two actual current values read from the address
specified by Ixx82, and the next lower address. It executes a PI filter on the current loops and outputs
three voltage command values to the address specified by Ixx02 and the next two higher addresses.
Typically, these are the PWM commands for the three half-bridges of a brushless motor power stage.
When the digital current loop is used for drives connected directly to the Turbo PMAC2, the typical
values for Ixx82 are:
Turbo PMAC2 Ixx82 Typical Settings
I182 $078006 PMAC2 ADC1B I1782 $079206 Second Acc-24x2 ADC1B
I282 $07800E PMAC2 ADC2B I1882 $07920E Second Acc-24x2 ADC2B
I982 $078206 First Acc-24x2 ADC1B I2582 $07A206 Third Acc-24x2 ADC1B
I1082 $07820E First Acc-24x2 ADC2B I2682 $07A20E Third Acc-24x2 ADC2B
When the digital current loop is used for drives connected to the Turbo PMAC2 Ultralite through a
MACRO station, the typical values for Ixx82 are:
Turbo PMAC2 Ultralite Ixx82 Typical Settings
I382 $07842A MACRO IC 0 Node 4 Reg. 2 I1982 $07A42A MACRO IC 2 Node 4 Reg. 2
I482 $07842E MACRO IC 0 Node 5 Reg. 2 I2082 $07A42E MACRO IC 2 Node 5 Reg. 2
I782 $07843A MACRO IC 0 Node 12 Reg. 2 I2382 $07A43A MACRO IC 2 Node 12 Reg. 2
I882 $07843E MACRO IC 0 Node 13 Reg. 2 I2482 $07A43E MACRO IC 2 Node 13 Reg. 2
I1182 $07942A MACRO IC 1 Node 4 Reg. 2 I2782 $07B42A MACRO IC 3 Node 4 Reg. 2
I1282 $07942E MACRO IC 1 Node 5 Reg. 2 I2882 $07B42E MACRO IC 3 Node 5 Reg. 2
I1582 $07943A MACRO IC 1 Node 12 Reg. 2 I3182 $07B43A MACRO IC 3 Node 12 Reg. 2
I1682 $07943E MACRO IC 1 Node 13 Reg. 2 I3282 $07B43E MACRO IC 3 Node 13 Reg. 2

UMAC Turbo Ixx82 Typical Settings
I182 $078206 First Acc-24E2 ADC1B I1782 $07A206 Fifth Acc-24E2 ADC1B
I282 $07820E First Acc-24E2 ADC2B I1882 $07A20E Fifth Acc-24E2 ADC2B
I382 $078216 First Acc-24E2 ADC3B I1982 $07A216 Fifth Acc-24E2 ADC3B
I482 $07821E First Acc-24E2 ADC4B I2082 $07A21E Fifth Acc-24E2 ADC4B
I582 $078306 Second Acc-24E2 ADC1B I2182 $07A306 Sixth Acc-24E2 ADC1B
I682 $07830E Second Acc-24E2 ADC2B I2282 $07A30E Sixth Acc-24E2 ADC2B
I782 $078316 Second Acc-24E2 ADC3B I2382 $07A316 Sixth Acc-24E2 ADC3B
I882 $07831E Second Acc-24E2 ADC4B I2482 $07A31E Sixth Acc-24E2 ADC4B
I982 $079206 Third Acc-24E2 ADC1B I2582 $07B206 Seventh Acc-24E2 ADC1B
I1082 $07920E Third Acc-24E2 ADC2B I2682 $07B20E Seventh Acc-24E2 ADC2B
I1182 $079216 Third Acc-24E2 ADC3B I2782 $07B216 Seventh Acc-24E2 ADC3B
I1282 $07921E Third Acc-24E2 ADC4B I2882 $07B21E Seventh Acc-24E2 ADC4B
I1382 $079306 Fourth Acc-24E2 ADC1B I2982 $07B306 Eighth Acc-24E2 ADC1B
I1482 $07930E Fourth Acc-24E2 ADC2B I3082 $07B30E Eighth Acc-24E2 ADC2B
I1582 $079316 Fourth Acc-24E2 ADC3B I3182 $07B316 Eighth Acc-24E2 ADC3B
I1682 $07931E Fourth Acc-24E2 ADC4B I3282 $07B31E Eighth Acc-24E2 ADC4B
If Ixx82>0, the following variables must be set properly for correct operation of the digital current loop:
Ixx61: Current-Loop Integral Gain
Ixx62: Current-Loop Forward-Path Proportional Gain
Ixx66: PWM Scale Factor
Ixx72: Commutation Phase Angle
Ixx76: Current-Loop Back-Path Proportional Gain
Ixx84: Current-Loop Feedback Mask Word
Ixx83 Motor xx Commutation Position Address
Units: Turbo PMAC addresses
Default values:
I183 $078001 PMAC Encoder 1 I1783 $079201 Second Acc-24P/V Encoder 1
I483 $07800D PMAC Encoder 4 I2083 $07920D Second Acc-24P/V Encoder 4
I883 $07810D PMAC Encoder 8 I2483 $07930D Second Acc-24P/V Encoder 8
I983 $078201 First Acc-24P/V Encoder 1 I2583 $07A201 Third Acc-24P/V Encoder 1
I1283 $07820D First Acc-24P/V Encoder 4 I2883 $07A20D Third Acc-24P/V Encoder 4
I1683 $07830D First Acc-24P/V Encoder 8 I3283 $07A30D Third Acc-24P/V Encoder 8

Turbo PMAC2 (Non-Ultralite) Ixx83 Defaults
I183 $078001 PMAC2 Encoder 1 I1783 $079201 Second Acc-24P/V2 Encoder 1
I983 $078201 First Acc-24P/V2 Encoder 1 I2583 $07A201 Third Acc-24P/V2 Encoder 1

I183 $078201 First Acc-24E2 Encoder 1 I1783 $07A201 Fifth Acc-24E2 Encoder 1
I583 $078301 Second Acc-24E2 Encoder 1 I2183 $07A301 Sixth Acc-24E2 Encoder 1
I983 $079201 Third Acc-24E2 Encoder 1 I2583 $07B201 Seventh Acc-24E2 Encoder 1
I1383 $079301 Fourth Acc-24E2 Encoder 1 I2983 $07B301 Eighth Acc-24E2 Encoder 1
For a motor commutated by Turbo PMAC (Ixx01 = 1 or 3), Ixx83 tells Turbo PMAC where to read its
commutation (phasing) position information for Motor xx every commutation cycle. This can be a
different address from that used for power-on/reset phasing position, which is determined by Ixx81. If
Turbo PMAC is not commutating Motor xx (Ixx01 = 0 or 2), Ixx83 is not used.
Ixx83 contains the address of the register to be read. If Ixx01 bit 1 is set to 0 (Ixx01 = 1), the register is
the X-register at that address. If Ixx01 bit 1 is set to 1 (Ixx01 = 3), the register is the Y-register at that
address.
For Turbo PMAC boards with on-board encoder circuitry, typically Ixx83 contains the address of the
phase position encoder register for encoder x; this is the default. Since these registers have X addresses,
Ixx01 is set to 1.
For Turbo PMAC2 Ultralite boards, Ixx83 typically contains the address of a MACRO nodes position
feedback register; this is the default. Since PMAC2 can only commutate over MACRO using nodes with
Y addresses, Ixx01 is set to 3 in these cases.
Ixx84 Motor xx Current-Loop Feedback Mask Word
Units: Bit mask
Default: $FFF000 (12-bit ADCs)
Ixx84 tells Turbo PMAC what bits of the 24-bit current feedback words to use as actual the actual current
value in the current loop equations. It is used only if Ixx82>0, enabling current loop closure in Motor xx
of the Turbo PMAC.
Turbo PMAC supports interface to serial analog-to-digital converters of many resolutions through a
PMAC2-style DSPGATE1 Servo IC, either on the PMAC, on an Acc-24 axis expansion board, or at a
remote MACRO node. The data is received in 18-bit shift registers in the ASIC, which are read as the
high end of a 24-bit word, with the number left-justified to the most significant bit.
Ixx84 specifies a 24-bit mask word that is combined with the feedback word through a logical AND
operation to produce the value that is used in the current loop equations. There should be a 1 in every bit
that is used, and a 0 in every bit that is not. Since the data is left justified, Ixx84 should start with 1s and
end with 0s. Usually Ixx84 is represented as a hexadecimal number, with four bits per digit, and a total of
six digits
Some amplifiers will transmit status and fault information on the end of the serial data stream for the
ADC, and it is important to mask out these values from the current loop equations.
Examples:
For a 10-bit ADC: Ixx84=$FFC000
For a 12-bit ADC: Ixx84=$FFF000
For a 16-bit ADC: Ixx84=$FFFF00
Further Motor I-Variables
Ixx85 Motor xx Backlash Take-up Rate
Range: 0 - 8,388,607
Units: 1/16 count / background cycle
Default: 0
Ixx85 determines how fast backlash is taken up on direction reversal. The size of the backlash is
determined by Ixx86, and possibly by the backlash compensation table for the motor. Turbo PMAC will
take up the backlash at the Ixx85 rate whenever the commanded or Master Handwheel position for the
motor reverses by more than the amount set by Ixx87 the backlash hysteresis parameter. If Ixx85 is zero,
backlash is effectively disabled. Usually, Ixx85 is set interactively and experimentally to as high a value
as possible without creating dynamic problems.
Ixx86 Motor xx Backlash Size
Range: 0 - 8,388,607
Units: 1/16 count
Default: 0
Ixx86 allows PMAC to compensate for backlash in the motor's coupling by adding or subtracting
(depending on the new direction) the amount specified in the parameter to the commanded position on
direction reversals (this offset will not appear when position is queried or displayed). A value of zero
means no backlash. The rate at which this backlash is added or subtracted (taken up) is determined by
Ixx85.
Variable Ixx87, Backlash Hysteresis, determines the amount of reversal in desired position that is
required before backlash will start to be introduced or removed.
If backlash tables are used, Ixx86 represents the backlash at motor zero position; values in the table
should represent the difference between the backlash at a given position and Ixx86.
Note:
The units of this parameter are 1/16 of a count so the value should be 16 times the
number of counts of backlash compensation desired.
Example:
If there is a backlash on reversal of motor direction of 7.5 encoder counts, set Ixx86 to 7.5 * 16 = 120.
Ixx87 Motor xx Backlash Hysteresis
Range: 0 - 8,388,607
Units: 1/16 count
Default: 64 (= 4 counts)
Ixx87 controls the size of the direction reversal in motor commanded position that must occur on Motor
xx before Turbo PMAC starts to add the programmed backlash (Ixx86) in the direction of motion. The
purpose of this variable is to allow the customer to ensure that a very small direction reversal (e.g. from
the dithering of a master encoder) does not cause the backlash to kick in. Ixx87 thus provides a hysteresis
in the backlash function.
The units of Ixx87 are 1/16 of a count. Therefore, this parameter must hold a value 16 times larger than
the number of counts reversal at which backlash is introduced. For example, if backlash is to be
introduced after five counts of reversal, Ixx87 should be set to 80.
Example:
With a system in which one count of the master encoder creates 10 counts of movement in the slave
motor, it is desired that a single count reversal of the master not trigger backlash reversal. Therefore, the
backlash hysteresis is set to 15 counts, and Ixx87 is set to 15*16=240.
Ixx88 Motor xx In-Position Number of Scans
Range: 0 - 255
Units: Background computation cycles (minus one)
Default: 0
Ixx88 permits the user to define the number of consecutive scans that Turbo PMAC Motor xx must
satisfy all in-position conditions before the motor in-position status bit is set true. This permits the user to
ensure that the motor is truly settled in the end position before executing the next operation, on or off
Turbo PMAC. The number of consecutive scans required is equal to Ixx88 + 1.
Turbo PMAC scans for the in-position condition of each active motor during the housekeeping part of
every background cycle, which occurs between each scan of each enabled background PLC (PLC 1-31).
All motors in a coordinate system must have true in-position bits for the coordinate-system in-position bit
to be set true.
In non-Turbo PMACs, this function is controlled by global I-variable I7.
Ixx90 Motor xx Rapid Mode Speed Select
Range: 0 - 1
Units: None
Default: 1
Ixx90 determines which variable is used for the speed of a RAPID mode move. When Ixx90 is set to 0,
the jog speed parameter Ixx22 is used. When Ixx90 is set to the default of 1, the maximum program
speed parameter Ixx16 is used. Regardless of the setting of Ixx90, the jog acceleration parameters Ixx19 -
Ixx21 control the acceleration and deceleration of a RAPID mode move.
Ixx91 Motor xx Power-On Phase Position Format
Units: None
Default: 0
Ixx91 specifies how the power-on phase-position data, if any, for Motor xx is interpreted. Ixx81 specifies
the address of the register containing this position data; Ixx91 controls how that data is read. This permits
the use of a wide variety of absolute position sensors with the Turbo PMAC.
Ixx91 is used only on power-on/reset or on the $ or $$ on-line reset commands. To get a new value of
Ixx91 to take effect, the $ or $$ command must be issued, or the value of Ixx91 must be stored to non-
volatile flash memory with the SAVE command, and the board must be reset.
Ixx91 is a 24-bit value; currently only bits 16-23, which comprise the first two of six hex digits, are used.
Ixx91 is only used if Ixx81 is set to a non-zero value.
The possible values of Ixx91 and the position sources they specify are summarized in the following table:
Ixx91 Value Range Absolute Position Source Ixx81 Address Type
$000000 - $070000 Acc-8D Opt 7 R/D Converter Multiplexer Port
$080000 - $180000 Parallel Data Y-Register Turbo PMAC Memory-I/O
$480000 - $580000 Parallel Data X-Register Turbo PMAC Memory-I/O
$730000 MACRO Station R/D Converter MACRO Node Number
$740000 MACRO Station Parallel Read MACRO Node Number
$800000 - $FF0000 Hall Sensor Read Turbo PMAC Memory-I/O
R/D Converter: If Ixx91 contains a value from $000000 to $070000, Motor xx will expect its absolute
power-on phase position from an Acc-8D Option 7 R/D converter board. Ixx81 should contain the
address of the board on the multiplexer port, as set by the DIP switches on the board.
The second hex digit of Ixx91, which can take a value from 0 to 7 in this mode, specifies the number of
the individual R/D converter at that multiplexer port address. This is a function of the DIP switch setting
on the board and the location of the converter on the board, as specified in the following table:
Ixx91 Value Acc-8D Opt. 7
SW1-1 Setting
# of R/D Converter
on Acc-8D Opt. 7
$000000 CLOSED (0) 1
$010000 CLOSED (0) 2
$020000 CLOSED (0) 3
$030000 CLOSED (0) 4
$040000 OPEN (1) 1
$050000 OPEN (1) 2
$060000 OPEN (1) 3
$070000 OPEN (1) 4
Parallel Data Read: If Ixx91 contains a value from $08000n to $18000n, or from $48000n to $58000n,
Motor xx will do a parallel data read of the Turbo PMAC memory or I/O register at the address specified
by Ixx81.
In this mode, bits 16 to 21 specify the number of bits to be read. If the last hex digit of Ixx91 is 0,
consecutive bits will be read from the address specified by Ixx81, with the least significant bit read from
bit 0. This format is used for registers and I/O devices with 24-bit interfaces.
If the last hex digit of Ixx91 is 4, 5, or 6, data will be read in byte-wide pieces, with the least significant
byte at the address specified in Ixx81, the next byte at one address higher, and the next byte (if used) at
one more address higher. This format is intended for getting parallel data from the Acc-3E 3U-format
stack I/O board or the Acc-14E 3U-format pack (UMAC) I/O board, which have byte-wide interfaces.
For this format, the last hex digit of Ixx91 determines which byte of the 24-bit word is used, according to
the following table:
Ixx91 Last Digit Byte Bits
4 Low 0 7
5 Middle 8 15
6 High 16 23
In this mode, bit 22 of Ixx91 specifies whether a Y-register is to be read, or an X-register. A value of 0 in
this bit, yielding Ixx91 values from $080000 to $180000, specifies a Y-register; a value of 1, yielding
Ixx91 values from $480000 to $580000, specifies an X-register.
For the Acc-8D Option 9 Yaskawa Absolute Encoder Converter, Turbo PMACs 24-bit encoder phase
position register, an X-register, is read, so Ixx91 is set to $580000 ($180000 + $400000).
For the Acc-49 Sanyo Absolute Encoder Converter, the encoder provides a 13-bit value within one motor
revolution, and the data is read from a Y-register, so Ixx91 is set to $0D0000.
Example: If Ixx81=$078D01 and Ixx91=$140000, Turbo PMAC would read 20 bits (bits 0 19) from
Y:$078D01.
Example: If Ixx81=$078C00 and Ixx91=$100004, Turbo PMAC would read 16 bits, with the low eight
bits from the low byte of Y:$078C00, and the high eight bits from the low byte of Y:$078C01.
Example: If Ixx81=$079E03 and Ixx91=$120005, Turbo PMAC would read 18 bits, with the low eight
bits from the middle byte of Y:$079E03, and the next eight bits from the middle byte of Y:$079E04, and
the high 2 bits from the first 2 bits of the middle byte of Y:$079E05.
MACRO R/D Read: If Ixx91 contains a value of $730000, Motor xx will read the absolute phase
position from an Acc-8D Option 7 Resolver-to-Digital Converter through a MACRO Station or
compatible device.
In this mode, Ixx81 specifies the MACRO node number. MACRO Station setup variable MI11x for the
matching node must be set to read the R/D converter.
MACRO Parallel Read: If Ixx91 contains a value of $740000, Motor xx will read the absolute phase
position from a parallel data source through a MACRO Station or compatible device.
In this mode, Ixx81 specifies the MACRO node number. MACRO Station setup variable MI11x for the
matching node must be set to read the parallel data source.
Hall Sensor Read: If Ixx91 contains a value from $800000 to $FF0000 (bit 23 set to 1), Motor xx will
read bits 20 through 22 of the Turbo PMAC memory or I/O register at the address specified by Ixx81. It
will expect these three bits to be encoded as the U, V, and W hall-effect commutation signals with 120
o
e
spacing for the absolute power-on phase position. In this mode, the address specified in Ixx81 is usually
that of a flag register.
Note:
Hall-style commutation sensors give only an approximate phase position, with a
+/-30
o
e error. Generally, it is necessary to correct the phase position value at a
known position such as the encoders index pulse, either using the SETPHASE
command or by writing directly into the phase position register (suggested M-
variable Mxx71).
If the flag register is in a PMAC-style Servo IC, the flag inputs for bits 20, 21, and 22, representing W, V,
and U, are +LIMn, -LIMn, and HMFLn, respectively. In a typical application, Ixx81 specifies that these
inputs be used from the spare flag register matching the second DAC channel used for commutation.
If the flag register is in a PMAC2-style Servo IC, the input flags for bits 20, 21, and 22, representing W,
V, and U, are CHWn, CHVn, and CHUn, respectively. In a typical application, these inputs are used
from the same flag register addressed by Ixx25 for the main flags.
In this mode, bit 22 of Ixx91 allows for reversal of the sense of the hall-effect sensors. If W (bit 20 of the
register; HMFLn or CHWn) leads V (bit 21; -LIMn or CHVn), and V leads U (bit 22; +LIMn or CHUn)
as the commutation cycle counts up, then bit 22 of Ixx91 should be set to 0. If U leads V and V leads W
as the commutation cycle counts up, then bit 22 of Ixx91 should be set to 1.
In this mode, bits 16 to 21 of Ixx91 together form an offset value from 0 to 63 representing the difference
between PMACs commutation cycle zero and the hall-effect sensor zero position, which is defined as the
transition of the V signal when U is low. This offset has units of 1/64 of a commutation cycle, or 5.625
o
e.
Typically, one of the transitions will be at PMACs commutation zero point, so the desired offset values
will be 0
o
, 60
o
, 120
o
, 180
o
, 240
o
, and 300
o
, approximated by values of 0, 11($0B), 21($15), 32($20),
43($2B), and 53($35).
This operation can handle hall-effect sensors separated by 120
o
e. The following table gives the Ixx91
settings for bits 16 to 23 for all of the common cases of hall-effect settings as they relate to the PMAC
commutation cycle.
Ixx91 Values for UVW Hall States (120
o
e Spacing)
0 to 60 deg 60 to 120deg 120 to 180 deg 180 to -120 deg -120 to -60 deg -60 to 0 deg Ixx91
011 010 110 100 101 001 $800000
001 011 010 110 100 101 $8B0000
101 001 011 010 110 100 $950000
100 101 001 011 010 110 $A00000
110 100 101 001 011 010 $AB0000
010 110 100 101 001 011 $B50000
001 101 100 110 010 011 $C00000
011 001 101 100 110 010 $CB0000
010 011 001 101 100 110 $D50000
110 010 011 001 101 100 $E00000
100 110 010 011 001 101 $EB0000
101 100 110 010 011 001 $F50000
Ixx92 Motor xx Jog Move Calculation Time
Range: 1 - 8,388,607
Units: msec
Default: 10
Ixx92 controls how much time is allotted to calculate an on-line jog move, a homing search move, or a
motion-program RAPID-mode move for Motor xx. It also determines the delay in the trajectorys
reaction to an altered destination or the trigger condition in any type of move-until-trigger: a homing
search move, an on-line jog-until-trigger, or a motion-program RAPID-mode move-until-trigger. If the
motor is sitting still at the beginning of this time, it will continue to sit for this time. If it is executing a
trajectory, it will continue on the present trajectory for this time before changing to the trajectory of the
new command or post-trigger move.
This parameter should rarely need to be changed from the default of 10 msec. It should not be set to 0 for
any reason, or PMAC will not be able to perform any of these types of moves. The minimum practical
value for this parameter is 2 or 3.
Ixx95 Motor xx Power-On Servo Position Format
Units: none
Default: $000000
Ixx95 specifies how the absolute power-on servo-position data, if any, for Motor xx is interpreted. Ixx10
specifies the address of the register containing this position data; Ixx95 controls how that data is read.
This permits the use of a wide variety of absolute position sensors with the Turbo PMAC.
Ixx95 is used only on power-on/reset or on the $* or $$* command. To get a new value of Ixx95 to take
effect, either the $* or $$* command must be issued, or the value must be stored to non-volatile flash
memory with the SAVE command, and the board must be reset.
Ixx95 is a 24-bit value; currently bits 16-23, which comprise the first two of six hex digits, are used.
Ixx95 is only used if Ixx10 is set to a non-zero value.
The possible values of Ixx95 and the absolute position feedback devices they reference are summarized in
the following table:
Ixx95 Value Range Absolute Position Source Ixx10 Address Type Format
$000000 - $070000 Acc-8D Opt 7 R/D Converter Multiplexer Port Unsigned
$080000 - $300000 Parallel Data Y-Register Turbo PMAC Memory-I/O Unsigned
$310000 Acc-28 A/D Converter Turbo PMAC Memory-I/O Unsigned
$320000 Acc-49 Sanyo Abs. Encoder Turbo PMAC Memory-I/O Unsigned
$480000 - $700000 Parallel Data X-Register Turbo PMAC Memory-I/O Unsigned
$710000 Acc-8D Opt 9 Yaskawa Abs. Enc. Multiplexer Port Unsigned
$720000 MACRO Station Yaskawa Abs. Enc. MACRO Node Number Unsigned
$730000 MACRO Station R/D Converter MACRO Node Number Unsigned
$740000 MACRO Station Parallel Read MACRO Node Number Unsigned
$800000 - $870000 Acc-8D Opt 7 R/D Converter Multiplexer Port Signed
$880000 - $B00000 Parallel Data Y-Register Turbo PMAC Memory-I/O Signed
$B10000 Acc-28 A/D Converter Turbo PMAC Memory-I/O Signed
$B20000 Acc-49 Sanyo Abs. Encoder Turbo PMAC Memory-I/O Signed
$C80000 - $F00000 Parallel Data X-Register Turbo PMAC Memory-I/O Signed
$F10000 Acc-8D Opt 9 Yaskawa Abs. Enc. Multiplexer Port Signed
$F20000 MACRO Station Yaskawa Abs. Enc. MACRO Node Number Signed
$F30000 MACRO Station R/D Converter MACRO Node Number Signed
$F40000 MACRO Station Parallel Read MACRO Node Number Signed
The following section provides details for each type of position feedback.
R/D Converter: If Ixx95 contains a value from $000000 to $070000, or from $800000 to $870000,
Motor xx will expect its absolute power-on position from an Acc-8D Option 7 R/D converter board.
Ixx10 should contain the address of the board on the multiplexer port, as set by the DIP switches on the
board.
The first hex digit of Ixx95, which can take a value of 0 or 8 in this mode, specifies whether the position
is interpreted as an unsigned value (first digit = 0) or as a signed value (first digit = 8).
The second hex digit of Ixx95, which can take a value from 0 to 7 in this mode, specifies the number of
the individual R/D converter at that multiplexer port address.
The following table shows the Ixx95 values for this mode and the R/D converter each specifies at the
Ixx10 address:
Ixx95 Value for
Unsigned Position
Ixx95 Value for
Signed Position
Acc-8D Opt. 7
SW1-1 Setting
# of R/D Converter
on Acc-8D Opt. 7
$000000 $800000 CLOSED (0) 1
$010000 $810000 CLOSED (0) 2
$020000 $820000 CLOSED (0) 3
$030000 $830000 CLOSED (0) 4
$040000 $840000 OPEN (1) 1
$050000 $850000 OPEN (1) 2
$060000 $860000 OPEN (1) 3
$070000 $870000 OPEN (1) 4
If Ixx99 is set greater than 0, the next higher numbered R/D converter at the same multiplexer port
address is also read and treated as a geared-down resolver, with Ixx99 specifying the gear ratio. Ixx98 is
also set greater than 0, the following R/D converter at the same multiplexer port address is read and
treated as a third resolver geared down from the second, with Ixx98 specifying that gear ratio.
Parallel Data Read: If Ixx95 contains a value from $080000 to $300000, from $480000 to $700000,
from $880000 to $B00000, or from $C80000 to $F00000, Motor xx will do a parallel data read of the
Turbo PMAC memory or I/O register at the address specified by Ixx10. It expects to find the least
significant bit of the feedback in Bit 0 of this register.
In this mode, bits 16 to 21 specify the number of bits to be read. If the last hex digit of Ixx95 is 0,
consecutive bits will be read from the address specified by Ixx81, with the least significant bit read from
bit 0. If the number of bits is greater than 24, the high bits are read from the register at the next higher-
numbered address. This format is used for registers and I/O devices with 24-bit interfaces.
If the last hex digit of Ixx95 is 4, 5, or 6, data will be read in byte-wide pieces, with the least significant
byte at the address specified in Ixx81, the next byte at one address higher, and so on, up to a possible 6
consecutive addresses. This format is intended for getting parallel data from the Acc-3E 3U-format stack
I/O board or the Acc-14E 3U-format pack (UMAC) I/O board, which have byte-wide interfaces. For this
format, the last hex digit of Ixx95 determines which byte of the 24-bit word is used, according to the
following table:
Ixx95 Last Digit Byte Bits
4 Low 0 7
5 Middle 8 15
6 High 16 23
In this mode, bits 16 to 21 of Ixx95 specify the number of bits to be read, starting with bit 0 at the
specified address. In this mode, they can take a value from $08 to $30 (8 to 48). If the number of bits is
greater than 24, the high bits are read from the register at the next higher-numbered address.
In this mode, bit 22 of Ixx95 specifies whether a Y-register is to be read, or an X-register. A value of 0 in
this bit specifies a Y-register; a value of 1 specifies an X-register. Almost all common sources of
absolute position information are located in Y-registers, so this digit is usually 0.
In this mode, bit 23 of Ixx95 specifies whether the position is interpreted as an unsigned or a signed
value. If the bit is set to 0, it is interpreted as an unsigned value, if the bit is 1, it is interpreted as a signed
value.
Combining these components, Ixx95 values in this mode can be summarized as:
$08000n - $30000n: Parallel Y-register read, unsigned value, 8 to 48 bits
$48000n - $70000n: Parallel X-register read, unsigned value, 8 to 48 bits
$88000n - $B0000n: Parallel Y-register read, signed value, 8 to 48 bits
$C8000n - $F0000n: Parallel X-register read, signed value, 8 to 48 bits
Example: If Ixx10=$078D00 and Ixx95=$200000, Turbo PMAC would read 32 bits, the low 24 bits
from Y:$078D00, and the high eight bits from the low eight bits of Y:$078D01.
Example: If Ixx10=$078C00 and Ixx95=$100004, Turbo PMAC would read 16 bits, with the low 8 bits
from the low byte of Y:$078C00, and the high eight bits from the low byte of Y:$078C01.
Example: If Ixx10=$079E03 and Ixx95=$120005, Turbo PMAC would read 18 bits, with the low eight
bits from the middle byte of Y:$079E03, and the next 8 bits from the middle byte of Y:$079E04, and the
high two bits from the first 2 bits of the middle byte of Y:$079E05.
Example: If Ixx10=$078000 and Ixx95=$540000, Turbo PMAC would read 20 bits from X:$078000
(timer register for Channel 1). This type of setting is used for MLDT feedback.
Acc-28 A/D Converter Read: If Ixx95 is set to $310000 or $B10000, Motor xx will expect its power-on
position in the upper 16 bits of the Turbo PMAC Y-memory or I/O register specified by Ixx10. This
format is intended for Acc-28 A/D converters.
Bit 23 of Ixx95 specifies whether the position is interpreted as an unsigned or a signed value. If the bit is
set to 0, it is interpreted as an unsigned value, if the bit is 1, it is interpreted as a signed value. Because
Acc-28A produces signed values, Ixx95 should be set to $B10000 when using Acc-28A. Acc-28B
produces unsigned values, so Ixx95 should be set to $310000 when using Acc-28B.
Sanyo Absolute Encoder Read: If Ixx95 is set to $320000 or $B20000, Motor xx will expect its power-
on position from the Acc-49 Sanyo Absolute Encoder converter board at the Turbo PMAC address
specified by Ixx10.
The first hex digit of Ixx95, which can take a value of 3 or B in this mode, specifies whether the position
is interpreted as an unsigned value (first digit = 0) or as a signed value (first digit = 8). Set Ixx95 to
$320000 for unsigned, or to $B20000 for signed.
Yaskawa Absolute Encoder Read: If Ixx95 is set to $710000 or $F10000, Motor xx will expect its
power-on position from the Yaskawa Absolute Encoder converter board at the multiplexer port address
specified by Ixx10.
The first hex digit of Ixx95, which can take a value of 7 or F in this mode, specifies whether the position
$710000 for unsigned, or to $F10000 for signed.
In this mode, Ixx99 specifies the number of bits per revolution for a single turn of the Yaskawa absolute
encoder. It must be set greater than 0 to use the multi-turn absolute capability of this encoder.
MACRO Station Yaskawa Absolute Encoder Read: If Ixx95 is set to $720000 or $F20000, Motor xx
will expect its power-on position from a Yaskawa Absolute Encoder through a MACRO Station. In this
mode, Ixx10 specifies the MACRO node number at which the position value will be read by Turbo
PMAC itself. Set-up variable MI11x for the MACRO Station tells the Station how to read the Yaskawa
Encoder converter connected to its own multiplexer port or serial port.
In this mode, Ixx99 specifies the number of bits per revolution for a single turn of the Yaskawa absolute
encoder. It must be set greater than 0 to use the multi-turn absolute capability of this encoder.
MACRO Station R/D Converter Read: If Ixx95 is set to $730000 or $F30000, Motor xx will expect its
power-on position from an R/D converter through a MACRO Station or compatible device. In this mode,
Ixx10 specifies the MACRO node number at which Turbo PMAC will read the position value itself. Set-
up variable MI11x for the matching node on the MACRO Station tells the Station how to read the R/D
converter connected to its own multiplexer port.
If Ixx99 is set greater than 0, the next higher numbered R/D converter at the same multiplexer port
address is also read and treated as a geared-down resolver, with Ixx99 specifying the gear ratio. Ixx98 is
also set greater than 0, the following R/D converter at the same multiplexer port address is read and
treated as a third resolver geared down from the second, with Ixx98 specifying that gear ratio.
MACRO Station Parallel Data Read: If Ixx95 is set to $740000 or $F40000, Motor xx will expect its
power-on position from a parallel data source through a MACRO Station or compatible device. In this
mode, Ixx10 specifies the MACRO node number at which Turbo PMAC will read the position value
itself. Set-up variable MI11x for the matching node on the MACRO Station tells the Station how to read
the parallel data source connected to it.
In non-Turbo PMACs, bits 16-23 of Ix10 control this function.
Ixx96 Motor xx Command Output Mode Control
Range: 0 - 1
Units: none
Default: 0
Ixx96 controls how Turbo PMAC writes to the command output registers specified in Ixx02.
If bit 0 of Ixx01 is set to 0 (no Turbo PMAC commutation for Motor xx), and Ixx96 is set to 0, the single
command value from the Turbo PMAC servo is written to the register specified by Ixx02 as a signed
(bipolar) value.
For PMAC-style Servo ICs only, if bit 0 of Ixx01 is set to 0 and Ixx96 is set to 1, then the command
output value is the absolute value (magnitude) of what the servo calculates and the sign (direction) is
output on the AENAn/DIRn line of the set of flags addressed by Ixx25 (polarity determined by jumper
E17 or E17x). In this case, bit 16 of Ixx24 should also be set to 1 to disable the amplifier-enable function
for that line. For PMAC2-style Servo ICs, this sign-and-magnitude mode is not supported.
If bit 0 of Ixx01 is set to 1 (Turbo PMAC commutation enabled for Motor xx), Ixx82 is set to 0 (Turbo
PMAC current loop disabled for Motor xx), and Ixx96 is set to 0, Turbo PMAC will perform the normal
closed-loop commutation for Motor xx. If bit 0 of Ixx01 is set to 1, Ixx82 is set to 0, and Ixx96 is set to 1,
then Turbo PMACs commutation performs the special direct microstepping algorithm. In this
algorithm, the magnitude of the command from the servo does not affect the magnitude of the phase
command outputs; it simply controls their frequency.
If bit 0 of Ixx01 is set to 1 (Turbo PMAC commutation enabled for Motor xx), Ixx82 is set to a value
greater than 0 (Turbo PMAC current loop enabled for Motor xx), and Ixx96 is set to 0, Turbo PMAC will
perform the normal direct-PWM control with both direct and quadrature current loops closed, for a 3-
phase motor. If bit 0 of Ixx01 is set to 1, Ixx82 is set to a value greater than 0, and Ixx96 is set to 1,
Turbo PMAC will perform direct-PWM control for a brush motor, truly closing only the quadrature
current loop, and repeatedly zeroing the direct current-loop registers.
In non-Turbo PMACs, this function is controlled by bit 16 of Ix02.
Ixx97 Motor xx Position Capture & Trigger Mode
Range: 0 - 3
Units: none
Default: 0
Ixx97 controls the triggering function and the position capture function for triggered moves on Motor xx.
These triggered moves include homing search moves, on-line jog-until-trigger moves, and motion
program RAPID-mode move-until-trigger. Ixx97 is a 2-bit value: bit 0 controls the how the capture of the
trigger position is done (the post-trigger move is relative to the trigger position), and bit 1 specifies what
the trigger condition is.
Hardware Capture: If Ixx97 is set to 0 or 2 (bit 0 = 0), Turbo PMAC will use the hardware-captured
position in the Servo IC as the trigger position. This is the flag-capture register associated with the flag
set used for the motor, as specified for Ixx25. In order for this to work properly, the position-loop
feedback for Motor xx, as specified by Ixx03, and the conversion table, must be received through the
encoder counter of the same hardware interface channel as used for the flag set (e.g. if flag set 2 is used,
encoder 2 must be used for position-loop feedback). The advantage of the hardware position capture is
that it is immediate, and accurate to the exact count at any speed.
Software Capture: If Ixx97 is set to 1 or 3 (bit 0 = 1), Turbo PMAC will use a software-captured
position for the trigger position. In this case, Turbo PMAC uses the register whose address is specified
by Ixx03, usually a register in the encoder conversion table, for the trigger position. The advantage of
software capture is that it can be used with any type of feedback, or when the position encoder channel is
not the same as the flag channel. The disadvantage is that the software capture can have up to 1
background cycle delay (typically 2-3 msec), which limits the accuracy of the capture.
Input Trigger: If Ixx97 is set to 0 or 1, (bit 1 = 0), Turbo PMAC will use the input capture trigger flag
in the Servo IC flag register addressed by Ixx25 as the trigger for the move. This input trigger is created
by an edge of the index input and a flag input for the channel as specified by I6mn2 and I6mn3 for the
selected Channel n of Servo IC m, or if a MACRO flag register is selected by Ixx25 with bit 18 of Ixx25
set to 1, the input trigger condition is set by MI-variables on the MACRO station.
Error Trigger: If Ixx97 is set to 2 or 3, (bit 1 = 1), Turbo PMAC will use the warning following error
status bit in the motor status word as the trigger for the move. When this bit changes from 0 to 1 because
the magnitude of the following error for the motor has exceeded the warning limit in Ixx12, Turbo PMAC
will consider this the trigger condition for the triggered move. Because there is nothing in this mode that
can create a hardware capture, only software capture should be used with error trigger (Ixx97 = 3).
Summarizing the values of Ixx97, and their effect:
Ixx97 = 0: Input trigger, hardware position capture
Ixx97 = 1: Input trigger, software position capture
Ixx97 = 2: Error trigger, hardware position capture (not useful!)
Ixx97 = 3: Error trigger, software position capture
In non-Turbo PMACs, this function is controlled by bits 16 and 17 of Ix03.
Ixx98 Motor xx Third-Resolver Gear Ratio
Range: 0 - 4095
Units: Second-resolver turns per third resolver turn
Default: 0
Ixx98 tells Turbo PMAC the gear ratio between the second (medium) and third (coarse) resolvers for a
triple-resolver setup for Motor xx. It is expressed as the number of turns (electrical cycles) the second
resolver makes in one full turn (electrical cycle) of the third resolver.
This parameter is used only during Turbo PMACs power-up/reset cycle to establish absolute power-on
servo position. Therefore, the parameter must be set, the value stored in non-volatile flash memory with
the SAVE command, and the card reset before it takes effect.
If there is no geared third resolver on Motor xx, or if absolute power-on position is not desired, Ixx98
should be set to zero. If either Ixx10 (for the primary resolver) or Ixx99 (for the secondary resolver) is set
to zero, Ixx98 is not used.
The third resolver must be connected to the next higher numbered R/D converter at the same multiplexer
address than the second resolver, which must be connected to the next higher numbered converter at the
same multiplexer address than the primary resolver. There can be up to eight R/D converters on two Acc-
8D Option 7 boards at one multiplexer address.
In non-Turbo PMACs, this function is controlled by I-variable I8x.
Example:
Motor 3 has a triple resolver, with each resolver geared down by a ratio of 16:1 from the resolver before
it. The fine resolver is connected to R/D converter 4 at multiplexer address 0 (the first R/D converter on
the second Acc-8D Option 7 at address 0). The medium resolver is connected to R/D converter 5 at this
address, and the coarse resolver is connected to R/D converter 6. The following I-variable values should
be used:
I310=$000100.. ; The $000100 specifies multiplexer address 0
I395=$040000.. ; the 4 in the high eight bits of Ixx95
......................... ; specifies R/D converter 4 at this address.
I399=16............ ; Specifies 16:1 ratio between medium and fine
I398=16............ ; Specifies 16:1 ratio between coarse and medium
Ixx99 Motor xx Second-Resolver Gear Ratio
Range: 0 - 4095
Units: Primary resolver turns per second-resolver turn
Default: 0
Ixx99 tells PMAC the gear ratio between the first (fine, or primary) and second (coarse or medium)
resolvers for a double- or triple-resolver setup for Motor xx. It is expressed as the number of turns
(electrical cycles) the first resolver makes in one full turn (electrical cycle) of the second resolver.
This parameter is used only during Turbo PMAC's power-up/reset cycle to establish absolute power-on
servo position. Therefore, the parameter must be set, the value stored in non-volatile flash memory with
the SAVE command, and the card reset before it takes effect.
If there is no geared second resolver on Motor xx, or if absolute power-on position is not desired, Ixx99
should be set to zero. If Ixx10 (for the primary resolver) is set to zero, Ixx99 is not used. In a triple-
resolver system, Ixx99 must be set greater than zero in order for Ixx88 (third-resolver gear ratio) to be
used.
The second resolver must be connected to the next higher numbered R/D converter at the same
multiplexer address than the first resolver. If there is a third resolver, it must be connected to the next
higher numbered converter at the same multiplexer address than the second resolver. There can be up to
eight R/D converters on two Acc-8D Option 7 boards at one multiplexer address.
If Ixx10 is set up for an Acc-8D Option 9 Yaskawa encoder converter, Ixx99 represents the counts per
revolution (including x2 or x4 quadrature decode, if used) of the encoder; effectively it is the gear ratio
between the encoder and the revolution counter.
In non-Turbo PMACs, this function is controlled by I-variable I9x.
Example:
Motor 1 has a double resolver with the fine resolver connected to the R/D converter at location 2 on an
Acc-8D Option 7 board set to multiplexer address 4, and the coarse resolver, geared down at a 36:1 ratio
from the fine resolver, connected to the R/D converter at location 3 on the same board. The following I-
variable settings should be used:
I110=$000004.. ; Value of $0004 specifies multiplexer address 4
I118=$020000.. ; $02 in high 8 bits of I118
......................... ; specifies R/D at location 2 of this address
I199=36............ ; Specify 36 turns of fine resolver per turn of
......................... ; coarse resolver; R/D must be at location 3
......................... ; of multiplexer address 4
I198=0.............. ; No third resolver
Supplemental Motor Setup I-Variables
Iyy00 Iyy49/Iyy50 Iyy99 Supplemental Motor I-Variables
yy = 33 48
Motor Number xx = 2 * (yy - 32) - 1 for Iyy00 Iyy49 (odd-numbered motors)
Motor Number xx = 2 * (yy - 32) for Iyy50 Iyy99 (even-numbered motors)
Motor
#
Supplemental
I-Variables
Motor
#
Supplemental
I-Variables
Motor
#
Supplemental
I-Variables
Motor
#
Supplemental
I-Variables
1 I3300 - I3349 9 I3700 - I3749 17 I4100 - I4149 25 I4500 - I4549
2 I3350 - I3399 10 I3750 - I3799 18 I4150 - I4199 26 I4550 - I4599
3 I3400 - I3449 11 I3800 - I3849 19 I4200 - I4249 27 I4600 - I4649
4 I3450 - I3499 12 I3850 - I3899 20 I4250 - I4299 28 I4650 - I4699
5 I3500 - I3549 13 I3900 - I3949 21 I4300 - I4349 29 I4700 - I4749
6 I3550 - I3599 14 I3950 - I3999 22 I4350 - I4399 30 I4750 - I4799
7 I3600 - I3649 15 I4000 - I4049 23 I4400 - I4449 31 I4800 - I4849
8 I3650 - I3699 16 I4050 - I4099 24 I4450 - I4499 32 I4850 - I4899
Iyy00/50 Motor xx Extended Servo Algorithm Enable
Range: 0 - 1
Units: none
Default: 0
Iyy00 or Iyy50 controls whether the matching Motor xx uses the PID servo algorithm or the Extended
Servo Algorithm (ESA). If Iyy00/50 is set to the default value of 0, Motor xx uses the PID servo
algorithm, whose gains are determined by Ixx30-39 and Ixx63-69. If Iyy00/50 is set to 1, Motor xx uses
the ESA, whose gains are determined by Iyy10/60 to Iyy39/89.
The motor should be killed when changing which servo algorithm is used by changing Iyy00/50. The
loop should not be closed again until the gain variables for the selected servo algorithm are set up
properly.
The following servo control I-variables are only used if Iyy00/50 is set to 0:
Ixx30-39, Ixx63-65, Ixx67
The following servo control I-variables are only used if Iyy00/50 is set to 1:
Iyy10-39 / Iyy60 89
Note:
These I-variables are disabled if Iyy00/50 for the motor is set to 0. No value can
be written to them, and if queried, they will report a value of 0.
The following servo control I-variables are used regardless of the setting of Iyy00/50:
Ixx59, Ixx60, Ixx68, Ixx69

Iyy10 Iyy39/Iyy60 Iyy89 Motor xx Extended Servo Algorithm Gains
Iyy10 through Iyy39 (for odd-numbered motors), and Iyy60 through Iyy89 (for even-numbered motors)
are the gains for the Extended Servo Algorithm (ESA). The following table lists the function of each
variable; refer to the User Manual for a detailed description and diagram of the algorithm structure.
I-Var. for
Odd-
Numbered
Motors
I-Var. for
Even-
Numbered
Motors
Gain
Name
Range I-Var. for
Odd-
Numbered
Motors
I-Var. for
Even-
Numbered
Motors
Gain
Name
Range
Iyy10 Iyy60 s0 -1.0Var<+1.0 Iyy25 Iyy75 TS -2
23
Var<2
23

Iyy11 Iyy61 s1 -1.0Var<+1.0 Iyy26 Iyy76 L1 -1.0Var<+1.0
Iyy12 Iyy62 f0 -1.0Var<+1.0 Iyy27 Iyy77 L2 -1.0Var<+1.0
Iyy13 Iyy63 f1 -1.0Var<+1.0 Iyy28 Iyy78 L3 -1.0Var<+1.0
Iyy14 Iyy64 h0 -1.0Var<+1.0 Iyy29 Iyy79 k0 -1.0Var<+1.0
Iyy15 Iyy65 h1 -1.0Var<+1.0 Iyy30 Iyy80 k1 -1.0Var<+1.0
Iyy16 Iyy66 r1 -1.0Var<+1.0 Iyy31 Iyy81 k2 -1.0Var<+1.0
Iyy17 Iyy67 r2 -1.0Var<+1.0 Iyy32 Iyy82 k3 -1.0Var<+1.0
Iyy18 Iyy68 r3 -1.0Var<+1.0 Iyy33 Iyy83 KS -2
23
Var<2
23

Iyy19 Iyy69 r4 -1.0Var<+1.0 Iyy34 Iyy84 d1 -1.0Var<+1.0
Iyy20 Iyy70 t0 -1.0Var<+1.0 Iyy35 Iyy85 d2 -1.0Var<+1.0
Iyy21 Iyy71 t1 -1.0Var<+1.0 Iyy36 Iyy86 g0 -1.0Var<+1.0
Iyy24 Iyy74 t4 -1.0Var<+1.0 Iyy39 Iyy89 GS -2
23
Var<2
23

Usually, the ESA gains that these I-variables represent are set using the Auto-tuning function of the Servo
Evaluation Package (SEP).
Note:
These I-variables are disabled if Iyy00/50 for the motor is set to 0. No value can
be written to them, and if queried, they will report a value of 0.
System Configuration Reporting
I4900 Servo ICs Present
Range: $000000 $0FFFFF
Units: none (individual bits)
Default: --
I4900 is a read-only status I-variable that reports which Servo ICs are present in a Turbo PMAC system.
It is provided for user setup and diagnostic purposes only. On power-up/reset, Turbo PMAC queries for
the presence of each possible Servo IC automatically and reports what it has found in I4900. It also
enables the set-up I-variables for each IC that it has found.
I4900 is a 20-bit value with each individual bit representing each possible Servo IC that could be present
in the system. The bit is set to 0 if the IC is not present; it is set to 1 if the IC is present.
The following table shows the Servo IC each bit of I4900 represents:
I4900 Bit # Bit Value Servo IC # Ident I-var I-vars Location
0 $1 0 x I7000 I7049 On-board or stack
1 $2 1 x I7100 I7149 On-board or stack
2 $4 2 I4910 I7200 I7249 Exp. port accessory
10 $400 0* x I7050 I7099 (none)
11 $800 1* x I7150 I7199 (none)
12 $1000 2* I4912 I7250 I7299 Exp. port accessory
Note:
In firmware versions older than 1.936, bits 20 through 23 of I4900 reported the
presence of the four possible MACRO ICs. With versions 1.936 and newer, there
is support for more than four MACRO ICs, and their presence is reported in I4902.
I4901 Servo IC Type
Range: $000000 $0FFFFF
Default: --
I4901 is a read-only status I-variable that reports which types of Servo ICs are present in a Turbo PMAC
system. It is provided for user setup and diagnostic purposes only. On power-up/reset, Turbo PMAC
queries for the presence and type of each possible Servo IC automatically and reports the types it has
found in I4901. It also enables the appropriate group set-up I-variables for each IC found, depending on
the type.
I4901 is a 20-bit value with each individual bit representing each possible Servo that could be present in
the system. The table shown in the I4900 description, above, lists which IC is represented by each bit.
A bit of I4901 is set to 0 if a Type 0 PMAC-style DSPGATE Servo IC is found at the appropriate address
slot, or if no Servo IC is found there. The bit is set to 1 if a Type 1 PMAC2-style DSPGATE1 Servo IC
is found there.

I4902 MACRO ICs Present
Range: $000000 $0FFFF
Default: --
I4902 is a read-only status I-variable that reports which MACRO ICs are present in a Turbo PMAC
system. It is provided for user setup and diagnostic purposes only. On power-up/reset, Turbo PMAC
queries for the presence of each possible MACRO IC automatically and reports what it has found in
I4902.
I4902 is a 16-bit value with each individual bit representing each possible MACRO IC that could be
present in the system. (Only a UMAC system can have more than four MACRO ICs present.) The bit is
set to 0 if the IC is not present; it is set to 1 if the IC is present.
The following table shows the MACRO IC each bit of I4902 represents:
I4902
Bit #
Bit
Value
Base
Address
Ident
I-var
I4902
Bit #
Bit
Value
Base
Address
Ident
I-var
0 $1 $078400 I4926 8 $100 $078600 I4934
1 $2 $079400 I4927 9 $200 $079600 I4935
2 $4 $07A400 I4928 10 $400 $07A600 I4936
3 $8 $07B400 I4929 11 $800 $07B600 I4937
4 $10 $078500 I4930 12 $1000 $078700 I4938
5 $20 $079500 I4931 13 $2000 $079700 I4939
6 $40 $07A500 I4932 14 $4000 $07A700 I4940
7 $80 $07B500 I4933 15 $8000 $07B700 I4941
Which of these ICs is assigned as MACRO IC 0, 1, 2, and 3 for firmware support issues is dependent on
the settings of I20, I21, I22, and I23, respectively.
Note:
In firmware versions older than 1.936, bits 20 through 23 of I4900 reported the
presence of the four possible MACRO ICs. With versions 1.936 and newer, there
is support for more than four MACRO ICs, and their presence is reported in I4902.
I4903 MACRO IC Types
Range: $000000 $00FFFF
Default: --
I4903 is a read-only status I-variable that reports which types of MACRO ICs are present in a Turbo
PMAC system. It is provided for user setup and diagnostic purposes only. On power-up/reset, Turbo
PMAC queries for the presence and type of each possible MACRO IC automatically and reports the types
it has found in I4903.
I4903 is a 16-bit value with each individual bit representing each possible Servo that could be present in
the system. The table shown in the I4902 description, above, lists which IC is represented by each bit.
A bit of I4903 is set to 1 if a DSPGATE2 MACRO IC is found at the appropriate address slot. The bit is
set to 0 if a MACROGATE MACRO IC is found there, or if no MACRO IC is found there.
I4904 Dual-Ported RAM ICs Present
Range: $000000 $FF8000
Default: --
I4904 is a read-only status I-variable that reports which dual-ported RAM ICs are present in a Turbo
PMAC system. It is provided for user setup and diagnostic purposes only. On power-up/reset, Turbo
PMAC automatically queries for the presence of each possible DPRAM IC and reports what it has found
in I4904.
I4904 is a 24-bit value with the nine high bits currently used. Each individual bit used represents each
possible DPRAM IC that could be present in the system. The bit is set to 0 if the IC is not present; it is
set to 1 if the IC is present.
UMAC accessory boards with DPRAM, such as the Acc-54E UBUS/Ethernet board, provide
identification information in variables I4942 I4949, depending on their base address.
The following table shows the DPRAM IC each bit of I4904 represents, and the matching identification I-
variable:
I4904
Bit #
Bit Value Base
Address
Ident
I-var
15 $8000 $060000 None
16 $10000 $06C000 I4942
17 $20000 $074000 I4943
18 $40000 $06D000 I4944
19 $80000 $075000 I4945
20 $100000 $06E000 I4946
21 $200000 $076000 I4947
22 $400000 $06F000 I4948
23 $800000 $077000 I4949
I24 contains the address of the DPRAM IC that is to be used for the automatic communications functions.
The value of I24 at power-up/reset sets the pointers for these automatic communications functions.
I4904 also contains information about the flash memory (this information is contained in I4909 as well).
Bits 0 2 of I4904, which contain a value from 0 to 7, report which type of flash-memory IC is present in
the system. Since bit 3 is not used, these bits form the last hex digit of I4909. The following list shows
what each value of this digit means:
0: Unknown flash IC (cannot save)
1: Intel 28F004S3 512k x 8 flash IC
2: Intel 28F008S3 1M x 8 flash IC (Opt 5x0)
3: Intel 28F016S3 2M x 8 flash IC (Opt 5x1,2)
4: Intel 28F160S3 2M x 8 flash IC (Opt 5x1,2)
5: Intel 28F320S3 4M x 8 flash IC (Opt 5x3)
6: Intel 28F320J5 4M x 8 flash IC (Opt 5x3)
7: Intel 28F640J5 8M x 8 flash IC
In addition, I4904 contains the status of the eight locking bits that an application can use with the LOCK
and UNLOCK commands to make sure that tasks of different priorities do not overwrite each other. The
following table shows how the eight locking bits are stored. Each bit is a 0 if unlocked; it is a 1 if locked.
I4904 Bit # Bit Value Locking Bit #
4 $10 0
5 $20 1
6 $40 2
7 $80 3
8 $100 4
9 $200 5
10 $400 6
11 $800 7
I4908 End of Open Memory
Range: $006000 $040000
Default: --
I4908 is a read-only status I-variable that reports the end of the open active memory that can be used for
most programs and buffers. It returns the address of the register one number higher than the last register
than can be used for these programs and buffers.
The value returned for I4908 is a function of two things: the size of the user data memory, and the
declared size of the UBUFFER user buffer. If no UBUFFER has been declared, I4908 will return
$010800 for the standard user data memory (Option 5x0 or 5x2). Starting in V1.937, Turbo PMACs with
the extended user data memory (Option 5x1 or 5x3) by default have a 65,536-word ($10000) UBUFFER
declared, occupying addresses $030000 - $03FFFF. In these systems, I4908 will return a value of
$030000. It is possible to declare a smaller or non-existent UBUFFER in these systems with an explicit
DEFINE UBUFFER command. With no UBUFFER, a Turbo PMAC with the extended user data
memory option will report an I4908 value of $040000.
If a UBUFFER has been declared, the value returned for I4908 will be reduced by an amount equivalent
to the size of the UBUFFER.
Example:
$$$*** ; Re-initialize card, clearing all buffers
I4908 ; Request value of I4908
$010800 ; Value for standard data memory, no UBUFFER
DEF UBUF 512 ; Reserve 512 ($200) words for user buffer
$010600 ; Value reduced by 512 ($200)
I4909 Turbo CPU ID Configuration
Range: $000000000 $FFFFFFFFF
Default: --
I4909 is a read-only status I-variable that reports configuration information for the Turbo PMAC CPU
section. I4909 is a 36-bit value that contains vendor ID, option data, CPU type, and card ID. All of it is
reported if I39 is set to 0; individual parts are reported if I39>0.

The following table shows what each part of I4909 returns and what each part means.
I4909 Bit #s Bit Values Meaning
0 7 (I39=0)
0 7 (I39=1)
$FF (I39=0)
$FF (I39=1)
=1: Vendor is Delta Tau
8 (I39=0)
0 (I39=2)
$100 (I39=0)
$1 (I39=2)
=0: Standard (128k x 24) user data memory (Opt 5x0,2)
=1: Extended (512k x 24) user data memory (Opt 5x1,3)
9 (I39=0)
1 (I39=2)
$200 (I39=0)
$2 (I39=2)
=0: Standard (128k x 24) program memory (Opt 5x0,1)
=1: Extended (512k x 24) program memory (Opt 5x2,3)
10,11 (I39=0)
2,3 (I39=2)
$C00 (I39=0)
$C (I39=2)
=0: No dual-ported RAM
=1: 8k x 16 dual-ported RAM (Opt 2x)
=3: 32k x 16 dual-ported RAM (Opt 2x)
12,13 (I39=0)
4,5 (I39=2)
$3000 (I39=0)
$30 (I39=2)
=0: No battery-backed RAM
=1: 32k x 24 battery-backed RAM (Opt 16A)
=3: 128k x 24 battery-backed RAM (Opt 16B)
14,15,16 (I39=0)
6,7,8 (I39=2)
$1C000 (I39=0)
$1C0 (I39=2)
=0: Unknown flash IC (cannot save)
=1: Intel 28F004S3 512k x 8 flash IC
=2: Intel 28F008S3 1M x 8 flash IC (Opt 5x0)
=3: Intel 28F016S3 2M x 8 flash IC (Opt 5x1,2)
=4: Intel 28F160S3 2M x 8 flash IC (Opt 5x1,2)
=5: Intel 28F320S3 4M x 8 flash IC (Opt 5x3)
=6: Intel 28F320J5 4M x 8 flash IC (Opt 5x3)
=7: Intel 28F640J5 8M x 8 flash IC
17 (I39=0)
9 (I39=2)
$20000 (I39=0)
$200 (I39=2)
=0: Aux. RS232 not present or not active
=1: Aux. RS232 present (Opt 9T) and active (I53>0)
18 21 (I39=0)
0 3 (I39=3)
$3C0000 (I39=0)
$F (I39=3)
=0: DSP56303 CPU
=1: DSP56309 CPU
>1: (Reserved)
22 35 (I39=0)
0 13 (I39=4)
$FFFC00000 (I39=0)
$3FFF (I39=4)
(Last 4 digits of card part number)
I4910 I4925 Servo IC Card Identification
Default: --
I4910 I4925 are read-only status I-variables that report configuration information for UMAC accessory
boards that contain Servo ICs, such as the Acc-24E2 family and the Acc-51E.
The following table shows which variable corresponds to which card:
Ident
I-var
Servo
IC #
I4900
Bit #
Board DIP Switch
4,3,2,1 Setting
1
Board Base
Address
Board Setup
I-variables
Board Ident.
Info Address
2
I4910 2 2 0000 (0) $078200 I7200 I7249 $078F08
I4911 3 3 0001 (1) $078300 I7300 I7349 $078F0C
I4912 2* 12 0010 (2) $078220 I7250 I7299 $078F28
I4913 3* 13 0011 (3) $078320 I7350 I7399 $078F2C
I4914 4 4 0100 (4) $079200 I7400 I7449 $079F08
I4915 5 5 0101 (5) $079300 I7500 I7549 $079F0C
I4916 4* 14 0110 (6) $079220 I7450 I7499 $079F28
I4917 5* 15 0111 (7) $079320 I7550 I7599 $079F2C
I4918 6 6 1000 (8) $07A200 I7600 I7649 $07AF08
I4919 7 7 1001 (9) $07A300 I7700 I7749 $07AF0C
I4920 6* 16 1010 (10) $07A220 I7650 I7699 $07AF28
I4921 7* 17 1011 (11) $07A320 I7750 I7799 $07AF2C
I4922 8 8 1100 (12) $07B200 I7800 I7849 $07BF08
I4923 9 9 1101 (13) $07B300 I7900 I7949 $07BF0C
I4924 8* 18 1110 (14) $07B220 I7850 I7899 $07BF28
I4925 9* 19 1111 (15) $07B320 I7950 I7999 $07BF2C
Notes:
1. Board DIP-switches SW1-1 to SW1-4 are currently used to set the addresses of the boards on the UBUS
backplane. A 0 is ON (Closed); a 1 is OFF (Open). The E1 jumper on the back of the Acc-Ux UBUS
backplane board must be ON to use the DIP-switch addressing. SW1-5 and SW1-6 must be ON (Closed).
2. For diagnostic purposes only. The four Y registers starting at this address contain the information used to
assemble this I-variable.
I4910 to I4925 have multiple fields of information, which can be reported individually or in groups,
depending on the setting of I39. The following table shows what each field reports.
Information Reported when: Bits when I39=0 Bits when I39>0
Vendor ID I39 = 0 or 1 0 7 0 7
Options I39 = 0 or 2 8 17 0 9
Revision # I39 = 0 or 3 18 21 0 3
Card ID I39 = 0 or 4 22 35 0 13
Base Address I39 = 5 -- 0 - 18
The Vendor ID field is an 8-bit value that reports the manufacturer of the board. Delta Tau boards
report a value of 1 in this field.
Typically, the Options field is a 10-bit field that is used as a set of individual bits to report which
options are present on the board. The meaning of each bit is board-dependent.
The Revision Number field is a 4-bit value that represents the design revision (0 to 15) of the board.
For Delta Tau boards, this value matches the x in the 10x part number suffix for the board.
The Card ID field is a 14-bit value that represents the part number of the board. For Delta Tau
boards, this value matches the xxxx in the 60xxxx (decimal) main part number for the board.
The Base Address field is a 19-bit value that represents the starting address of the board in the Turbo
PMACs address space.
I4926 I4941 MACRO IC Card Identification
Default: --
boards that contain MACRO ICs, such as the Acc-5E. Which of these ICs is assigned as MACRO IC 0,
1, 2, or 3 for firmware support issues is dependent on the settings of I20, I21, I22, and I23, respectively.
The following table shows which variable corresponds to which card:
Ident I-var I4902 Bit # Board DIP Switch
4,3,2,1 Setting
1
Board Base
Address
Board Ident. Info
Address
2

I4926 0 0000 (0) $078400 $078F10
I4927 1 0001 (1) $079400 $079F10
I4928 2 0010 (2) $07A400 $07AF10
I4929 3 0011 (3) $07B400 $07BF10
I4930 4 0100 (4) $078500 $078F14
I4931 5 0101 (5) $079500 $079F14
I4932 6 0110 (6) $07A500 $07AF14
I4933 7 0111 (7) $07B500 $07BF14
I4934 8 1000 (8) $078600 $078F18
I4935 9 1001 (9) $079600 $079F18
I4936 10 1010 (10) $07A600 $07AF18
I4937 11 1011 (11) $07B600 $07BF18
I4938 12 1100 (12) $078700 $078F1C
I4939 13 1101 (13) $079700 $079F1C
I4940 14 1110 (14) $07A700 $07AF1C
I4941 15 1111 (15) $07B700 $07BF1C
Notes:
1. Board DIP-switches SW1-1 to SW1-4 are currently used to set the addresses of the boards
on the UBUS backplane. A 0 is ON (Closed); a 1 is OFF (Open). The E1 jumper on the
back of the Acc-Ux UBUS backplane board must be ON to use the DIP-switch addressing.
SW1-5 and SW1-6 must be ON (Closed).
2. For diagnostic purposes only. The four Y registers starting at this address contain the
information used to assemble this I-variable.
Vendor ID I39 = 0 or 1 0 7 0 7
Options I39 = 0 or 2 8 17 0 9
Revision # I39 = 0 or 3 18 21 0 3
Card ID I39 = 0 or 4 22 35 0 13
Typically, the Options field is a 10-bit field that is used as a set of individual bits to report which
I4942 I4949 DPRAM IC Card Identification
Default: --
boards that contain DPRAM ICs, such as the Acc-54E. The following table shows which variable
corresponds to which card:
Ident I-var I4904
Bit #
Board DIP Switch
4,3,2,1 Setting
1
Board Base
Address
Board Ident.
Info Address
2
I4942 16 0000 (0) or 0001 (1) $06C000 $078F20
I4943 17 0010 (2) or 0011 (3) $074000 $078F24
I4944 18 0100 (4) or 0101 (5) $06D000 $079F20
I4945 19 0110 (6) or 0011 (7) $075000 $079F24
I4946 20 1000 (8) or 1001 (9) $06E000 $07AF20
I4947 21 1010 (10) or 1011 (11) $076000 $07AF24
I4948 22 1100 (12) or 1101 (13) $06F000 $07BF20
I4949 23 1110 (14) or 1011 (15) $077000 $07BF24
Notes:
1. Board DIP-switches SW1-1 to SW1-4 are currently used to set the addresses of the boards on the
UBUS backplane. A 0 is ON (Closed); a 1 is OFF (Open). The E1 jumper on the back of the Acc-
Ux UBUS backplane board must be ON to use the DIP-switch addressing. SW1-5 and SW1-6 must
be ON (Closed).
2. For diagnostic purposes only. The four Y registers starting at this address contain the information
used to assemble this I-variable.
Information Reported when: Bits when
I39=0
Bits when
I39>0
Vendor ID I39 = 0 or 1 0 7 0 7
Options I39 = 0 or 2 8 17 0 9
Revision # I39 = 0 or 3 18 21 0 3
Card ID I39 = 0 or 4 22 35 0 13
The Options field is a 10-bit field that is typically used as a set of individual bits to report which

I4950 I4965 I/O IC Card Identification
Default: --
boards that contain I/O ICs, such as the Acc-14E, 65E, 66E, and 67E digital I/O boards. The following
table shows which variable corresponds to which card:
Ident I-var Board DIP Switch
4,3,2,1 Setting
1
Board Base Address Board Ident. Info Address
2
I4950 0000 (0) $078C00 $078F30
I4951 0001 (1) $078D00 $078F34
I4952 0010 (2) $078E00 $078F38
I4953 0011 (3) $078F00 $078F3C
I4954 0100 (4) $079C00 $079F30
I4955 0101 (5) $079D00 $079F34
I4956 0110 (6) $079E00 $079F38
I4957 0111 (7) $079F00 $079F3C
I4958 1000 (8) $07AC00 $07AF30
I4959 1001 (9) $07AD00 $07AF34
I4960 1010 (10) $07AE00 $07AF38
I4961 1011 (11) $07AF00 $07AF3C
I4962 1100 (12) $07BC00 $07BF30
I4963 1101 (13) $07BD00 $07BF34
I4964 1110 (14) $07BE00 $07BF38
I4965 1111 (15) $07BF00 $07BF3C
Notes:
1. Currently, board DIP-switches SW1-1 to SW1-4 are used to set the addresses of the boards on the
UBUS backplane. A 0 is ON (Closed); a 1 is OFF (Open). The E1 jumper on the back of the
Acc-Ux UBUS backplane board must be ON to use the DIP-switch addressing. SW1-5 and SW1-
6 must be ON (Closed).
2. For diagnostic purposes only. The four Y registers starting at this address contain the information
used to assemble this I-variable.
Note:
The Acc-9E, 10E, 11E and 12E I/O boards do not report identification information
for this variable.
Vendor ID I39 = 0 or 1 0 7 0 7
Options I39 = 0 or 2 8 17 0 9
Revision # I39 = 0 or 3 18 21 0 3
Card ID I39 = 0 or 4 22 35 0 13
The Options field is a 10-bit field that is typically used as a set of individual bits to report which
Data Gathering I-Variables
I5000 Data Gathering Buffer Location and Mode
Range: 0 - 3
Units: none
Default: 0
I5000 controls where the data gathering buffer will be located when it is defined, and whether it will wrap
around when it is filled. It can take the following values:
0: Locate buffer in regular RAM. Do not permit wrap-around (stop gathering when end of buffer is
reached). This setting must be used for Turbo PMAC Executive program data gathering and tuning
routines.
1: Locate buffer in regular RAM. Permit wrap-around upon reaching end of buffer.
Note:
Wrap-around feature is not supported by Turbo PMAC Executive program data
gathering and tuning routines.
2: Locate buffer in dual-ported RAM (Turbo PMAC Option 2 required). Do not permit wrap-around.
3: Locate buffer in dual-ported RAM (Turbo PMAC Option 2 required). Permit wrap-around upon
reaching end of buffer (usual mode for dual-ported RAM).
Note:
Normally, this parameter is set automatically by the PMAC Executive Programs
I5001 I5048 Data Gathering Source 1-48 Address
Range: $000000 - $C7FFFF
Units: Modified Turbo PMAC Addresses
Default: $000000
I5001 through I5048 specify the addresses of the 48 possible sources to be read by the data gathering
function. I50nn specifies the address of source number nn.
These variables are 24-bit values, usually represented by six hexadecimal digits. The last five digits (bits
0 to 19; bit 19 must be 0) represent the numerical address of the register.
The first hex digit controls which part of the address to read. It can take one of four possible values:
$0: Y-register only (24 bits)
$4: X-register only (24 bits)
$8: X/Y double register (48 bits), Executive program interprets as integer
$C: X/Y double register (48 bits), Executive program interprets as floating-point
The address specified by one of these variables is only gathered if the I5050 or I5051 selection mask
enables the gathering of that particular source.
Note:
Normally, these parameters are set automatically by the PMAC Executive
Programs gathering and tuning routines.
I5049 Data Gathering Period
Range: 0 - 8,388,607
Units: Servo Cycles
Default: 1
I5049 controls how often data is logged from source addresses when data gathering is enabled, in units of
servo interrupt cycles. If I5049 is set to 0, data is logged only once per data gathering command (single-
shot mode).
Note:
I5050 Data Gathering Selection Mask 1
Units: Individual Bits
Default: $000000
I5050 controls which of the 24 potential data sources specified by I5001 to I5024 will be gathered when
data gathering is performed. It is a 24-bit value and each bit controls one potential data source. A 1 in the
I5050 bit enables the gathering of the data source; a 0 in the I5050 bit disables the gathering of the data
source.
The following table shows the relationship between bits of I5050 and the data gathering source address I-
variables:
Bit # Value I-Variable Enabled Bit # Value I-Variable Enabled
0 $1 I5001 12 $1000 I5013
1 $2 I5002 13 $2000 I5014
2 $4 I5003 14 $4000 I5015
3 $8 I5004 15 $8000 I5016
4 $10 I5005 16 $10000 I5017
5 $20 I5006 17 $20000 I5018
6 $40 I5007 18 $40000 I5019
7 $80 I5008 19 $80000 I5020
8 $100 I5009 20 $100000 I5021
9 $200 I5010 21 $200000 I5022
10 $400 I5011 22 $400000 I5023
11 $800 I5012 23 $800000 I5024
Note:
I5051 Data Gathering Selection Mask 2
Units: Individual Bits
Default: $000000
I5051 controls which of the 24 potential data sources specified by I5025 to I5048 will be gathered when
data gathering is performed. It is a 24-bit value and each bit controls one potential data source. A 1 in the
I5051 bit enables the gathering of the data source; a 0 in the I5051 bit disables the gathering of the data
source.
The following table shows the relationship between bits of I5051 and the data gathering source address I-
variables:
Bit # Value I-Variable Enabled Bit # Value I-Variable Enabled
0 $1 I5025 12 $1000 I5037
1 $2 I5026 13 $2000 I5038
2 $4 I5027 14 $4000 I5039
3 $8 I5028 15 $8000 I5040
4 $10 I5029 16 $10000 I5041
5 $20 I5030 17 $20000 I5042
6 $40 I5031 18 $40000 I5043
7 $80 I5032 19 $80000 I5044
8 $100 I5033 20 $100000 I5045
9 $200 I5034 21 $200000 I5046
10 $400 I5035 22 $400000 I5047
11 $800 I5036 23 $800000 I5048
Note:
A/D Processing Table I-Variables
I5060 A/D Processing Ring Size
Range: 0 - 16
Units: Number of A/D Pairs
Default: 0
I5060 controls the number of pairs of multiplexed A/D converters, either from on-board Option 12 ADCs,
or off-board Acc-36 ADCs, that are processed and de-multiplexed into individual registers. If I5060 is set
to 0, none of these A/D converters is processed automatically.
If I5060 is set to a value greater than 0, it specifies the number of pairs of ADCs in the automatic
processing ring. Each phase clock cycle, one pair is processed, and the values copied into image registers
in RAM.
Global I-variable I7 permits most phasing tasks, such as motor commutation and digital current loop
closure, to skip some phase clock cycles. This A/D de-multiplexing occurs every phase clock cycle,
regardless of the setting of I7. This permits the de-multiplexing to occur at a very high frequency with
out overloading Turbo PMAC with phase calculations.
For each pair enabled, one of the A/D ring slot pointer I-variables I5061-I5076 and one of the A/D ring
convert code I-variables I5081-I5096 must be set properly. If I5060 is set to 1, then I5061 and I5081
must be set properly; if I5060 is set to 2, then I5061, I5062, I5081, and I5082 must be set properly.
I5060 is actually used at power-on/reset only, so to make a change in the A/D de-multiplexing ring size,
including activating or de-activating the function, change the value of I5060, store this new value to non-
volatile flash memory with the SAVE command, and reset the card with the $$$ command.
I5061-I5076 A/D Ring Slot Pointers
Range: $000000 - $7FFFFF
Default: $0 (specifies address $078800)
I5061 through I5076 control which of the multiplexed A/D converters are read in the A/D ring table, as
enabled by I5060. These I-variables contain the Turbo PMAC addresses where these ADCs can reside.
If the A/D converters are in the on-board Option 12 or 12A (Turbo PMAC2 only), or if they are in the
Acc-1E or 6E 3U stack board, they reside at address $078800, and the I-variable pointing to them can be
set either to $0 or to $078800. If they are in the on-board Option 12 or 12A on a Turbo PMAC PCI, they
reside at address $078008.
The following table shows the proper value of I5061-I5076 for A/D converters on Acc-36P and 36V
accessory boards:
ADC
Location
Board #
Jumper
ON
Board
Letter
Jumper ON
I5061
I5076
Address
ADC
Location
Board #
Jumper
ON
Board
Letter
Jumper ON
I5061
I5076
Address
Acc-36 #1A E1 E7 $078A00 Acc-36 #4A E4 E7 $078D00
Acc-36 #1B E1 E8 $078A02 Acc-36 #4B E4 E8 $078D02
Acc-36 #1C E1 E9 $078A04 Acc-36 #4C E4 E9 $078D04
Acc-36 #1D E1 E10 $078A06 Acc-36 #4D E4 E10 $078D06
Acc-36 #2A E2 E7 $078B00 Acc-36 #5A E5 E7 $078E00
Acc-36 #2B E2 E8 $078B02 Acc-36 #5B E5 E8 $078E02
Acc-36 #2C E2 E9 $078B04 Acc-36 #5C E5 E9 $078E04
Acc-36 #2D E2 E10 $078B06 Acc-36 #5D E5 E10 $078E06
Acc-36 #3A E3 E7 $078C00 Acc-36 #6A E6 E7 $078F00
Acc-36 #3B E3 E8 $078C02 Acc-36 #6B E6 E8 $078F02
Acc-36 #3C E3 E9 $078C04 Acc-36 #6C E6 E9 $078F04
Acc-36 #3D E3 E10 $078C06 Acc-36 #6D E6 E10 $078F06
The following table shows the values for A/D converters on UMAC Acc-36E and Acc-59E boards, based
on the settings of the address DIP switches SW1-n on those boards:
SW1-1 SW1-2 SW1-3 SW1-4 I5061-I5076 Address
ON ON ON ON $078C00
OFF ON ON ON $078D00
ON OFF ON ON $078E00
OFF OFF ON ON $078F00
ON ON OFF ON $079C00
OFF ON OFF ON $079D00
ON OFF OFF ON $079E00
OFF OFF OFF ON $079F00
ON ON ON OFF $07AC00
OFF ON ON OFF $07AD00
ON OFF ON OFF $07AE00
OFF OFF ON OFF $07AF00
ON ON OFF OFF $07BC00
OFF ON OFF OFF $07BD00
ON OFF OFF OFF $07BE00
OFF OFF OFF OFF $07BF00
Note: SW1-5 and SW1-6 must be ON to enable this addressing.

Each variable I5061 I5076 is matched with the I-variable numbered 20 higher (e.g. I5081 for I5061) to
specify which channel of the muxed A/D-converter is to be used, and how that channel is to be read. Up
to 8 of these I-variable pairs must be used to read all 8 channels of a muxed A/D converter the eight
variables in the I5061 I5076 range will all contain the same address.
The results of the A/D tables are placed in registers at addresses Y:$003400 to Y:$00341F, using bits 12
to 23 of these registers. The value of the A/D converter found in the low 12 bits of the source register is
placed in the register with the even-numbered address; the value of the A/D converter found in the high
12 bits of the source register is placed in the register with the odd-numbered address. The following table
shows the matching between the A/D pointer I-variables and the addresses of the result registers.
I-Variable Result Address
for Low ADC
Result Address
for High ADC
I-Variable Result Address
for Low ADC
Result Address
for High ADC
I5061 Y:$003400 Y:$003401 I5069 Y:$003410 Y:$003411
I5062 Y:$003402 Y:$003403 I5070 Y:$003412 Y:$003413
I5063 Y:$003404 Y:$003405 I5071 Y:$003414 Y:$003415
I5064 Y:$003406 Y:$003407 I5072 Y:$003416 Y:$003417
I5065 Y:$003408 Y:$003409 I5073 Y:$003418 Y:$003419
I5066 Y:$00340A Y:$00340B I5074 Y:$00341A Y:$00341B
I5067 Y:$00340C Y:$00340D I5075 Y:$00341C Y:$00341D
I5068 Y:$00340E Y:$00340F I5076 Y:$00341E Y:$00341F
I5061 I5076 are used at power-on/reset only, so to make a change in the A/D de-multiplexing sources,
change the values of I5061 I5076, store these new values to non-volatile flash memory with the SAVE
command, and reset the card with the $$$ command.
I5080 A/D Ring Convert Enable
Range: 0 - 1
Units: none
Default: 1
I5080 controls whether the A/D-converter demultiplexing algorithm specified by I5060 I5076 and
I5081 I5096 is enabled or not. If I5080 is set to 1, the algorithm is enabled; if I5080 is set to 0, the
algorithm is disabled.
If the saved value of I5060 is greater than 0, specifying that some demultiplexing is to be done, then
I5080 is automatically set to 1 on power-up/reset, so the algorithms are automatically running. By
subsequently setting I5080 to 0, the user can suspend the execution of these algorithms, to be resumed by
setting I5080 back to 1. If the save value of I5060 is 0, then I5080 is automatically set to 0 on power-
up/reset.
I5081-I5096 A/D Ring Convert Codes
Range: $000000 - $00F00F
Units: None
Default: $000000
I5081 through I5096 contain the convert codes written to the multiplexed A/D converters that are read in
the A/D ring table, as enabled by I5060. The convert codes control which of the multiplexed ADCs at the
address is to be read, and the range of the analog input for that ADC. The ADCs can be on-board the
Turbo PMAC with Option 12 and 12A, or off-board with an Acc-36P/V. The Turbo PMAC address of
the ADC to be read is set by the I-variable number 20 less (e.g. I5061 determines the address of the ADC
whose convert code is set by I5081). The number of ADC converters in the ring is determined by I5060.
I5081-I5096 are 24-bit values, represented by 6 hexadecimal digits. Legitimate values are of the format
$00m00n, where m and n can take any hex value from 0 through F.
For the on-board Option 12 & 12A ADCs on a Turbo PMAC2, the m value determines which of the
inputs ANAI08 to ANAI15 that come with Option 12A is to be read, and how it is to be converted,
according to the following formulas:
8 # ANAI m = ; 0 to +5V unipolar input
# ANAI m = ; -2.5V to +2.5V bipolar input
For the on-board Option 12 & 12A ADCs on a Turbo PMAC2, the n value determines which of the inputs
ANAI00 to ANAI07 that come with Option 12A is to be read, and how it is to be converted, according to
the following formulas:
# ANAI n = ; 0V to +5V unipolar input
8 # ANAI n + = ; -2.5V to +2.5V bipolar input
For example, to read ANAI02 from Option 12 and ANAI10 from Option 12A, both as +/-2.5V inputs,
into the first slot in the ring, m would be set to A (10) and n would be set to A (10), so I5081 would be set
to $00A00A.
For the off-board Acc-36P/V ADCs, the m value is always 0, and the n value determines which pair of
ADCs is to be read, and how they are to be converted, according to the following formulas:
9 # ADC , 1 # ADC n = ; 0 to +10V (between + and -) unipolar inputs
1 # ADC , 7 # ADC n + = ; -5V to +5V (between + and -) bipolar inputs
For example, to read ADC3 and ADC11 of an Acc-36 as 0-10V inputs into the second slot in the ring, n
would be set to 2, so I5082 would be set to $000002.
I5081 I5096 are actually used at power-on/reset only, so to make a change in the A/D de-multiplexing
codes, change the values of I5081 I5096, store these new values to non-volatile flash memory with the
SAVE command, and reset the card with the $$$ command.
Coordinate System I-Variables
I-Variables in the I5100s through the I6600s control the setup of the 16 possible coordinate systems on a
Turbo PMAC, Coordinate System 1 through Coordinate System 16. Each group of 100 I-variables is
reserved for a specific coordinate system: the I5100s for C.S. 1, the I5200s for C.S. 2, and so on, to the
I6600s for C.S. 16. The following table lists the I-variables used for each coordinate system:
C.S. # I-Variables C.S. # I-Variables C.S. # I-Variables C.S. # I-Variables
1 I5100-5199 5 I5500-5599 9 I5900-5999 13 I6300-6399
2 I5200-5299 6 I5600-5699 10 I6000-6099 14 I6400-6499
3 I5300-5399 7 I5700-5799 11 I6100-6199 15 I6500-6599
4 I5400-5499 8 I5800-5899 12 I6200-6299 16 I6600-6699
In the generic description of these I-variables, the thousands digit is represented by the letter s, and the
hundreds digit by the letter x; for example, Isx11. s and x can take the following values:
s is equal to 5 for Coordinate Systems 1 9;
s is equal to 6 for Coordinate Systems 10 16;
x is equal to the coordinate system number for Coordinate Systems 1 9;
x is equal to the (coordinate system number minus 10) for Coordinate Systems 10 16.
The descriptions of the variables refer to Coordinate System x generically, even though the coordinate
system number is equal to (x + 10) for Coordinate Systems 10 16.
Isx11 Coordinate System x User Countdown Timer 1
Range: -8,388,608 - 8,388,607
Units: servo cycles
Default: 0
Isx11 provides an automatic countdown timer for user convenience. If Coordinate System x is activated
by I68, Isx11 will count down one unit per servo cycle. The user may write to this variable at any time,
and it will count down from that value. Typically, user software will then wait until the variable is less
than another value, usually zero. The software accessing Isx11 does not have to be associated with
Coordinate System x.
Isx11 is a signed 24-bit variable, providing a range of -2
23
(-8,388,608) to +2
23
-1 (8,388,607). If active, it
counts down continually until it reaches its maximum negative value of -8,388,608. It will not roll over.
Most will use the positive range, writing a number representing the number of servo cycles for the period
to the variable, then waiting for it to count down past 0.
The following code shows how Isx11 could be used in a PLC to turn on an output for a fixed period of time.
M1=1 ; Set the output
I5111=2259 ; Set the timer to 1 second (2259 servo cycles)
WHILE (I5111>0) ; Wait for timer to count down
ENDWHILE
M1=0 ; Clear the output
Isx12 Coordinate System x User Countdown Timer 2
Range: -8,388,608 - 8,388,607
Units: servo cycles
Default: 0
Isx12 provides an automatic countdown timer for user convenience. If Coordinate System x is activated
by I68, Isx12 will count down one unit per servo cycle. The user may write to this variable at any time,
and it will count down from that value. Typically, user software will then wait until the variable is less
than another value, usually zero. The software accessing Isx12 does not have to be associated with
Coordinate System x.
Isx12 is a signed 24-bit variable, providing a range of -2
23
(-8,388,608) to +2
23
-1 (8,388,607). If active, it
counts down continually until it reaches its maximum negative value of -8,388,608. It will not roll over.
Most will just use the positive range, writing a number representing the number of servo cycles for the
period to the variable, then waiting for it to count down past 0.
The following code shows how Isx12 could be used in a PLC to turn on an output for a fixed period of time.
M1=1 ; Set the output
I5112=2259 ; Set the timer to 1 second (2259 servo cycles)
WHILE (I5112>0) ; Wait for timer to count down
ENDWHILE
M1=0 ; Clear the output
Isx13 Coordinate System x Segmentation Time
Range: 0 - 255
Units: msec
Default: 0
Isx13 controls whether Coordinate System x is in segmentation mode or not, and if it is, what the
segmentation time is in units of milliseconds.
If Isx13 is greater than zero, Coordinate System x is in segmentation mode, and all LINEAR and CIRCLE
mode trajectories are created by computing intermediate segment points with a coarse interpolation
algorithm every Isx13 milliseconds, then executing a fine interpolation using a cubic spline algorithm
every servo cycle.
While it is possible to execute programmed moves (blocks) of a shorter time than the Isx13 segmentation
time, the segmentation algorithm will automatically skip over these blocks, effectively performing a
smoothing function over multiple blocks.
This coarse/fine interpolation method activated by putting the coordinate system into segmentation mode
is required for the coordinate system to be able to use any of the following features:
Circular interpolation
Cutter radius compensation
/ Program stop command
\ Quick-stop command
Rotary buffer blend-on-the-fly
Multi-block lookahead
Inverse kinematics
If none of these features is required in the coordinate system, usually it is best to leave Isx13 at the default
value of 0 to free up calculation time for other tasks. If Isx13 is 0, CIRCLE mode moves are executed as
LINEAR moves, cutter radius compensation is not performed, / commands are executed as Q quit
commands, \ commands are executed as H feed-hold commands.
Typical values of Isx13 for segmentation mode are 5 to 20 msec. The smaller the value, the tighter the fit
to the true curve, but the more computation is required for the moves, and the less is available for
background tasks. If Isx13 is set too low, Turbo PMAC will not be able to do all of its move calculations
in the time allotted, and it will stop the motion program with a run-time error.
The formula for the interpolation error introduced on a curved path by the segmentation mode is:
R 6
2
T
2
V
E =
where V is the velocity, T is the segmentation time, and R is the local radius, all expressed in consistent
units. On a straight-line path, R is infinite, making the error equal to 0. If the velocity is expressed as a
feedrate F, in units per minute, the formula is:
( ) ( )
( )
( )
R
10
10 16 . 2
2
13 Isx
2
F
units R 6
2
sec m
2
13 Isx *
2
sec m
2
000 , 60
2
min
*
2
min
2
units
2
F
E
=
|
|
.
|
\
|
|
|
.
|
\
|
=
On non-Turbo PMACs, this function is controlled by global I-variable I13.
Example:
At a feedrate of 5000 mm/min (200 in/min), and a radius of 50 mm (2 in), a value of Isx13 of 10 msec
produces an interpolation error of 2.3 m (0.00009 in).
Isx20 Coordinate System x Lookahead Length
Range: 0 65,535
Units: Isx13 segmentation periods
Default: 0
Isx20 controls the enabling of the lookahead buffering function for Coordinate System x, and if enabled,
determines how far ahead the buffer will look ahead.
If Isx20 is set to 0 (the default), the buffered lookahead function is not used, even if a lookahead buffer
has been defined.
If Isx20 is set to 1, points are stored in the lookahead buffer as they are calculated, but no lookahead
velocity or acceleration-limiting calculations are done. The stored points can then be used to back up
along the path as necessary.
If Isx20 is set to a value greater than 1, PMAC will look Isx20 segments ahead on LINEAR and CIRCLE
mode moves, provided that the coordinate system is in segmentation mode (Isx13 > 0) and a lookahead
buffer has been defined. The lookahead algorithm can extend the time for each segment in the buffer as
needed to keep velocities under the Ixx16 limits and the accelerations under the Ixx17 limits.
For proper lookahead control, Isx20 must be set to a value large enough so that PMAC looks ahead far
enough that it can create a controlled stop from the maximum speed within the acceleration limit. This
required stopping time for a motor could be expressed as:
17 Ixx
16 Ixx
max
A
max
V
StopTime = =
All motors in the coordinate system should be evaluated to see which motor has the longest stopping
time. This motors stopping time will be used to compute Isx20.
The average speed during this stopping time is V
max
/2, so as the moves enter the lookahead algorithm at
V
max
(the worst case), the required time to look ahead is StopTime/2. Therefore, the required number of
segments always corrected in the lookahead buffer can be expressed as:
13 Isx * 17 Ixx * 2
16 Ixx
) seg sec/ m ( SegTime
2 / sec) m ( StopTime
ead SegmentsAh = =
Because Turbo PMAC does not completely correct the lookahead buffer as each segment is added, the
lookahead distance specified by Isx20 must be slightly larger than this. The formula for the minimum
value of Isx20 that guarantees sufficient lookahead for the stopping distance is:
ead SegmentsAh *
3
4
20 Isx =
If a fractional value results, round up to the next integer. A value of Isx20 less than this amount will not
result in velocity or acceleration limits being violated; however, the algorithm will not permit maximum
velocity to be reached, even if programmed.
Isx20 should not be set greater than the number of segments reserved in the DEFINE LOOKAHEAD
command. If the lookahead algorithm runs out of buffer space, Turbo PMAC will automatically reduce
Isx20 to reflect the amount of space that is available
Example:
The axes in a system have a maximum speed of 24,000 mm/min, or 400 mm/sec (900 in/min or 15
in/sec). They have a maximum acceleration of 0.1g or 1000 mm/sec
2
(40 in/sec
2
), and a count resolution
of 1m. A maximum block rate of 200 blocks/sec is desired, so Isx13 is set to 5 msec. The parameters
can be computed as:
Ixx16 = 400 mm/sec * 0.001 sec/msec * 1000 cts/mm = 400 cts/msec
Ixx17 = 1000 mm/sec
2
* 0.001
2
sec
2
/msec
2
* 1000 cts/mm = 1.0 cts/msec
2

Isx20 = [4/3] * [400 cts/msec / (2 * 1.0 cts/msec
2
*5 msec/seg)] = 54 segments
Isx21 Coordinate System x Lookahead State Control
Range: 0 15
Units: none
Default: 0
Isx21 permits direct control of the state of lookahead execution, without going through Turbo PMACs
background command interpreter. This is useful for applications such as wire EDM, which can require
very quick stops and reversals.
Setting Isx21 to 4 is the equivalent of issuing the \ quick-stop command.
Setting Isx21 to 6 is the equivalent of resuming forward motion with the > resume forward command.
Setting Isx21 to 7 is the equivalent of issuing the < back-up command.
Setting Isx21 to 14 requests execution of a single segment in the forward direction.
Setting Isx21 to 15 requests execution of a single segment in the reverse direction.
If monitoring Isx21 at other times, notice that the 4s bit is cleared after the command has been processed.
Therefore, the following values will show:
Isx21 = 0 when stopped with a quick-stop command.
Isx21 = 2 when running forward in lookahead.
Isx21 = 3 when running reversed in lookahead.
Isx21 = 10 when has executed a single forward segment in lookahead.
Isx21 = 11 when has executed a single reverse segment in lookahead.

Note:
The use of DWELL, WHILE({condition})WAIT, and a violation of the double-
jump-back rule momentarily switches PMAC out of lookahead mode. Therefore,
these constructs should not be used in programs and sub-programs when Isx21 will
be used to control their lookahead state.
Note:
In preliminary versions of the Turbo PMAC firmware, Isx21 served a different
function. That variable value is now a constant value (3) set by the firmware.
Isx50 Coordinate System x Kinematic Calculations Enable
Range: 0 1
Units: none
Default: 0
Isx50 controls whether the special forward-kinematic and inverse-kinematic program buffers for
Coordinate System x are used to relate the motor and axis positions for the coordinate system.
If Isx50 is set to 0 (the default), Turbo PMAC will use the relationships set up in the axis-definition
statements for the coordinate system to compute the relationship between motor positions and axis
positions. The inverse of the axis-definition equations is used to compute the starting axis positions on an
R (run), S (step), or PMATCH command. The axis-definition equations are used to convert programmed
axis positions to motor positions each programmed move or move segment. Even if the forward-
kinematic and inverse-kinematic programs have been loaded for the coordinate system, they will not be
used.
If Isx50 is set to 1, Turbo PMAC will use the relationships set up in the special kinematic program buffers
to compute the relationship between motor positions and axis positions. The forward-kinematic program
is used to compute the starting axis positions on an R (run), S (step), or PMATCH command. The inverse-
kinematic program is used to convert programmed axis positions to motor positions each programmed
move or move segment for each motor defined as an inverse-kinematic axis (#xx->I). Motors in the
coordinate system not defined as inverse-kinematic axes still use axis-definition equations to convert
programmed axis positions to motor positions.
Isx53 Coordinate System x Step Mode Control
Range: 0 - 1
Units: none
Default: 0
Isx53 controls the action of a Step s command in Coordinate System x. At the default Isx53 value of 0, a
Step command causes program execution through the next move, DELAY, or DWELL command in the
motion program, even if this takes multiple program lines.
When Isx53 is set to 1, a Step command causes execution of only a single program line, even if there is
no move, DELAY, or DWELL command on that line. If there is more than one DWELL or DELAY
command, a single Step command will only execute one of the DWELL or DELAY commands.
Regardless of the setting of Isx53, if program execution on a Step command encounters a BLOCKSTART
statement in the program, execution will continue until a BLOCKSTOP statement is encountered.
On non-Turbo PMACs, this function is controlled by global I-variable I53.
Isx86 Coordinate System x Alternate Feedrate
Range: positive floating point
Units: (user position units) / (Isx90 feedrate time units)
Default: 1000.0
Isx86 can control the speed of motion for a feedrate-specified move when the motion of non-feedrate axes
is predominant. Feedrate, or vector-feedrate axes are those specified by the FRAX command; X, Y, and Z
are the feedrate axes by default.
If Isx86 is greater than 0, PMAC compares the move time for the vector feedrate axes, computed as the
vector distance of the feedrate axes divided by the specified feedrate (the F value in the program or Ix89),
to the move time for the non-feedrate axes, computed as the longest distance for these axes divided by
Isx86. It then uses the longer of these two times as the move time for all axes, feedrate and non-feedrate.
If Isx86 is 0, and PMAC sees a feedrate-specified move in which the vector distance is zero (i.e. no
motion of the vector feedrate axes), PMAC computes the move time as the longest distance of the non-
feedrate axes on the line divided by the program feedrate.
Isx86 has two main uses. First, it automatically controls the motion of non-feedrate axes when they are
commanded alone on a line in feedrate mode. Typically, these are rotary axes in a combined linear/rotary
system where only the linear axes are vector feedrate axes.
Second, it permits a fast dry-run mode in which the programmed feedrates are ignored. If no axes in the
coordinate system are vector feedrate axes (implemented with the NOFRAX command), then Isx86 will be
used for all moves, regardless of the F values in the program.
Example:
I5190=1000 ; Speeds are specified as per-second
I5186=5 ; Alternate feedrate of 5 user units per second
INC ; Moves specified by distance
X20 F10 ; Move time = 20 units / 10 (units/sec) = 2 sec
X10 C20 ; Move time = 10 units / 10 (units/sec) = 1 sec
C20 ; Move time = 20 units / 5 (units/sec) = 4 sec
See Also:
I-variables Isx89, Isx98
On-line commands FRAX, NOFRAX
Motion program commands F, FRAX, NOFRAX
Isx87 Coordinate System x Default Program Acceleration Time
Range: 0 - 8,388,607
Units: msec
Default: 0 (so Isx88 controls)
Isx87 sets the default time for commanded acceleration for programmed blended LINEAR and CIRCLE
mode moves in Coordinate System x. If global variable I42 is set to 1, it also sets the default time for
PVT and SPLINE mode moves. The first use of a TA statement in a program overrides this value.
Note:
Even though this parameter makes is possible not to specify acceleration time in
the motion program, use TA in the program and do not rely on this parameter,
unless keeping to a syntax standard that does not support this (e.g. RS-274 G-
Codes ). Specifying acceleration time in the program along with speed and move
modes makes it much easier for later debugging.
If the specified S-curve time (see Isx88, below) is greater than half the specified acceleration time, the
time used for commanded acceleration in blended moves will be twice the specified S-curve time.
The acceleration time is also the minimum time for a blended move; if the distance on a feedrate-
specified (F) move is so short that the calculated move time is less than the acceleration time, or the time
of a time-specified (TM) move is less than the acceleration time, the move will be done in the
acceleration time instead. This will slow down the move. If the acceleration time is 0 because both TA
and TS are set to 0, the minimum move time is 0.5 msec.
Note:
The acceleration time will be extended automatically when any motor in the
coordinate system is asked to exceed its maximum acceleration rate (Ixx17) for a
programmed LINEAR-mode move with Isx13=0 (no move segmentation).
When polled, Isx87 will report the value from the most recently executed TA command in that coordinate
system.
Isx88 Coordinate System x Default Program S-Curve Time
Range: 0 - 8,388,607
Units: msec
Default: 50
Isx88 sets the default time in each half of the S in S-curve acceleration for programmed blended LINEAR
and CIRCLE mode moves in coordinate system x. It does not affect SPLINE, PVT, or RAPID mode
moves. The first use of a TS statement in a program overrides this value.
Note:
Even though this parameter makes is possible not to specify acceleration time in
the motion program, use TS in the program and do not rely on this parameter,
unless keeping to a syntax standard that does not support this (e.g. RS-274 G-
Codes). Specifying acceleration time in the program along with speed and move
modes makes it much easier for later debugging.
If Isx88 is zero, the acceleration is constant throughout the Isx87 time and the velocity profile is
trapezoidal.
If Isx88 is greater than zero, the acceleration will start at zero and linearly increase through Isx88 time,
then stay constant (for time TC) until Isx87-Isx88 time, and linearly decrease to zero at Isx87 time (that is
Isx87=2*Isx88 - TC).
If Isx88 is equal to Isx87/2, the entire acceleration will be spec in S-curve form (Isx88 values greater than
Isx87/2 override the Isx87 value; total acceleration time will be 2*Isx88).
Note:
programmed LINEAR-mode move with Isx13=0 (no move segmentation).
When polled, Isx88 will report the value from the most recently executed TS command in that coordinate
system.
Isx89 Coordinate System x Default Program Feedrate/Move Time
Units: (user position units) / (Isx90 feedrate time units) or msec
Default: 1000.0
Isx90 sets the default feedrate (commanded speed) for programmed LINEAR and CIRCLE mode moves
in coordinate system x. The first use of an F or TM statement in a motion program overrides this value.
The velocity units are determined by the position and time units, as defined by axis definition statements
and Isx90. After power-up/reset, the coordinate system is in feedrate mode, not move-time mode.
Note:
Do not rely on this parameter but declare the feedrate in the program. This will
keep the move parameters with the move commands, lessening the chances of
future errors, and making debugging easier.
When polled, Isx89 will report the value from the most recently executed F or TM command in that
coordinate system.
Isx90 Coordinate System x Feedrate Time Units
Units: msec
Default: 1000.0
Isx90 defines the time units used in commanded velocities (feedrates) in motion programs executed by
Coordinate System x. Velocity units are comprised of length or angle units divided by time units. The
length/angle units are determined in the axis definition statements for the coordinate system.
Isx90 sets the time units. Isx90 itself has units of milliseconds, so if Isx90 is 60,000, the time units are
60,000 milliseconds, or minutes. The default value of Ix90 is 1000 msec, specifying velocity time units
of seconds.
This affects two types of motion program values: F values (feedrate) for LINEAR- and CIRCLE-mode
moves; and the velocities in the actual move commands for PVT-mode moves.
Isx91 Coordinate System x Default Working Program Number
Range: 0 - 32,767
Units: Motion Program Numbers
Default: 0
Isx91 tells Turbo PMAC which motion program to run in Coordinate System x when commanded to run
from the control-panel input (START/ or STEP/ line taken low, or its equivalent in DPRAM). It performs
the same function for a hardware run command as the B command does for a software run command (R).
It is intended primarily for stand-alone Turbo PMAC applications. The first use of a B command from a
host computer for this coordinate system overrides this parameter.
Isx92 Coordinate System x Move Blend Disable
Range: 0 - 1
Units: none
Default: 0
Isx92 controls whether programmed moves for Coordinate System x are automatically blended or not. If
this parameter set to 0, programmed moves LINEAR, SPLINE, and CIRCLE-mode are blended
together with no intervening stop. Upcoming moves are calculated during the current moves. If this
parameter is set to 1, there is a brief stop in between each programmed move (it effectively adds a DWELL
0 command), during which the next move is calculated. The calculation time for the next move is
determined by Isx11.
This parameter is acted upon only when the R or S command is given to start program execution. To
change the mode of operation while the program is running the continuous motion request coordinate
system status bit must be changed. The 0/1 polarity of this bit is opposite that of Isx92.
Isx93 Coordinate System x Time Base Control Address
Units: Turbo PMAC X-Addresses
Default:
I-Var. Default Register I-Var. Default Register
I5193 $002000 C.S.1 % Cmd. Reg. I5993 $002800 C.S.9 % Cmd. Reg.
I5293 $002100 C.S.2 % Cmd. Reg. I6093 $002900 C.S.10 % Cmd. Reg.
I5393 $002200 C.S.1 % Cmd. Reg. I6193 $002A00 C.S.11 % Cmd. Reg.
I5493 $002300 C.S.2 % Cmd. Reg. I6293 $002B00 C.S.12 % Cmd. Reg.
I5593 $002400 C.S.5 % Cmd. Reg. I6393 $002C00 C.S.13 % Cmd. Reg.
I5693 $002500 C.S.6 % Cmd. Reg. I6493 $002D00 C.S.14 % Cmd. Reg.
I5793 $002600 C.S.7 % Cmd. Reg. I6593 $002E00 C.S.15 % Cmd. Reg.
I5893 $002700 C.S.8 % Cmd. Reg. I6693 $002F00 C.S.16 % Cmd. Reg.
Isx93 tells Coordinate System x where to look for its time base control (feedrate override) information by
specifying the address of the register that will be used. The default value of this parameter for each
coordinate system (see above) specifies the register that responds to on-line % commands. If the time
base is left alone, or is under host or programmatic control, this parameter should be left at the default.
Alternatively, if the time base is controlled externally from a frequency or voltage, usually the register
containing the time-base information will be in the conversion table (which starts at address $003500).
If another register is to be used for the time base, it must have the units of I10 so that 8,388,608 (2
23
)
indicates 1 msec between servo interrupts. See the instructions for using an external time base, under
Synchronizing PMAC to External Events.
Note:
Isx93 contains the address of the register that holds the time-base value (it is a
pointer to that register). Isx93 does not contain the time-base value itself.
Isx94 Coordinate System x Time Base Slew Rate
Range: 0 - 8,388,607
Units: 2
-23
msec / servo cycle
Default: 1644
Isx94 controls the rate of change of the time base for Coordinate System x. It effectively works in two
slightly different ways, depending on the source of the time base information. If the source of the time
base is the % command register, then Isx94 defines the rate at which the % (actual time base) value will
slew to a newly commanded value. If the rate is too high, and the % value is changed while axes in the
coordinate system are moving, there will be a virtual step change in velocity. For this type of application,
Isx94 is set relatively low (often 1000 to 5000) to provide smooth changes.
Note:
The default Isx94 value of 1644, when used on a card set up with the default servo
cycle time of 442 sec, provides a transition time between %0 and %100 of one
second.
If there is a hardware source (as defined by Isx93), the commanded time-base value changes every servo
cycle, and typically the rate of change of the commanded value is limited by hardware considerations
(e.g. inertia). In this case, Isx94 effectively defines the maximum rate at which the % value can slew to
the new hardware-determined value and the actual rate of change is determined by the hardware. To keep
synchronous to a hardware input frequency, as in a position-lock cam, Isx94 should be set high enough
that the limit is never activated. However, following motion can be smoothed significantly with a lower
limit if total synchronicity is not required.
Isx95 Coordinate System x Feed Hold Slew Rate
Range: 0 - 8,388,607
Units: 2
-23
msec / servo cycle
Default: 1644
Isx95 controls the rate at which the axes of Coordinate System x stop if a feed hold command (H) is given,
and the rate at which they start up again on a succeeding run command (R or S). A feed hold command is
equivalent to a %0 command except that it uses Isx95 for its slew rate instead of Isx94. Having separate
slew parameters for normal time-base control and for feed hold commands allows both responsive ongoing
time-base control (Ix94 relatively high) and well-controlled holds (Ix95 relatively low).
Note:
The default Isx95 value of 1644, when used on a card set up with the default servo
cycle time of 442 sec, provides a transition time between %100 and %0 (feed
hold) of one second.
Isx96 Coordinate System x Circle Error Limit
Range: Positive floating-point
Units: User length units
Default: 0 (function disabled)
In a circular arc move, a move distance that is more than twice the specified radius will cause a
computation error because a proper path cannot be found. Sometimes, due to round-off errors, a distance
slightly larger than twice the radius is given (for a half-circle move), and it is desired that this not create
an error condition.
Isx96 allows the user to set an error limit on the amount the move distance is greater than twice the
radius. If the move distance is greater than 2R, but by less than this limit, the move is done in a spiral
fashion to the endpoint, and no error condition is generated. If the distance error is greater than this limit,
the program will stop at the beginning of the move. Turbo PMAC will set this coordinate systems circle
radius error status bit.
If Isx96 is set to 0, the error generation is disabled and any move distance greater than 2R is done in a
spiral fashion to the endpoint.
Example:
Given the program segment:
INC CIRCLE1 F2
X7.072 Y7.072 R5
Technically no circular arc path can be found, because the distance is SQRT(7.072
2
+7.072
2
) = 10.003,
which is greater than twice the radius of 5. However, as long as Isx96 is greater than 0.003, PMAC will
create a near-circular path to the end point.
Isx97 Coordinate System x Minimum Arc Length
Range: Non-negative floating-point
Units: Semi-circles ( radians; 180 degrees)
Default: 0 (sets 2
-20
)
Isx97 sets the threshold between a short arc and a full circle for CIRCLE mode moves in Turbo PMACs
Coordinate System x. Isx97 is expressed as an angle, with units that represent a fraction of a half-circle.
It represents the smallest angle that can be covered by a programmed arc move.
Any programmed CIRCLE-mode move with an IJK-vector representation of the center that covers an
angle smaller than Isx97 is executed as a full circle plus the programmed angle change. Any such move
which covers an angle greater than Isx97 is executed as an arc smaller than a full circle.
The purpose of Isx97 is to support the circle programming standard that permits a full-circle move to be
commanded simply by making the end point equal to the starting point (0-degree arc), yet allow for
round-off errors.
Most users will be able to leave Isx97 at the default value of one-millionth of a semi-circle. This was
formerly the fixed threshold value. However, some users may want to enlarge the threshold to
compensate for round-off errors, particularly when using cutter-radius compensation in conjunction with
full-circle moves. Remember that no arc covering an angle less than Isx97 can be executed.
If a full-circle move is commanded with cutter compensation on, and the blending from the previous
move or into the next move creates a compensated outside corner without adding an arc (see Isx99),
PMAC will extend the compensated move past a full circle. If Isx97 is too small, it may execute this as a
very short arc, appearing to miss the move completely. Isx97 may have to be increased from its effective
default value to cover this case.
For backward compatibility reasons, if Isx97 is set to 0, a threshold value of 2
-20
(about one-millionth) of
a semi-circle will be used.
Isx98 Coordinate System x Maximum Feedrate
Range: Non-negative floating-point
Units: (user position units) / (Isx90 feedrate time units)
Default: 1000.0
Isx98 permits a maximum feedrate to be set for a coordinate system, preventing a program from
accidentally exceeding a specified value. If Isx98 is greater than 0.0, Turbo PMAC will compare each
commanded vector feedrate value from an F command in a motion program to Ix98. If the commanded
feedrate is greater than Isx98, it will use Isx98 instead. This variable permits the system integrator to
place a limit on the speed that a part programmer can command.
Other possible sources of commanded feedrate values, such as Isx86, Isx89, and TM commands, are not
checked against Isx98.
This check of commanded feedrate against Isx98 is done at the programmed move block calculation time,
before any lookahead calculations are done. Lookahead calculations compare individual motor velocities
against Ixx16 limits; they do not check vector velocities.
If Isx98 is set to 0.0, Turbo PMAC will not check the programmed feedrate value against a limit.
See Also:
On-line command FRAX
Motion program commands F, FRAX, TM
Isx99 Coordinate System x Cutter-Comp Outside Corner Break Point
Range: -1.0 - 0.9999
Units: cosine
Default: 0.9998 (cos 1
o
)
Isx99 controls the threshold in Coordinate System x between outside corner angles for which an extra arc
move is added in cutter compensation, and those for which the incoming and outgoing moves are directly
blended together.
Isx99 is expressed as the cosine of the change in directed angle between the incoming and outgoing
moves. As such, it can take a value between -1.0 and +1.0. If the two moves have the same directed
angle at the move boundary (i.e. they are moving in the same direction), the change in directed angle is 0,
and the cosine is 1.0.
As the change in directed angle increases, the corner gets sharper, and the cosine of the change in directed
angle decreases. For a total reversal, the change in directed angle is 180
o
, and the cosine is -1.0.
If the cosine of the change in directed angle of an outside corner is less than Isx99 (a large change in
directed angle; a sharp corner), PMAC will add an arc move automatically with a radius equal to the
cutter radius to join the incoming and outgoing moves. This prevents the cutter from moving too far out
when going around the outside of a sharp corner.
If the cosine of the change in directed angle of an outside corner is greater than Isx99 (a small change in
directed angle; a gradual corner), PMAC will directly blend the incoming and outgoing moves with its
normal blending algorithms. This can provide increased speed on small angle changes, because an extra
segment of minimum TA or 2*TS time is not added.
Isx99 does not affect the behavior at inside corners, where the incoming and outgoing moves are always
blended directly together, regardless of the change in directed angle.
Example:
If it is desired that an arc only be added if the change in directed angle is greater than 45
o
, then Isx99
should be set to 0.707, because cos = cos 45
o
= 0.707
Turbo PMAC2 MACRO IC I-Variables
I-Variables numbered in the I6800s and I6900s control hardware aspects of the MACRO ICs 0 to 3 of a
Turbo PMAC2. These ICs control the operation of the MACRO ring on all PMAC2 boards. MACRO IC
0, a DSPGATE2 IC, also controls operation of the general-purpose I/O and two supplemental servo
channels. On the Ultralite versions of the Turbo PMAC2, this IC also controls the frequency of the clock
signals on the board, because the DSPGATE1 Servo ICs are not present.
A UMAC Turbo system may have up to 16 MACRO ICs present, but only four of these can be supported
by automatic firmware functions at any given time.
Starting in V1.936 firmware, I20 through I23 must contain the base addresses of MACRO ICs 0 through
3, respectively. If these are not set correctly, the automatic firmware functions associated with these ICs,
including the I-variables I6800 I6999, will not function.
Configuration status variable I4902 tells where MACRO ICs are present; I4903 tells whether these ICs
are MACROGATE ICs or DSPGATE2 ICs. Some functions and there supporting I-variables are
available only on DSPGATE2 ICs.
The numbering scheme for the MACRO IC I-Variables is as follows:
MACRO IC 0: I6800 I6849
MACRO IC 1: I6850 I6899
MACRO IC 2 I6900 I6949
MACRO IC 3 I6590 I6999
Only the Ultralite and 3U versions of the Turbo PMAC2 may contain MACRO ICs 1, 2, and 3, and these
ICs are optional. MACRO ICs 1, 2, and 3 are MACROGATE ICs that only have the MACRO ring
functionality.
I6800/I6850/I6900/I6950 MACRO IC MaxPhase/PWM Frequency Control
Range: 0 - 32767
Units: MaxPhase Frequency = 117,964.8 kHz / [2*I6800+3]
PWM Frequency = 117,964.8 kHz / [4*I6800+6]
Default: 6527
MaxPhase Frequency = 117,964.8 / 13,057 = 9.0346 kHz
PWM Frequency = 117,964.8 / 26,114 = 4.5173 kHz
I6800, I6850, I6900, and I6950 control the internal MaxPhase clock frequency, and the PWM frequency
for the two machine interface channels (if present), on MACRO ICs 0, 1, 2, and 3, respectively. The
internally generated Phase and Servo clocks on a MACRO IC are derived from the MaxPhase clock.
If the IC is used to generate the Phase and Servo clocks for the PMAC system (as set by I6807 etc.), this
variable is part of the control for the frequency of these clocks.
On a Turbo PMAC2 Ultralite board, MACRO IC 0 provides the Phase and Servo clock signals for the
entire board, so I6800 is used to derive the Phase clock and Servo clock frequencies for the board, along
with I6801 and I6802. (On Turbo PMAC2 boards that are not Ultralite, typically this function is
controlled by I7000, I7001, and I7002, because Servo IC 0 usually controls the board clock frequencies
on these boards.) In a UMAC Turbo system, the MACRO IC on an Acc-5E board can be used to control
these clocks.
MACROGATE ICs, commonly used as MACRO ICs 1, 2, and 3, generate no PWM signals and no Servo
clock signal. Therefore, they cannot be used as the source of the system Phase and Servo clocks, and the
only purpose of this variable is for control of the internal Phase clock signal.
I6800 (etc.) controls these frequencies by setting the limits of the PWM up-down counter, which
increments and decrements at the PWMCLK frequency of 117,964.8 kHz (117.9648 MHz). The PWM
frequency of MACRO IC 0 determines the frequency of the two single-phase PWM outputs on the JHW
Handwheel connector.
The actual phase clock frequency is divided down from the maximum phase clock according to the setting
of I6801 (etc.). On the falling edge of the phase clock, PMAC2 samples any serial analog-to-digital
converters connected to its MACRO ICs (as for phase current measurement), and interrupts the processor
to start any necessary phase commutation and digital current-loop algorithms. Even if phasing and
current-loop algorithms are not used, the MaxPhase and Phase Clock frequencies are important because
the servo clock is derived from the phase clock.
The PWM frequency determines the actual switching frequency of amplifiers connected to any of four
machine interface channels with the direct PWM command. It is important only if the direct PWM
command signal format is used.
The maximum value that can be written into a PWM command register without full saturation is I6800+1
on the positive end, and -I6800-2 on the negative end.
If the MACRO IC is not used to generate the system clocks, this variable for the IC is generally set to the
same value as the comparable variable on the Servo IC (I7000, etc.) or MACRO IC (I6800, etc.) that is
used. The only time a different setting should be used is if it is desired that a different PWM frequency be
generated on the two channels (DSPGATE2 ICs only) from that of the variable controlling the system
clocks. Certain different frequencies are possible, but they are restricted to the cases where:
} Integer {
PhaseFreq
) kHz ( PWMFreq * 2
=
This will keep the PWM hardware on channels 1* and 2* in synchronization with the software algorithms
driven by the systems Phase clock. For example if the system Phase clock frequency is 10 kHz, the
PWM frequency for channels from a different IC can be 5, 10, 15, 20, (etc.) kHz.
To set I6800 (etc.) for a desired PWM frequency, the following formula can be used:
1
) kHz ( Freq _ PWM * 4
) kHz ( 8 . 964 , 117
6800 I = (rounded down)
To set I6800 (etc.) for a desired maximum phase clock frequency, the following formula can be used:
1
) kHz ( eq MaxPhaseFr * 2
) kHz ( 8 . 964 , 117
Example:
To set a PWM frequency of 10 kHz and therefore a MaxPhase clock frequency of 20 kHz:
I6800 = (117,964.8 kHz / [4*10 kHz]) - 1 = 2948
To set a PWM frequency of 7.5 kHz and therefore a MaxPhase clock frequency of 15 kHz:
I6800 = (117,964.8 kHz / [4*7.5 kHz]) - 1 = 3931
See Also:
I7, I10, I67, I6801, I6802, I7000, I7001, I7002
I6801/I6851/I6901/I6951 MACRO IC Phase Clock Frequency Control
Range: 0 - 15
Units: none
Default: 0
I6801, I6851, I6901, and I6951, in conjunction with I6800, I6850, I6900, and I6950, determine the
frequency of the Phase clock generated inside MACRO ICs 0, 1, 2, and 3, respectively. However, the
internal clocks on the IC are only used if the clock-direction control I-variable on the IC (I6807 I6857,
I6907, or I6957) is set to 0, specifying that this IC uses its own internal clocks. If this is the case, the IC
outputs the clock signals, and these variables determine the phase clock frequency for the entire PMAC2
system.
On a Turbo PMAC2 Ultralite board, MACRO IC 0 typically provides the Phase clock signal for the entire
board, so that usually I6800 and I6801 control the Ultralite Phase clock frequency.
Specifically, I6801 (etc.) controls how many times the internally generated Phase clock frequency is
divided down from the MaxPhase clock, whose frequency is set by I6800 (etc.). The Phase clock
frequency is equal to the MaxPhase clock frequency divided by (I6801+1). I6801 has a range of 0 to 15,
so the frequency division can be by a factor of 1 to 16. The equation for I6801 is:
1
) kHz ( PhaseFreq
) kHz ( eq MaxPhaseFr
6801 I =
The ratio of MaxPhase frequency to Phase Clock frequency must be an integer.
The main software tasks performed on the Phase clock interrupt commutation and current-loop closure
are executed every (I7 + 1) Phase clock cycles. With I7 at the default value of 0, they are executed
every cycle. In MACRO systems where the Turbo PMAC is closing the current loo, it can be useful to
send MACRO data twice per phase software update by setting I7 to 1.
Note:
If the phase clock frequency is set too high, lower priority tasks such as
communications can be starved for time. If the background tasks are completely
starved, the watchdog timer will trip, shutting down the board. If a normal reset of
the board does not re-establish a state where the watchdog timer has not tripped
and communications works well, it will be necessary to re-initialize the board by
powering up with the E3 re-initialization jumper on. This restores default settings,
so communication is possible, and the Phase clock frequency can be set to a
supportable value.
I6802/I6852/I6902/I6952 MACRO IC Servo Clock Frequency Control
Range: 0 - 15
Units: Servo Clock Frequency = Phase Clock Frequency / (I6802+1)
Default: 3
Servo Clock Frequency = 9.0346 kHz / (3+1) = 2.2587 kHz
(with default values of I6800 and I6801 [etc.])
Note:
This I-variable is only active if the MACRO IC is present, and is a DSPGATE2 IC.
The presence and type of MACRO ICs are reported in I4902 and I4903.
I6802, I6852, I6902, and I6952, in conjunction with I6800 and I6801 (etc.), determine the frequency of
the Servo clock generated inside MACRO ICs 0, 1, 2, and 3, respectively. However, the internal clocks
on the IC are used only if the clock-direction control I-variable on the IC (I6807 I6857, I6907, or I6957)
is set to 0, specifying that this IC uses its own internal clocks. If this is the case, the IC outputs the clock
signals, and these variables determine the phase clock frequency for the entire PMAC2 system.
Typically, on a Turbo PMAC2 Ultralite board, MACRO IC 0 provides the Servo clock signal for the
entire board, so that I6800, I6801, and I6802 control the Ultralite Servo clock frequency.
Specifically, I6802 controls how many times the Servo clock frequency is divided down from the Phase
clock, whose frequency is set by I6801 and I6800. The Servo clock frequency is equal to the Phase clock
frequency divided by (I6802+1). I6802 has a range of 0 to 15, so the frequency division can be by a
factor of 1 to 16. The equation for I6802 is:
1
) kHz ( ServoFreq
) kHz ( PhaseFreq
6802 I =
The ratio of Phase Clock frequency to Servo Clock frequency must be an integer.
For execution of trajectories at the proper speed, I10 must be set properly to tell the trajectory generation
software what the Servo clock cycle time is. The formula for I10 is:
) kHz ( ServoFreq
608 , 388 , 8
10 I =
In terms of the variables that determine the Servo clock frequency on a Turbo PMAC2 Ultralite board, the
formula for I10 is:
( )( )( ) 1 6802 I 1 6801 I 3 6800 I * 2
9
640
10 I + + + =
At the default servo clock frequency, I10 should be set to 3,713,707 in order that PMACs interpolation
routines use the proper servo update time.
Note:
If the servo clock frequency is set too high, lower priority tasks such as
so communication is possible, and the Servo clock frequency can be set to a
supportable value.
Example:
With a 6.67 kHz Phase Clock frequency established by I6800 and I6801, and a desired 3.33 kHz Servo
Clock frequency:
I6802 = (6.67 / 3.33) - 1 = 2 - 1 = 1
See Also:
I10, I19, I6800, I6801, I7000, I7001, I7002

I6803/I6853/I6903/I6953 MACRO IC Hardware Clock Control
Range: 0 - 4095
Units: Individual Clock Dividers
I6803 = Encoder SCLK Divider
+ 8 * PFM_CLK Divider
+ 64 * DAC_CLK Divider
+ 512 * ADC_CLK Divider
where:
Encoder SCLK Frequency = 39.3216 MHz / (2 ^ Encoder SCLK Divider)
PFM_CLK Frequency = 39.3216 MHz / (2 ^ PFM_CLK Divider)
DAC_CLK Frequency = 39.3216 MHz / (2 ^ DAC_CLK Divider)
ADC_CLK Frequency = 39.3216 MHz / (2 ^ ADC_CLK Divider)
Default: 2258 = 2 + (8 * 2) + (64 * 3) + (512 * 4)
Encoder SCLK Frequency = 39.3216 MHz / (2 ^ 2) = 9.8304 MHz
PFM_CLK Frequency = 39.3216 MHz / (2 ^ 2) = 9.8304 MHz
DAC_CLK Frequency = 39.3216 MHz / (2 ^ 3) = 4.9152 MHz
ADC_CLK Frequency = 39.3216 MHz / (2 ^ 4) = 2.4576 MHz
Note:
This I-variable is active only if the MACRO IC is present, and is a DSPGATE2 IC.
I6803, I6853, I6903, and I6953 control the frequency of four hardware clock signals -- SCLK,
PFM_CLK, DAC_CLK, and ADC_CLK -- for the two supplemental machine interface channels of
MACRO ICs 0, 1, 2, and 3, respectively, provided they are DSPGATE2 ICs. These are 12-bit variables
consisting of four independent 3-bit controls, one for each of the clocks. Each of these clock frequencies
can be divided down from a starting 39.3216 MHz frequency by powers of 2, 2
N
, from 1 to 128 times
(N=0 to 7). This means that the possible frequency settings for each of these clocks are:
Frequency Divide by
Divider N in 1/2
N

39.3216 MHz 1 0
19.6608 MHz 2 1
9.8304 MHz 4 2
4.9152 MHz 8 3
2.4576 MHz 16 4
1.2288 MHz 32 5
614.4 kHz 64 6
307.2 kHz 128 7
Very few Turbo PMAC2 users will be required to change the setting of these variables from their default
values.
Note:
In firmware versions V1.933 and older, bit m of I67 must be set to 1 in order to be
able to access this variable on MACRO IC m. In V1.934 and V1.935, Turbo
PMAC automatically enables this variable for any IC present at power-up/reset. In
V1.936 and newer, I2m must contain the base address of MACRO IC m in order to
access this variable on the IC.
SCLK: The encoder sample clock signal SCLK controls how often the MACRO ICs digital hardware
looks at the encoder and flag inputs. The MACRO IC can take at most one count per SCLK cycle, so the
SCLK frequency is the absolute maximum encoder count frequency. SCLK also controls the signal
propagation through the digital delay filters for the encoders and flags; the lower the SCLK frequency, the
greater the noise pulse that can be filtered out. The SCLK frequency should optimally be set to the lowest
value that can accept encoder counts at the maximum possible rate.
PFM_CLK: The pulse-frequency-modulation clock PFM_CLK controls the PFM circuitry that is
commonly used for stepper drives. The maximum pulse frequency possible is 1/4 of the PFM_CLK
frequency. The PFM_CLK frequency should optimally be set to the lowest value that can generate pulses
at the maximum frequency required.
DAC_CLK: The DAC_CLK controls the serial data frequency into D/A converters. If these converters
are on Delta Tau-provided accessories, the DAC_CLK setting should be left at the default value.
ADC_CLK: The ADC_CLK controls the serial data frequency from A/D converters. If these converters
are on Delta Tau-provided accessories, the ADC_CLK setting should be left at the default value.
Note:
By default, the DAC and ADC circuits of a MACRO IC are not used on a Turbo
PMAC2. The DAC and ADC lines are the alternate uses of pins on the
Multiplexer and I/O ports, respectively.
To determine the clock frequencies set by a given value of I6803 (etc.), use the following procedure:
1. Divide I6803 by 512 and round down to the nearest integer. This value N1 is the ADC_CLK divider.
2. Multiply N1 by 512 and subtract the product from I6803 to get I6803'. Divide I6803' by 64 and
round down to the nearest integer. This value N2 is the DAC_CLK divider.
3. Multiply N2 by 64 and subtract the product from I6803' to get I6803''. Divide I6803'' by 8 and round
down to the nearest integer. This value N3 is the PFM_CLK divider.
4. Multiply N3 by 8 and subtract the product from I6803''. The resulting value N4 is the SCLK divider.
Examples:
The maximum encoder count frequency in the application is 800 kHz, so the 1.2288 MHz SCLK
frequency is chosen. A pulse train up to 500 kHz needs to be generated, so the 2.4576 MHz PFM_CLK
frequency is chosen. The default serial DACs and ADCs provided by Delta Tau are used, so the default
DAC_CLK frequency of 4.9152 MHz and the default ADC_CLK frequency of 2.4576 MHz are chosen.
From the table:
SCLK Divider N: 5
PFM_CLK Divider N: 4
DAC_CLK Divider N: 3
ADC_CLK Divider N: 4
I6803 = 5 + (8 * 4) + (64 * 3) + (512 * 4) = 5 + 32 + 192 + 2048 = 2277
I6803 has been set to 3429. What clock frequencies does this set?
N1 = INT (3429/512) = 6 ADC_CLK = 611.44 kHz
I6803' = 3429 - (512*6) = 357
N2 = INT (357/64) = 5 DAC_CLK = 1.2288 MHz
I6803'' = 357 - (64*5) = 37
N3 = INT (37/8) = 4 PFM_CLK = 2.4576 MHz
N4 = 37 - (8*4) = 5 SCLK = 1.2288 MHz
See Also:
I-variables I7m03, I7m53

I6804/I6854/I6904/I6954 MACRO IC PWM Deadtime / PFM Pulse Width Control
Range: 0 - 255
Units: 16*PWM_CLK cycles / PFM_CLK cycles
PWM Deadtime = [16 / PWM_CLK (MHz)] * I6804 = 0.135 usec * I6804
PFM Pulse Width = [1 / PFM_CLK (MHz)] * I6804
= PFM_CLK_period (usec) * I6804
Default: 15
PWM Deadtime = 0.135 usec * 15 = 2.03 sec
PFM Pulse Width = [1 / 9.8304 MHz] * 15 = 1.526 sec (with default I6803)
Note:
This I-variable is only active if the MACRO IC is present, and a DSPGATE2 IC.
I6804, I6854, I6904, and I6954 control the deadtime period between top and bottom on-times in
PMAC2's automatic PWM generation for the two supplemental machine interface channels of MACRO
ICs 0, 1, 2, and 3, respectively, provided they are DSPGATE2 ICs. In conjunction with I6803 I6853,
I6903, and I6953, they also control the pulse width for PMAC2s automatic pulse-frequency modulation
generation for the two machine interface channels on the DSPGATE2 MACRO IC.
The PWM deadtime, which is the delay between the top signal turning off and the bottom signal turning
on, and vice versa, is specified in units of 16 PWM_CLK cycles. This means that the deadtime can be
specified in increments of 0.135 sec. The equation for I6804 (etc.) as a function of PWM deadtime is:
sec 135 . 0
sec) ( DeadTime
6804 I
=
The PFM pulse width is specified in PFM_CLK cycles, as defined by I6803 (etc.). The equation for
I6804 (etc.) as a function of PFM pulse width and PFM_CLK frequency is:
sec) ( Width _ Pulse _ PFM * ) MHz ( Freq _ CLK _ PFM 6804 I =
In PFM pulse generation, the minimum off time between pulses is equal to the pulse width. This means
that the maximum PFM output frequency is
6804 I * 2
) MHz ( Freq _ CLK _ PFM
) MHz ( Freq _ Max _ PFM =
Examples:
A PWM deadtime of approximately 1 microsecond is desired:
I6804 1 sec / 0.135 sec 7
With a 2.4576 MHz PFM_CLK frequency, a pulse width of 0.4 sec is desired:
I6804 2.4576 MHz * 0.4 sec 1
See Also:
I-variables I6803 (etc.), I7m03, I7m04
I6805/I6855/I6905/I6955 MACRO IC DAC Strobe Word
Units: Serial Data Stream (MSB first, starting on rising edge of phase clock)
Default: $7FFFC0 (for 18-bit DACs)
Note:
I6805, I6855, I6905, and I6955 control the DAC strobe signal for the two supplemental machine interface
channels of MACRO ICs 0, 1, 2, and 3, respectively, provided they are DSPGATE2 ICs.
The 24-bit word set by this variable for the IC is shifted out serially on the DAC_STROB lines, MSB
first, one bit per DAC_CLK cycle starting on the rising edge of the phase clock. The value in the LSB is
held until the next phase clock cycle.
For typical n-bit DACs, the strobe line is held high for n-1 clock cycles. Therefore, the common settings
of this variable are:
18-bit DACs: $7FFFC0 (high for 17 clock cycles)
16-bit DACs: $7FFF00 (high for 15 clock cycles)
12-bit DACs: $7FF000 (high for 11 clock cycles)
Note:
By default, the DAC circuitry of a MACRO IC is not used on a Turbo PMAC2.
The DAC lines are the alternate use of lines on the I/O port.
I6806/I6856/I6906/I6956 MACRO IC ADC Strobe Word
Default: $FFFFFE
Note:
I6806, I6856, I6906, and I6956 control the ADC strobe signal for the two supplemental machine interface
channels of MACRO ICs 0, 1, 2, and 3, respectively, provided they are DSPGATE2 ICs. The 24-bit
word set by this variable for the IC is shifted out serially on the ADC_STROB lines, MSB first, one bit
per DAC_CLK cycle starting on the rising edge of the phase clock. The value in the LSB is held until the
next phase clock cycle.
The first 1 creates a rising edge on the ADC_STROB output that is used as a start-convert signal. Some
A/D converters just need this rising edge for the conversion; others need the signal to stay high all of the
way through the conversion. The LSB of I6806 should always be set to 0 so that a rising edge is created
on the next cycle. The default I6806 value of $FFFFFE is suitable for virtually all A/D converters.
The A/D converters used on matching Delta Tau products just need the rising edge at the start of a
conversion cycle; this permits intermediate bits in the data stream to be used as special control bits. Delta
Taus Acc-8T Supplemental Flag Multiplexer Board uses these bits to control the multiplexing; Delta
Taus Acc-8K1 Fanuc C/S-Series PWM Interface Board uses these bits to control the magnetic contactors
on the drives.
Note:
By default, the ADC circuitry on a MACRO IC is not used on a Turbo PMAC2.
The ADC lines are the alternate use of pins on the Multiplexer port.
I6807/I6857/I6907/I6957 MACRO IC Clock Direction Control
Range: 0 3 (DSPGATE2 IC); 0 1 (MACROGATE IC)
Units: none
Default: System dependent
I6807, I6857, I6907, and I6957 control whether MACRO ICs 0, 1, 2, and 3, respectively, use their own
internally generated servo and phase clock signals, or whether they use servo and phase clock signals
from a source external to them (usually MACRO IC 0 or Servo IC 0).
In any Turbo PMAC2 system, there must be only one source of servo and phase clock signals for the
system either one of the Servo ICs or MACRO ICs, or a source external to the system. Only in a 3U-
format Turbo PMAC2 system (UMAC Turbo or 3U Turbo Stack) can the system clock signals come from
an accessory board. In all other Turbo PMAC2 systems, the system clock signals must come from and IC
on the base PMAC2 boards, or be brought from an external source through the serial port.
These variables are 2-bit values on DSPGATE2 MACRO ICs, but only 1-bit values on MACROGATE
MACRO ICs. Bit 0 is set to 0 for the IC to use its own Phase clock signal and output it; it is set to 1 to use
an externally input Phase clock signal. Bit 1 (DSPGATE2 only) is set to 1 for the IC to use its own Servo
clock signal and output it; it is set to 1 to use an externally input Servo clock signal. This yields four
possible values for I6807 (etc.):
I6807 = 0: Internal Phase clock; internal Servo clock
I6807 = 1: External Phase clock; internal Servo clock
I6807 = 2: Internal Phase clock; external Servo clock
I6807 = 3: External Phase clock; external Servo clock
In all normal use, I6807 (etc.) is either set to 0 (on at most one IC) or 3 (on all the other ICs 1 on
MACROGATE ICs).
In typical use of the Turbo PMAC2 Ultralite, MACRO IC 0, whose Phase clock frequency is controlled
by I6800 and I6801, will generate the Phase clock signal for the entire board, so I6807 is set to 0, and
I6857, I6907, and I6957 should all be set to 1.
Note:
A MACROGATE MACRO IC cannot generate a servo clock signal internally.
Therefore, it cannot be used to provide the system clocks for the Turbo PMAC2
system.
During re-initialization, Turbo PMAC2 determines which IC it will use as the source of its system Phase
and Servo clock signals, setting I19 to the number of the clock-direction I-variable whose IC is selected as
the source. This clock-direction I-variable is then automatically set to 0; all other clock-direction I-
variables are set to 1 or 3. Most users will never change these settings.
When a clock-direction I-variable is commanded to its default value (e.g. I6857=*), Turbo PMAC2
looks to the value of I19 to determine whether this I-variable is set to 0 or 3 (0 or 1 on a MACROGATE
IC).
On the reset of a 3U-format Turbo PMAC2 system (UMAC Turbo or 3U Turbo Stack), the values set for
these I-variables are determined by the saved value of I19, and not by the saved values of these I-
variables themselves. On these systems, to change which IC is the source of the system clocks, change
the value of I19, save this setting, and reset the card.
To change which IC is the source of the system clocks in other Turbo PMAC2 systems, it is best to
change both clock-direction I-variables on a single command line (e.g. I6807=1 I7007=0), then
SAVE these new settings.
If all of the Servo ICs and MACRO ICs in a Turbo PMAC2 system have been set up for external phase
and servo clocks, but these clock signals are not provided, the Turbo PMAC2 will trip its watchdog timer
immediately.
Channel-Specific MACRO IC I-variables
(For MACRO IC Channel n*, where n* = 1 to 2)
I-Variables in the I6810s, I6820s, I6910s, and I6920s control the hardware aspects of the MACRO IC
DSPGATE2 ASIC that provides the machine interface for supplemental channels 1 and 2. Note that few
of these functions are used on the Turbo PMAC2s. By default, only the two encoder inputs and the two
C-channel PWM/PFM outputs are used. These I-variables are not active if the MACRO IC is not present,
or is a MACROGATE IC.
I68n0/I69n0 MACRO IC Channel n* Encoder/Timer Decode Control
Range: 0 - 15
Units: None
Default: 7
Note:
I68n0 and I69n0 control how the encoder input signal for Channel n* (n* = 1 to 2) on a DSPGATE2
MACRO IC is decoded into counts. For MACRO ICs 0 and 2, n = n*; for MACRO ICs 1 and 3, n = n* +
5 (i.e. I6810 controls MACRO IC 0 Channel 1; I6970 controls MACRO IC 3 Channel 2). As such, this
defines the sign and magnitude of a count. The following settings may be used to decode an input signal.
I68n0/I69n0 = 0: Pulse and direction CW
I68n0/I69n0 = 1: x1 quadrature decode CW
I68n0/I69n0 = 4: Pulse and direction CCW
I68n0/I69n0 = 5: x1 quadrature decode CCW
I68n0/I69n0 = 8: Internal pulse and direction
I68n0/I69n0 = 9: Not used
I68n0/I69n0 = 11: x6 hall format decode CW*
I68n0/I69n0 = 12: MLDT pulse timer control
(internal pulse resets timer; external pulse latches timer)
I68n0/I69n0 = 15: x6 hall format decode CCW*
*requires version B or newer of the DSPGATE2 MACRO IC.
In any of the quadrature decode modes, the MACRO IC is expecting two input waveforms on CHAn and
CHBn, each with approximately 50% duty cycle, and approximately one-quarter of a cycle out of phase
with each other. Times-one (x1) decode provides one count per cycle; x2 provides two counts per cycle;
and x4 provides four counts per cycle. The vast majority of users select x4 decode to get maximum
resolution.
The clockwise (CW) and counterclockwise (CCW) options simply control which direction counts up. If
the wrong direction sense is received, simply change to the other option (e.g. from 7 to 3 or vice versa).
WARNING
Changing the direction sense of the decode for the feedback encoder of a motor
that is operating properly will result in unstable positive feedback and a dangerous
runaway condition in the absence of other changes. The output polarity must be
changed as well to re-establish polarity match for stable negative feedback.
In the pulse-and-direction decode modes, the MACRO IC is expecting the pulse train on CHAn, and the
direction (sign) signal on CHBn. If the signal is unidirectional, the CHBn line can be allowed to pull up
to a high state, or it can be hardwired to a high or low state.
If I68n0/I69n0 is set to 8, the decoder inputs the pulse and direction signal generated by Channel n's pulse
frequency modulator (PFM) output circuitry. This permits the PMAC2 to create a phantom closed loop
when driving an open-loop stepper system. No jumpers or cables are needed to do this; the connection is
entirely within the MACRO IC. The counter polarity automatically matches the PFM output polarity.
If I68n0/I69n0 is set to 11 or 15, Channel n is expecting three Hall-sensor format inputs on CHAn, CHBn,
and CHCn, each with approximately 50% duty cycle, and approximately one-third (120
o
e) of a cycle out
of phase with each other. The decode circuitry will generate one count on each edge of each signal,
yielding six counts per signal cycle (x6 decode). The difference between 11 and 15 is which direction of
signal causes the counter to count up.
If I68n0/I69n0 is set to 12, the timer circuitry is set up to read magnetostrictive linear displacement
transducers (MLDTs) such as Temposonics
TM
. In this mode, the timer is cleared when the PFM circuitry
sends out the excitation pulse to the sensor on PULSEn, and it is latched into the memory-mapped
register when the excitation pulse is received on CHAn.
I68n1/I69n1 MACRO IC Channel n* Position Compare Channel Select
Range: 0 - 1
Units: None
Default: 0
Note:
I68n1 and I69n1 control which channels encoder counter is tied to the position compare circuitry for
Channel n* (n* = 1 to 2) on a DSPGATE2 MACRO IC is decoded into counts. For MACRO ICs 0 and
2, n = n*; for MACRO ICs 1 and 3, n = n* + 5 (i.e. I6811 controls MACRO IC 0 Channel 1; I6971
controls MACRO IC 3 Channel 2). They have the following possible settings:
I68n1/I69n1 = 0: Use Channel n* encoder counter for position compare function
I68n1/I69n1 = 1: Use Channel 1* encoder counter on IC for position compare function
When I68n1/I69n1 is set to 0, Channel n*s position compare registers tied to the channels own encoder
counter, and the position compare signal appears only on the EQU output for that channel.
When I68n1/I69n1 is set to 1, the channel's position compare register is tied to the first encoder counter
on the MACRO IC, and the position compare signal appears both on Channel n*s EQU output, and
combined into the EQU output for Channel 1* on the MACRO IC (EQU1* on the board); executed as a
logical OR.
I68n1 for the first channel performs no effective function, so is always 1. It cannot be set to 0.
Note:
By default, the position compare circuitry on a MACRO IC is not used on Turbo
PMAC2 boards. The compare outputs are the alternate use of lines on the
Multiplexer port.
I68n2/I69n2 MACRO IC Encoder n* Capture Control
Range: 0 - 15
Units: none
Default: 1
Note:
I68n2 and I69n2 determine which input signal or combination of signals, and which polarity, for Channel
n* (n* = 1 to 2) on a DSPGATE2 MACRO IC triggers a hardware position capture of the counter for
Encoder n*. For MACRO ICs 0 and 2, n = n*; for MACRO ICs 1 and 3, n = n* + 5 (i.e. I6812 controls
MACRO IC 0 Channel 1; I6972 controls MACRO IC 3 Channel 2). If a flag input (home, limit, or user)
is used, I68n3/I69n3 determines which flag. Proper setup of this variable is essential for a successful
homing search move or other move-until-trigger for the Motor xx using Channel n* for its position-loop
feedback and flags if the super-accurate hardware position capture function is used. If Ixx97 is at its
default value of 0 to select hardware capture and trigger, this variable must be set up properly.
The following settings of I68n2 may be used:
I68n2 = 0: Continuous capture
I68n2 = 1: Capture on Index (CHCn) high
I68n2 = 2: Capture on Flag n high
I68n2 = 3: Capture on (Index high AND Flag n high)
I68n2 = 5: Capture on Index (CHCn) low
I68n2 = 6: Capture on Flag n high
I68n2 = 7: Capture on (Index low AND Flag n high)
I68n2 = 9: Capture on Index (CHCn) high
I68n2 = 10: Capture on Flag n low
I68n2 = 11: Capture on (Index high AND Flag n low)
I68n2 = 13: Capture on Index (CHCn) low
I68n2 = 14: Capture on Flag n low
I68n2 = 15: Capture on (Index low and Flag n low)
Only flags and index inputs of the same channel number as the encoder may be used for hardware capture
of that encoders position. This means that to use the hardware capture feature for the homing search
move, Ixx25 must use flags of the same channel number as the encoder that Ixx03 uses for position-loop
feedback.
The trigger is armed when the position capture register is read. After this, as soon as the MACRO IC
hardware sees that the specified input lines are in the specified states, the trigger will occur -- it is level-
triggered, not edge-triggered.
Note:
By default, the index-channel and flag inputs of a MACRO IC are not used on a
Turbo PMAC2. The index inputs and flag inputs are alternate uses of pins on the
Multiplexer and I/O ports, respectively.
I68n3/I69n3 MACRO IC Channel n* Capture Flag Select Control
Range: 0 - 3
Units: none
Default: 0
Note:
I68n3 and I69n3 determine which of the Flag inputs will be used for hardware position capture (if one is
used) of the encoder counter of Channel n* (n* = 1 to 2) on a DSPGATE2 MACRO IC. For MACRO
ICs 0 and 2, n = n*; for MACRO ICs 1 and 3, n = n* + 5 (i.e. I6813 controls MACRO IC 0 Channel 1;
I6973 controls MACRO IC 3 Channel 2). I68n2/I69n2 determines whether a flag is used and which
polarity of the flag will cause the trigger. The possible values of I68n3/I69n3 and the flag each selects is:
I68n3/I69n3 = 0: HOMEn (Home Flag n)
I68n3/I69n3 = 1: PLIMn (Positive End Limit Flag n)
I68n3/I69n3 = 2: MLIMn (Negative End Limit Flag n)
I68n3/I69n3 = 3: USERn (User Flag n)
I68n3/I69n3 is typically set to 0 for homing search moves in order to use the home flag for the channel.
Typically, it is set to 3 afterwards to select the User flag if other uses of the hardware position capture
function are desired, such as for probing and registration. To capture on the PLIMn or MLIMn overtravel
limit flags, disable their normal functions with Ixx25 or use a channel n where none of the flags is used
for the normal axis functions.
Note:
By default, the flag inputs of MACRO IC 0 are not used on a Turbo PMAC2.
I68n4/I69n4 MACRO IC Channel n* Encoder Gated Index Select
Range: 0 - 1
Units: none
Default: 0
Note:
I68n4 and I69n4 control whether the raw encoder index channel input or a version of the input gated by
the AB-quadrature state is used for position capture of the encoder counter of Channel n* (n* = 1 to 2) on
a DSPGATE2 MACRO IC. For MACRO ICs 0 and 2, n = n*; for MACRO ICs 1 and 3, n = n* + 5 (i.e.
I6814 controls MACRO IC 0 Channel 1; I6974 controls MACRO IC 3 Channel 2). They have the
following possible settings:
I68n4/I69n4 = 0: Use ungated index for encoder position capture
I68n4/I69n4 = 1: Use index gated by quadrature channels for position capture
When I68n4/I69n4 is set to 0, the encoder index channel input (CHCn) is passed directly into the position
capture circuitry.
When I68n4/I69n4 is set to 1, the encoder index channel input (CHCn) is logically combined with (gated
by) the quadrature signals of Encoder n before going to the position capture circuitry. The intent is to get
a gated index signal exactly one quadrature state wide. This provides a more accurate and repeatable
capture, and makes the use of the capture function to confirm the proper number of counts per revolution
very straightforward.
In order for the gated index capture to work reliably, the index pulse must reliably span one, but only one,
high-high or low-low AB quadrature state of the encoder. I68n5/I69n5 allows the selection of which of
these two possibilities is used.
Note:
If I68n4/I69n4 is set to 1, but I68n2/I69n2 bit 0 is set to 0, so the index is not used
in the position capture, then the encoder position is captured on the first edge of
any of the U, V, or W flag inputs for the channel. In this case, bits 0, 1, and 2 of
the channel status word tell what hall-state edge caused the capture.
Note:
By default, the index channels of a DSPGATE2 MACRO IC are not used on a
Turbo PMAC2. The index inputs are the alternate uses of pins on the
multiplexer port.
I68n5/I69n5 MACRO IC Channel n* Encoder Index Gate State/Demux Control
Range: 0 - 3
Units: none
Default: 0
Note:
I68n5 and I69n5 are 2-bit variables that control two functions for the index channel of the encoder.
When using the gated index feature of Channel n* of a DSPGATE2 MACRO IC for more accurate
position capture (I68n4/I69n4 = 1), bit 0 of I68n5 and I69n5 controls whether the raw index-channel
signal for Encoder n* (n* = 1 to 2) on the MACRO IC is passed through to the position capture signal
only on the high-high quadrature state (bit 0 = 0), or only on the low-low quadrature state (bit 0 = 1). For
MACRO ICs 0 and 2, n = n*; for MACRO ICs 1 and 3, n = n* + 5 (i.e. I6815 controls MACRO IC 0
Channel 1; I6975 controls MACRO IC 3 Channel 2).
Bit 1 of I68n5 and I69n5 controls whether the Servo IC de-multiplexes the index pulse and the three hall-
style commutation states from the third channel based on the quadrature state, as with Yaskawa
incremental encoders. If bit 1 is set to 0, this de-multiplexing function is not performed, and the signal on
the C channel of the encoder is used as the index only. If bit 1 is set to 1, the Servo IC breaks out the
third-channel signal into four separate values, one for each of the four possible AB-quadrature states. The
de-multiplexed hall commutation states can be used to provide power-on phase position using Ixx81 and
Ixx91.
Note:
Immediately after power-up, the Yaskawa encoder cycles its AB outputs forward
and back automatically through a full quadrature cycle to ensure that all of the hall
commutation states are available to the controller before any movement is started.
However, if the encoder is powered up at the same time as the Turbo PMAC, this
will happen before the Servo IC is ready to accept these signals. Bit 2 of the
channels status word, Invalid De-multiplex will be set to 1 if the Servo IC has not
seen all of these states when it was ready for them. To use this feature, it is
recommended that the power to the encoder be provided through a software-
controlled relay to ensure that valid readings of all states have been read before
using these signals for power-on phasing.
I68n5 and I69n5 have the following possible settings:
I68n5/I69n5 = 0: Gate index with high-high quadrature state (GI = A and B and C), no demux
I68n5/I69n5 = 1: Gate index with low-low quadrature state (GI = A/ and B/ and C), no demux
I68n5/I69n5 = 2 or 3: De-multiplex hall and index from third channel, gating irrelevant
Note:
By default, the index channels of a DSPGATE2 MACRO IC are not used on a
Turbo PMAC2. The index inputs are the alternate uses of pins on the multiplexer
port.
I68n6/I69n6 MACRO IC Channel n* Output Mode Select
Range: 0 - 3
Units: none
Default: 0
Note:
I68n6 and I69n6 control what output formats are used on the command output signal lines for machine
interface channel n* (n* = 1 to 2) on a DSPGATE2 MACRO IC. For MACRO ICs 0 and 2, n = n*; for
MACRO ICs 1 and 3, n = n* + 5 (i.e. I6816 controls MACRO IC 0 Channel 1; I6976 controls MACRO
IC 3 Channel 2). They have the following possible settings:
I68n6/I69n6 = 0: Outputs A and B are PWM; Output C is PWM
I68n6/I69n6 = 1: Outputs A and B are DAC; Output C is PWM
I68n6/I69n6 = 2: Outputs A and B are PWM; Output C is PFM
I68n6/I69n6 = 3: Outputs A and B are DAC; Output C is PFM
If a three-phase direct PWM command format is desired, I68n6/I69n6 should be set to 0. If signal outputs
for (external) digital-to-analog converters are desired, I68n6/I69n6 should be set to 1 or 3. In this case,
the C output can be used as a supplemental (non-servo) output in either PWM or PFM form. For
example, it can be used to excite an MLDT sensor (e.g. Temposonics
TM
) in PFM form.
Note:
By default, only the C outputs (PWM or PFM) of MACRO IC 0 are used on a
Turbo PMAC2. The A and B outputs are the alternate use of pins on the I/O port.
I68n7/I69n7 MACRO IC Channel n* Output Invert Control
Range: 0 - 3
Units: none
Default: 0
Note:
I68n7 and I69n7 control the high/low polarity of the command output signals for machine interface
channel n* (n* = 1 to 2) on a DSPGATE2 MACRO IC. For MACRO ICs 0 and 2, n = n*; for MACRO
ICs 1 and 3, n = n* + 5 (i.e. I6817 controls MACRO IC 0 Channel 1; I6977 controls MACRO IC 3
Channel 2). They have the following possible settings:
I68n7/I69n7 = 0: Do not invert Outputs A and B; Do not invert Output C
I68n7/I69n7 = 1: Invert Outputs A and B; Do not invert Output C
I68n7/I69n7 = 2: Do not invert Outputs A and B; Invert Output C
I68n7/I69n7 = 3: Invert Outputs A and B; Invert Output C
The default non-inverted outputs are high true. For PWM signals on Outputs A, B, and C, this means that
the transistor-on signal is high. Delta Tau PWM-input amplifiers, and most other PWM-input amplifiers,
expect this non-inverted output format. For such a 3-phase motor drive, I68n7 should be set to 0.

Note:
If the high/low polarity of the PWM signals is wrong for a particular amplifier,
what was intended to be deadtime between top and bottom on-states as set by
I6804 becomes overlap. If the amplifier input circuitry does not lock this out
properly, this causes an effective momentary short circuit between bus power and
ground. This would destroy the power transistors very quickly.
For PFM signals on Output C, non-inverted means that the pulse-on signal is high (direction polarity is
controlled by I68n8). During a change of direction, the direction bit will change synchronously with the
leading edge of the pulse, which in the non-inverted form is the rising edge. If the drive requires a set-up
time on the direction line before the rising edge of the pulse, the pulse output can be inverted so that the
rising edge is the trailing edge, and the pulse width (established by I6804) is the set-up time.
For DAC signals on Outputs A and B, non-inverted means that a 1 value to the DAC is high. DACs used
on Delta Tau accessory boards, as well as all other known DACs always expect non-inverted inputs, so
I68n7 should always be set to 0 or 2 when using DACs on Channel n.
Note:
Changing the high/low polarity of the digital data to the DACs has the effect of
inverting the voltage sense of the DACs analog outputs. This changes the polarity
match between output and feedback. If the feedback loop had been stable with
negative feedback, this change would create destabilizing positive feedback,
resulting in a dangerous runaway condition that would only be stopped when the
motor exceeded Ixx11 fatal following error
Note:
By default, only the C outputs (PWM or PFM) of MACRO IC 0 are used on a
Turbo PMAC2. The A and B outputs are the alternate use of pins on the I/O port.
I68n8/I69n8 MACRO IC Channel n* PFM Direction Signal Invert Control
Range: 0 - 1
Units: none
Default: 0
Note:
This I-variable is only active if the MACRO IC is present, and is a DSPGATE2
IC. The presence and type of MACRO ICs are reported in I4902 and I4903.
I68n8 and I69n8 control the polarity of the direction output signal in the pulse-and-direction format for
machine interface channel n* (n* = 1 to 2) on a DSPGATE2 MACRO IC. For MACRO ICs 0 and 2, n
= n*; for MACRO ICs 1 and 3, n = n* + 5 (i.e. I6818 controls MACRO IC 0 Channel 1; I6978 controls
MACRO IC 3 Channel 2). They have the following possible settings:
I68n8/I69n8 = 0: Do not invert direction signal (+ = low; - = high)
I68n8/I69n8 = 1: Invert direction signal (- = low; + = high)
If I68n8/I69n8 is set to the default value of 0, a positive direction command provides a low output; if
I68n8/I69n8 is set to 1, a positive direction command provides a high output.
I68n9/I69n9 Reserved for Future Use
MACRO IC Ring Setup I-variables
I6840/I6890/I6940/I6990 MACRO IC Ring Configuration/Status
Range: $0000 - $FFFF (0 - 65,535)
Units: none
Default: 0
I6840, I6890, I6940, and I6990 contain configuration and status bits for MACRO ring operation of
MACRO ICs 0, 1, 2, and 3, respectively, on the Turbo PMAC2.
There are 11 configuration bits and 5 status bits, as follows:
Bit # Value Type Function
0 1($1) Status Data Overrun Error (cleared when read)
1 2($2) Status Byte Violation Error (cleared when read)
2 4($4) Status Packet Parity Error (cleared when read)
3 8($8) Status Packet Underrun Error (cleared when read)
4 16($10) Config Master Station Enable
5 32($20) Config Synchronizing Master Station Enable
6 64($40) Status Sync Node Packet Received (cleared when read)
7 128($80) Config Sync Node Phase Lock Enable
8 256($100) Config Node 8 Master Address Check Disable
In most applications, the only important configuration bits are bits 4, 5, and 7. In every MACRO ring,
there must be one and only one synchronizing master station (each MACRO IC counts as a separate
station; only one MACRO IC on any card in the ring can be a synchronizing master station). For this
MACRO IC, bits 4 and 5 should be set (1), but bit 7 should be clear (0). On a Turbo PMAC2 Ultralite,
this should be MACRO IC 0, for which I6840 should be set to $30, or $xx30 if any of the high bits are to
be set.
If there are more than one MACRO ICs acting as masters on the ring, the others should not be
synchronizing masters, but they should be set up as masters and enable sync node phase lock to stay
synchronized with the synchronizing master. For these MACRO ICs, bit 4 should be set (1), bit 5 should
be clear (0), and bit 7 should be set (1), so I6890/I6940/I6990 should be set to $90, or $xx90 if any of the
high bits are to be set.
Bits 8-15 can be set individually to disable the master address check for their corresponding node
numbers. This capability is for multi-master broadcast and synchronization. If the master address check
is disabled, only the slave node number part of the packet address must match for a packet to be latched
in. In this way, the synchronizing master can send the same data packet to multiple other master and
slave stations. This common packet can be used to keep multiple stations synchronized using the sync
lock function enabled with bit 7 of I6890/I6940/I6990; the packet number is specified in
I6891/I6941/I6991 (packet 15 is suggested for this purpose).

I6841/I6891/I6941/I6991 MACRO IC Node Activate Control
Range: $000000 to $FFFFFF (0 to 8,388,607)
Units: none
Default: $0 (all nodes de-activated)
I6841, I6891, I6941, and I6991 control which of the 16 MACRO nodes on MACRO ICs 0, 1, 2, and 3,
respectively, are activated. They also control the master station number of the IC, and the node number
of the packet that creates a synchronization signal. The bits of these I-variables are arranged as follows:
Bit # Value Type Function
0 1($1) Config Node 0 Activate
16-19 $X0000 Config Packet Sync Node Slave Address (X=0-F)
20-23 $X00000 Config Master Station Number (X=0-F)
Bits 0 to 15 are individual control bits for the matching node number 0 to 15. If the bit is set to 1, the
node is activated; if the bit is set to 0, the node is de-activated.
Note:
If the use of an activated node n includes auxiliary register functions, including
servo flags, bit n of I72 (IC 1), I74 (IC 2), or I76 (IC 3) must also be set to 1, and
bit n of I73 (IC 1), I75 (IC 2), or I77 (IC 3) must be set properly to 0 or 1 to define
Type 0 or Type 1 auxiliary register functions, respectively.
If MACRO IC m is a master station (likely) as determined by I6840/I6890/I6940/I6990, it will send out a
packet for each activated node every ring cycle (every phase cycle). When it receives a packet for an
activated node, it will latch in that packet and not pass anything on.
If MACRO IC m is a slave station (unlikely but possible) as determined by I6840/I6890/I6940/I6990,
when it receives a packet for an activated node, it will latch in the contents of that packet into its read
registers for that node address, and automatically substitute the contents of its write registers into the
packet.
If a node is disabled, the PMAC2, whether master or slave, will still latch in the contents of a packet it
receives, but it will also pass on the packet unchanged. This feature is useful particularly for the MACRO
broadcast feature, in which multiple stations need to receive the same packet.
Bits 16-19 together specify the slave number part of the packet address (0-15) that will cause a sync lock
pulse on the card, if this function is enabled by I6890/I6940/I6990. This function is useful for a PMAC2
that is a slave or non-synchronizing master on the ring, to keep it locked to the synchronizing master. If
the master address check for this node is disabled with I6890/I6940/I6990, only the slave number must
match to create the sync lock pulse. If the master address check is left enabled, the master number part of
the packet address must match the master number for the card, as set in bits 20-23 of I6891/I6941/I6991.
If this card is the synchronizing master, this function is not enabled, so the value of these bits does not
matter; they can be left at the default of 0.
Bits 20-23 specify the master number for the MACRO IC (0-15). Each MACRO IC on a ring must have
a separate master number, even multiple MACRO ICs on the same Turbo PMAC2 Ultralite. The number
must be specified whether the card is used as a master or a slave.

B i t
H e x ( $ ) 0 0 0 0 0 0
S l a v e n o d e E n a b l e s
S y n c n o d e A d d r e s s
M a s t e r A d d r e s s ( 0 - 1 5 )
( 0 - 1 5 )

If I78 is set greater than 0 to enable Type 1 master-to-slave auxiliary communications, then bit 15 of
I6891/I6941/I6991 is set to 1 automatically by the firmware at power-up/reset, regardless of the saved
value of I6841/I6891/I6991.
Examples:
Master number 0; Sync node address 0
Activated nodes 0-5; De-activated nodes 6-15:
I6891 =0000 0000 0000 0000 0011 1111 (binary) = $00003F
Master number 1; Sync node address 15 ($F)
Activated nodes 0, 2, 4, 6, 8, 10, 12; other nodes de-activated:
I6941 = 0001 1111 0001 0101 0101 0101 (binary) = $1F1555
Servo IC I-Variables
I-variables in the range I7000 to I7999 control the hardware setup of the Servo ICs in a Turbo PMAC
system.
There can be up to 10 Servo ICs in a Turbo PMAC system: Servo IC 0 to Servo IC 9; in the I-variable
numbering scheme, the Servo IC number determines the 100s digit of the I-variable number, represented
by the letter m to refer to any IC generally (e.g. I7m00). Servo ICs 0 and 1 are on board the Turbo PMAC
itself, or on piggyback boards in the 3U Turbo Stack; Servo ICs 2 through 9 are off-board; on Acc-24 or
similar boards with their own Servo ICs.
Servo ICs can be either PMAC-style (DSPGATE) or PMAC2-style (DSPGATE1). The meaning of a
particular I-variable number can differ depending on which type of IC is used. The off-board ICs do not
have to be of the same type as the on-board ICs.
In firmware versions V1.933 and older, the user had tell Turbo PMAC which off-board Servo ICs were
present with I65, and which type they were with I66. In V1.934 and newer, Turbo PMAC automatically
detects the presence and type of all Servo ICs present at each power-up/reset, enables the I-variables for
those present, and selects the I-variables for type of each IC.
Each Servo IC has four channels of servo interface circuitry, numbered IC channels 1 to 4. In the I-
variable numbering scheme, the IC channel number determines the 10s digit of the I-variable number,
represented by the letter n to refer to any channel generally (e.g. I7mn3).
For even-numbered Servo ICs 0, 2, 4, 6, and 8, the channel numbers 1 4 on the IC match the channel
numbers 1 4 on the board. For odd-numbered Servo ICs 1, 3, 5, 7, and 9, which require the presence of
Option 1 on the board, the IC channel numbers 1 4 correspond to board channel numbers 5 8,
respectively.
The following table shows key data about each potential Servo IC in the system:
Servo
IC #
Board Board
Channel #s
I-Variables Base
Address
Default
Assignment
0 Turbo PMAC 1 4 I7000 I7049 $078000 Motors 1-4
1 Turbo PMAC 5 8 I7100 I7149 $078100 Motors 5-8
2 First Acc-24 1 4 I7200 I7249 $078200 Motors 9-12
3 First Acc-24 5 8 I7300 I7349 $078300 Motors 13-16
4 Second Acc-24 1 4 I7400 I7449 $079200 Motors 17-20
5 Second Acc-24 5 8 I7500 I7549 $079300 Motors 21-24
6 Third Acc-24 1 4 I7600 I7649 $07A200 Motors 25-28
7 Third Acc-24 5 8 I7700 I7749 $07A300 Motors 29-32
8 Fourth Acc-24 1 4 I7800 I7849 $07B200 none
9 Fourth Acc-24 5 8 I7900 I7949 $07B300 none
Note:
Some new accessory boards for the UMAC 3U-format Turbo PMAC employ
alternate addressing of Servo ICs, labeled Servo ICs 2* through 9*. Servo IC m*
is controlled by I-variables numbered 50 higher than Servo IC m,(e.g. I7250
I7299 for Servo IC 2*) and is addressed $20 higher (e.g. $078220 for Servo IC
2*).
PMAC2-Style Multi-Channel Servo IC I-Variables
I-variables in the range I7m00 to I7m09 control global and multi-channel aspects of the hardware setup
using the first DSPGATE1 Servo IC on the Turbo PMAC2. On Turbo PMAC2 Ultralite boards, there
are no DSPGATE1 Servo ICs on board, so these functions are implemented in the DSPGATE2 ASIC,
which is controlled by variables in the I6800s.
I7m00 Servo IC m MaxPhase/PWM Frequency Control
Range: 0 - 32767
Units: MaxPhase Frequency = 117,964.8 kHz / [2*I7m00+3]
PWM Frequency = 117,964.8 kHz / [4*I7m00+6]
Default: 6527
MaxPhase Frequency = 117,964.8 / 13057 = 9.0346 kHz
PWM Frequency = 117,964.8 / 26114 = 4.5173 kHz
I7m00 controls the internal MaxPhase clock frequency, and the PWM frequency for the four machine
interface channels, on PMAC2-style Servo IC m (m = 0 to 9). The internally generated Phase and Servo
clocks on Servo IC m are derived from the MaxPhase clock.
If the Servo IC is used to generate the Phase and Servo clocks for the PMAC system (as set by I19 and
the I7m07 variables), this variable is part of the control for the frequency of these system clocks.
On Turbo PMAC2 boards that are not Ultralite, Servo IC 0 typically provides the Phase and Servo clock
signals for the entire board (I7007 = 0), so I7000 is used to derive the Phase clock and Servo clock
frequencies for the board, along with I7001 and I7002. (On Turbo PMAC2 Ultralite boards, this function
is controlled by I6800, I6801, and I6802, because MACRO IC 0 controls the board clock frequencies on
these boards.)
I7m00 controls these frequencies by setting the limits of the PWM up-down counter, which increments
and decrements at the PWMCLK frequency of 117,964.8 kHz (117.9648 MHz).
The actual Phase clock frequency is divided down from the maximum phase clock according to the
setting of I7001. On the falling edge of the phase clock, PMAC2 samples any serial analog-to-digital
converters connected to its Servo ICs (as for phase current measurement), and interrupts the processor to
start any necessary phase commutation and digital current-loop algorithms. Even if phasing and current-
loop algorithms are not used, the MaxPhase and Phase Clock frequencies are important because the servo
clock is derived from the phase clock.
The PWM frequency determines the actual switching frequency of amplifiers connected to any of four
machine interface channels with the direct PWM command. It is only important if the direct PWM
command signal format is used.
The maximum value that can be written into the PWM command register without full saturation is
I7m00+1 on the positive end, and I7m00-2 on the negative end. Generally, the PWM scale factor
Ixx66 for Motor, which determines the maximum PWM command magnitude, is set to I7m00 + 10%.
Generally I7m00 for Servo IC m that is not controlling the system Phase clock frequency is set to the
same value as I7000 or I6800, which controls the boards Phase clock frequency (with I7001 or I6801). If
a different PWM frequency is desired for the PWM outputs on Servo IC m, I7m00 should be set so that:
} Integer {
PhaseFreq
) kHz ( PWMFreq * 2
=
This will keep the PWM hardware on these channels in synchronization with the software algorithms
driven by the system Phase clock.. For example, if the phase frequency is 10 kHz, the PWM frequency
for channels 5 to 8 can be 5, 10, 15, 20, (etc.) kHz.
To set I7m00 for a desired PWM frequency, the following formula can be used:
1
) kHz ( Freq _ PWM * 4
) kHz ( 8 . 964 , 117
00 m 7 I = (rounded down)
To set I7000 for a desired maximum phase clock frequency, the following formula can be used:
1
) kHz ( eq MaxPhaseFr * 2
) kHz ( 8 . 964 , 117
For accessory boards in which alternate addressing of the Servo IC is used (labeled Servo IC m*), this
function is controlled by I7m50, not I7m00.
Example:
To set a PWM frequency of 10 kHz and therefore a MaxPhase clock frequency of 20 kHz:
I7000 = (117,964.8 kHz / [4*10 kHz]) - 1 = 2948
To set a PWM frequency of 7.5 kHz and therefore a MaxPhase clock frequency of 15 kHz:
I7000 = (117,964.8 kHz / [4*7.5 kHz]) - 1 = 3931
I7m01 Servo IC m Phase Clock Frequency Control
Range: 0 - 15
Units: Phase Clock Frequency = MaxPhase Frequency / (I7m01+1)
Default: 0
Phase Clock Frequency = 9.0346 kHz / 1 = 9.0346 kHz
(with default value of I7m00)
I7m01, in conjunction with I7m00, determines the frequency of the Phase clock generated inside each
PMAC2-style Servo IC m. However, only the Servo IC told to use and output its own Phase clock with
I7m07, typically Servo IC 0 uses the Phase clock signal it generates. This means that I7001, in
conjunction with I7000, typically controls the Phase clock frequency for the entire Turbo PMAC2 system.
(For Turbo PMAC2 Ultralite boards, I6801 and I6800 control this.) Each cycle of the Phase clock, motor
phase commutation and digital current-loop algorithms are performed for specified motors.
Specifically, I7m01 controls how many times the Phase clock frequency is divided down from the
maximum phase clock, whose frequency is set by I7m00. The Phase clock frequency is equal to the
maximum phase clock frequency divided by (I7m01+1). I7m01 has a range of 0 to 15, so the frequency
division can be by a factor of 1 to 16. The equation for I7m01 is:
1
) kHz ( PhaseFreq
) kHz ( eq MaxPhaseFr
01 m 7 I =
The ratio of MaxPhase Freq. to Phase Clock Freq. must be an integer.
Note:
If the phase clock frequency is set too high, lower priority tasks such as
so communication is possible, and I6000 and I6001 can be set to supportable
values.
Example:
With a 20 kHz MaxPhase Clock frequency established by I7000, and a desired 6.67 kHz PHASE clock
frequency, the ratio between MaxPhase and Phase is 3:
I7001 = (20 / 6.67) - 1 = 3 -1 = 2
See Also: I19, I7m00, I7m02, I7m07, I6800, I6801, I6802, I6807
I7m02 Servo IC m Servo Clock Frequency Control
Range: 0 - 15
Units: Servo Clock Frequency = Phase Clock Frequency / (I7m02+1)
Default: 3
Servo Clock Frequency = 9.0346 kHz / (3+1) = 2.2587 kHz
(with default values of I7m00 and I7m01)
I7m02, in conjunction with I7m01 and I7m00, determines the frequency of the Servo clock generated
inside each PMAC2-style Servo IC. However, only the Servo IC told to use and output its own Servo
clock with I7m07, typically Servo IC 0, uses the Servo clock signal it generates.
This means that I7002, in conjunction with I7001 and I7000, controls the Servo clock frequency for the
entire Turbo PMAC2 system. (For Turbo PMAC2 Ultralite boards, I6802, I6801 and I6800 control this.)
Each cycle of the Servo clock, Turbo PMAC2 updates the commanded position for each activated motor,
and executes the servo algorithm to compute the command to the amplifier or the commutation algorithm.
Specifically, I7m02 controls how many times the Servo clock frequency is divided down from the Phase
clock, whose frequency is set by I7m01 and I7m00. The Servo clock frequency is equal to the Phase
clock frequency divided by (I7m02+1). I7m02 has a range of 0 to 15, so the frequency division can be by
a factor of 1 to 16. The equation for I7m02 is:
1
) kHz ( ServoFreq
) kHz ( PhaseFreq
02 m 7 I =
The ratio of Phase Clock frequency to Servo Clock frequency must be an integer.
For execution of trajectories at the proper speed, I10 must be set properly to tell the trajectory generation
software what the Servo clock cycle time is. The formula for I10 is:
) kHz ( ServoFreq
608 , 388 , 8
10 I =
In terms of the variables that determine the Servo clock frequency on a (non-Ultralite) Turbo PMAC2
board, the formula for I10 is:
( )( )( ) 1 7002 I 1 7001 I 3 7000 I * 2
9
640
10 I + + + =
At the default servo clock frequency, I10 should be set to 3,713,707 in order that PMAC's interpolation
routines use the proper servo update time.
Note:
If the servo clock frequency is set too high, lower priority tasks such as
so communication is possible, and I7000, I7001, and I7002 can be set to
supportable values.
Example:
With a 6.67 kHz Phase Clock frequency established by I7000 and I7001, and a desired 3.33 kHz Servo
Clock frequency:
I7002 = (6.67 / 3.33) - 1 = 2 - 1 = 1
See Also: I10, I19, I7m00, I7m01, I7m07, I6800, I6801, I6802, I6807
I7m03 Servo IC m Hardware Clock Control
Range: 0 - 4095
Units: Individual Clock Dividers
I7m03 = Encoder SCLK Divider
+ 8 * PFM_CLK Divider
+ 64 * DAC_CLK Divider
+ 512 * ADC_CLK Divider
where:
Encoder SCLK Frequency = 39.3216 MHz / (2 ^ Encoder SCLK Divider)
PFM_CLK Frequency = 39.3216 MHz / (2 ^ PFM_CLK Divider)
DAC_CLK Frequency = 39.3216 MHz / (2 ^ DAC_CLK Divider)
ADC_CLK Frequency = 39.3216 MHz / (2 ^ ADC_CLK Divider)
Default: 2258 = 2 + (8 * 2) + (64 * 3) + (512 * 4)
Encoder SCLK Frequency = 39.3216 MHz / (2 ^ 2) = 9.8304 MHz
PFM_CLK Frequency = 39.3216 MHz / (2 ^ 2) = 9.8304 MHz
DAC_CLK Frequency = 39.3216 MHz / (2 ^ 3) = 4.9152 MHz
ADC_CLK Frequency = 39.3216 MHz / (2 ^ 4) = 2.4576 MHz
I7m03 controls the frequency of four hardware clock frequencies SCLK, PFM_CLK, DAC_CLK, and
ADC_CLK for the four machine interface channels on PMAC2-Style Servo IC m. It is a 12-bit variable
consisting of four independent 3-bit controls, one for each of the clocks. Each of these clock frequencies
can be divided down from a starting 39.3216 MHz frequency by powers of 2, 2
N
, from 1 to 128 times
(N=0 to 7). This means that the possible frequency settings for each of these clocks are:
Frequency Divide by
Divider N in 1/2
N

39.3216 MHz 1 0
19.6608 MHz 2 1
9.8304 MHz 4 2
4.9152 MHz 8 3
2.4576 MHz 16 4
1.2288 MHz 32 5
614.4 kHz 64 6
307.2 kHz 128 7
Very few Turbo PMAC2 users will be required to change the setting of I7m03 from the default value.
SCLK: The encoder sample clock signal SCLK controls how often Servo IC ms digital hardware looks
at the encoder and flag inputs. The Servo IC can take at most one count per SCLK cycle, so the SCLK
frequency is the absolute maximum encoder count frequency. SCLK also controls the signal propagation
through the digital delay filters for the encoders and flags; the lower the SCLK frequency, the greater the
noise pulse that can be filtered out. The SCLK frequency should optimally be set to the lowest value that
can accept encoder counts at the maximum possible rate.
PFM_CLK: The pulse-frequency-modulation clock PFM_CLK controls the PFM circuitry that is
commonly used for stepper drives. The maximum pulse frequency possible is 1/4 of the PFM_CLK
frequency. The PFM_CLK frequency should optimally be set to the lowest value that can generate pulses
at the maximum frequency required.
DAC_CLK: The DAC_CLK controls the serial data frequency into D/A converters. If these converters
are on Delta Tau-provided accessories, the DAC_CLK setting should be left at the default value.
ADC_CLK: The ADC_CLK controls the serial data frequency from A/D converters. If these converters
are on Delta Tau-provided accessories, the ADC_CLK setting should be left at the default value.
To determine the clock frequencies set by a given value of I7m03, use the following procedure:
1. Divide I7m03 by 512 and round down to the nearest integer. This value N1 is the ADC_CLK divider.
2. Multiply N1 by 512 and subtract the product from I7m03 to get I7m03'. Divide I7m03' by 64 and
round down to the nearest integer. This value N2 is the DAC_CLK divider.
3. Multiply N2 by 64 and subtract the product from I7m03' to get I7m03''. Divide I7m03'' by 8 and
round down to the nearest integer. This value N3 is the PFM_CLK divider.
4. Multiply N3 by 8 and subtract the product from I7m03''. The resulting value N4 is the SCLK divider.
Examples:
The maximum encoder count frequency in the application is 800 kHz, so the 1.2288 MHz SCLK
frequency is chosen. A pulse train up to 500 kHz needs to be generated, so the 2.4576 MHz PFM_CLK
frequency is chosen. The default serial DACs and ADCs provided by Delta Tau are used, so the default
DAC_CLK frequency of 4.9152 MHz and the default ADC_CLK frequency of 2.4576 MHz are chosen.
From the table:
SCLK Divider N: 5
PFM_CLK Divider N: 4
DAC_CLK Divider N: 3
ADC_CLK Divider N: 4
I7m03 = 5 + (8 * 4) + (64 * 3) + (512 * 4) = 5 + 32 + 192 + 2048 = 2277
I7m03 has been set to 3429. What clock frequencies does this set?
N1 = INT (3429/512) = 6 ADC_CLK = 611.44 kHz
I7m03' = 3429 - (512*6) = 357
N2 = INT (357/64) = 5 DAC_CLK = 1.2288 MHz
I7m03'' = 357 - (64*5) = 37
N3 = INT (37/8) = 4 PFM_CLK = 2.4576 MHz
N4 = 37 - (8*4) = 5 SCLK = 1.2288 MHz
See Also: I6803
I7m04 Servo IC m PWM Deadtime / PFM Pulse Width Control
Range: 0 - 255
Units: 16*PWM_CLK cycles / PFM_CLK cycles
PWM Deadtime = [16 / PWM_CLK (MHz)] * I7m04 = 0.135 usec * I7m04
PFM Pulse Width = [1 / PFM_CLK (MHz)] * I7m04
= PFM_CLK_period (usec) * I7m04
Default: 15
PWM Deadtime = 0.135 usec * 15 = 2.03 usec
PFM Pulse Width = [1 / 9.8304 MHz] * 15 = 1.526 usec (with default I7m03)
I7m04 controls the deadtime period between top and bottom on-times in the automatic PWM generation
for machine interface channels on PMAC2-style Servo IC m (m = 0 to 9). In conjunction with I7m03, it
also controls the pulse width for PMAC2's automatic pulse-frequency modulation generation for the
machine interface channels on Servo IC m.
The PWM deadtime, which is the delay between the top signal turning off and the bottom signal turning
on and vice versa, is specified in units of 16 PWM_CLK cycles. This means that the deadtime can be
specified in increments of 0.135 sec. The equation for I7m04 as a function of PWM deadtime is:
sec 135 . 0
sec) ( DeadTime
04 m 7 I
=
The PFM pulse width is specified in PFM_CLK cycles, as defined by I7m03. The equation for I7m04 as
a function of PFM pulse width and PFM_CLK frequency is:
sec) ( Width _ Pulse _ PFM * ) MHz ( Freq _ CLK _ PFM 04 m 7 I =
In PFM pulse generation, the minimum off time between pulses is equal to the pulse width. This means
that the maximum PFM output frequency is
04 m 7 I * 2
) MHz ( Freq _ CLK _ PFM
) MHz ( Freq _ Max _ PFM =
Examples:
A PWM deadtime of approximately 1 microsecond is desired:
I7m04 1 sec / 0.135 sec 7
With a 2.4576 MHz PFM_CLK frequency, a pulse width of 0.4 usec is desired:
I7m04 2.4576 MHz * 0.4 usec 1
See Also: I7m03, I6804
I7m05 Servo IC m DAC Strobe Word
Default: $7FFFC0
I7m05 controls the DAC strobe signal for machine interface channels on Servo IC m. The 24-bit word set
by I7m05 is shifted out serially on the DAC_STROB lines, MSB first, one bit per DAC_CLK cycle
starting on the rising edge of the phase clock. The value in the LSB is held until the next phase clock
cycle.
For a typical n-bit DACs, the strobe line is held high for n-1 clock cycles. Therefore, the common
settings of this variable are:
18-bit DACs: $7FFFC0 (high for 17 clock cycles)
16-bit DACs: $7FFF00 (high for 15 clock cycles)
12-bit DACs: $7FF000 (high for 11 clock cycles)
The default I7m05 value of $7FFFC0 is suitable for the 18-bit DACs on the Acc-8E Analog Interface
Board. I7m05 should not be changed from the default unless different DACs are used.
I7m06 Servo IC m ADC Strobe Word
Default: $FFFFFE
I7m06 controls the ADC strobe signal for machine interface channels on Servo IC m. The 24-bit word set
by I7m06 is shifted out serially on the ADC_STROB lines, MSB first, one bit per DAC_CLK cycle starting
on the rising edge of the phase clock. The value in the LSB is held until the next phase clock cycle.
The first 1 creates a rising edge on the ADC_STROB output that is typically used as a start-convert
signal. Some A/D converters just need this rising edge for the conversion; others need the signal to stay
high all of the way through the conversion. The LSB of I7m06 should always be set to 0 so that a rising
edge is created on the next cycle. The default I7m06 value of $FFFFFE is suitable for virtually all A/D
converters.
The A/D converters used on matching Delta Tau products just need the rising edge at the start of a
conversion cycle; this permits intermediate bits in the data stream to be used as special control bits. Delta
Taus Acc-8T Supplemental Flag Multiplexer Board uses these bits to control the multiplexing; Delta
Taus Acc-8K1 Fanuc C/S-Series PWM Interface Board uses these bits to control the magnetic contactors
on the drives.
I7m07 Servo IC m Phase/Servo Clock Direction
Range: 0 - 3
Units: None
Default: I7007 = 0 (non-Ultralite); = 3 (Ultralite)
I7107 I7907 = 3
I7m07 controls whether Servo IC m uses its own internally generated Phase and Servo clock signals as
controlled by I7m00, I7m01, and I7m02, or whether it uses Phase and Servo clock signals from an outside
source.
In any Turbo PMAC2 system, there must be either one and only one source of servo and phase clock
signals for the system one of the Servo ICs or MACRO ICs, or a source external to the system. Only in
a 3U-format Turbo PMAC2 system (UMAC Turbo or 3U Turbo Stack) can the system clock signals
come from an accessory board. In all other Turbo PMAC2 systems, the system clock signals must come
from and IC on the base PMAC2 boards, or be brought from an external source through the serial port.
I7m07 is a 2-bit value. Bit 0 is set to 0 for the IC to use its own Phase clock signal and output it; it is set
to 1 to use an externally input Phase clock signal. Bit 1 is set to 1 for the IC to use its own Servo clock
signal and output it; it is set to 1 to use an externally input Servo clock signal. This yields four possible
values for I7m07:
I7m07 = 0: Internal Phase clock; internal Servo clock
I7m07 = 1: External Phase clock; internal Servo clock
I7m07 = 2: Internal Phase clock; external Servo clock
I7m07 = 3: External Phase clock; external Servo clock
In all normal use, I7m07 is either set to 0 (on at most one IC) or 3 (on all the other ICs).
In general, Servo IC 0 or MACRO IC 0 (on an Ultralite board that has no Servo ICs) will be used to
generate Phase and Servo clock signals for the entire PMAC systems, so I7007 is set to 0 (or I6807 on an
Ultralite board), and I7107 through I7907 are set to 3.
During re-initialization, Turbo PMAC2 determines which IC it will use as the source of its system Phase
and Servo clock signals, setting I19 to the number of the clock-direction I-variable whose IC is selected as
the source. This clock-direction I-variable is then automatically set to 0; all other clock-direction I-
variables are set to 1 or 3. Most users will never change these settings.
When a clock-direction I-variable is commanded to its default value (e.g. I7207=*), Turbo PMAC2
looks to the value of I19 to determine whether this I-variable is set to 0 or 3.
On the reset of a 3U-format Turbo PMAC2 system (UMAC Turbo or 3U Turbo Stack), the values set for
these I-variables are determined by the saved value of I19, and not by the saved values of these I-
variables themselves. On these systems, to change which IC is the source of the system clocks, change
the value of I19, save this setting, and reset the card.
In other Turbo PMAC2 systems, to change which IC is the source of the system clocks, it is best to
change both clock-direction I-variables on a single command line (e.g. I6807=1 I7007=0), then
SAVE these new settings.
If all of the Servo and MACRO ICs in a Turbo PMAC2 system have been set up for external Phase and
Servo clocks, but these clock signals are not provided, the Turbo PMAC2 will immediately trip its
watchdog timer.
PMAC2-Style Channel-Specific Servo IC I-Variables
(For Servo IC m Channel n, where m = 0 to 9, and n = 1 to 4)
I7mn0 Servo IC m Channel n Encoder/Timer Decode Control
Range: 0 - 15
Units: None
Default: 7
I7mn0 controls how the input signal for Encoder n on a PMAC2-style Servo IC m is decoded into counts.
As such, this defines the sign and magnitude of a count. The following settings may be used to decode an
input signal.
I7mn0 = 0: Pulse and direction CW
I7mn0 = 1: x1 quadrature decode CW
I7mn0 = 4: Pulse and direction CCW
I7mn0 = 5: x1 quadrature decode CCW
I7mn0 = 8: Internal pulse and direction
I7mn0 = 9: Not used
I7mn0 = 10: Not used
I7mn0 = 11: x6 hall-format decode CW*
I7mn0 = 12: MLDT pulse timer control
(internal pulse resets timer; external pulse latches timer)
I7mn0 = 15: x6 hall-format decode CCW*
*requires version B or newer of the DSPGATE1 Servo IC.
In any of the quadrature decode modes, the Servo IC is expecting two input waveforms on CHAn and
CHBn, each with approximately 50% duty cycle, and approximately one-quarter of a cycle out of phase
with each other. Times-one (x1) decode provides one count per cycle; x2 provides two counts per cycle;
and x4 provides four counts per cycle. The vast majority of users select x4 decode to get maximum
resolution.
WARNING:
Changing the direction sense of the decode for the feedback encoder of a motor
that is operating properly will result in unstable positive feedback and a dangerous
runaway condition in the absence of other changes. The output polarity must be
changed as well to re-establish polarity match for stable negative feedback.
In the pulse-and-direction decode modes, the Servo IC is expecting the pulse train on CHAn, and the
direction (sign) signal on CHBn. If the signal is unidirectional, the CHBn line can be allowed to pull up
to a high state, or it can be hardwired to a high or low state.
If I7mn0 is set to 8, the decoder inputs the pulse and direction signal generated by Channel n's pulse
frequency modulator (PFM) output circuitry. This permits the PMAC2 to create a phantom closed loop
when driving an open-loop stepper system. No jumpers or cables are needed to do this; the connection is
entirely within the Servo IC. The counter polarity automatically matches the PFM output polarity.
If I7mn0 is set to 11 or 15, Channel n is expecting three Hall-sensor format inputs on CHAn, CHBn, and
CHCn, each with approximately 50% duty cycle, and approximately one-third (120
o
e) of a cycle out of
phase with each other. The decode circuitry will generate one count on each edge of each signal, yielding
6 counts per signal cycle (x6 decode). The difference between 11 and 15 is which direction of signal
causes the counter to count up.
If I7mn0 is set to 12, the timer circuitry is set up to read magnetostrictive linear displacement transducers
(MLDTs) such as Temposonics
TM
. In this mode, the timer is cleared when the PFM circuitry sends out
the excitation pulse to the sensor on PULSEn, and it is latched into the memory-mapped register when the
excitation pulse is received on CHAn.
I7mn1 Servo IC m Channel n Position Compare Channel Select
Range: 0 - 1
Units: None
Default: 0
I7mn1 controls which channels encoder counter is tied to the position compare circuitry for Channel n on
a PMAC2-style Servo IC m. It has the following possible settings:
I7mn1 = 0: Use Channel n encoder counter for position compare function
I7mn1 = 1: Use Channel 1 encoder counter on IC for position compare function
When I7mn1 is set to 0, Channel ns position compare registers are tied to the channel's own encoder
counter, and the position compare signal appears only on the EQU output for that channel.
When I7mn1 is set to 1, the channel's position compare register is tied to the first encoder counter on the
Servo IC, and the position compare signal appears both on Channel ns EQU output, and combined into
the EQU output for Channel 1 on the Servo IC (EQU1 or EQU5 on the board); executed as a logical OR.
I7m11 performs no effective function, so is always 1. It cannot be set to 0.
I7mn2 Servo IC m Channel n Capture Control
Range: 0 - 15
Units: none
Default: 1
I7mn2 determines which input signal or combination of signals for Channel n of a PMAC2-style Servo IC
m, and which polarity, triggers a hardware position capture of the counter for Encoder n. If a flag input
(home, limit, or user) is used, I7mn3 determines which flag. Proper setup of this variable is essential for a
successful homing search move or other move-until-trigger for the Motor xx using Channel n for its
position-loop feedback and flags if the super-accurate hardware position capture function is used. If
Ixx97 is at its default value of 0 to select hardware capture and trigger, this variable must be set up
properly.
The following settings of I7mn2 may be used:
I7mn2 = 0: Immediate capture
I7mn2 = 1: Capture on Index (CHCn) high
I7mn2 = 2: Capture on Flag n high
I7mn2 = 3: Capture on (Index high AND Flag n high)
I7mn2 = 5: Capture on Index (CHCn) low
I7mn2 = 7: Capture on (Index low AND Flag n high)
I7mn2 = 10: Capture on Flag n low
I7mn2 = 11: Capture on (Index high AND Flag n low)
I7mn2 = 15: Capture on (Index low AND Flag n low)
feedback.
The trigger is armed when the position capture register is read. After this, as soon as the Servo IC
hardware sees that the specified input lines are in the specified states, the trigger will occur it is level-
triggered, not edge-triggered.
I7mn3 Servo IC m Channel n Capture Flag Select Control
Range: 0 - 3
Units: none
Default: 0
I7mn3 determines which of the Flag inputs will be used for hardware position capture (if one is used) of
the encoder counter of Channel n on a PMAC2-style Servo IC m. I7mn2 determines whether a flag is
used and which polarity of the flag will cause the trigger. The possible values of I7mn3 and the flag each
selects is:
I7mn3 = 0: HOMEn (Home Flag n)
I7mn3 = 1: PLIMn (Positive End Limit Flag n)
I7mn3 = 2: MLIMn (Negative End Limit Flag n)
I7mn3 = 3: USERn (User Flag n)
Typically, I7mn3 is set to 0 for homing search moves in order to use the home flag for the channel. It is
typically set to 3 afterwards to select the User flag if other uses of the hardware position capture function
are desired, such as for probing and registration. To capture on the PLIMn or MLIMn overtravel limit
flags, disable their normal functions with Ixx25 or use a channel n where none of the flags is used for the
normal axis functions.
I7mn4 Servo IC m Channel n Encoder Gated Index Select
Range: 0 - 1
Units: none
Default: 0
I7mn4 controls whether the raw encoder index channel input or a version of the input gated by the AB-
quadrature state is used for position capture of Encoder n on a PMAC2-style Servo IC m. It has the
following possible settings:
I7mn4 = 0: Use ungated index for encoder position capture
I7mn4 = 1: Use index gated by quadrature channels for position capture
When I7mn4 is set to 0, the encoder index channel input (CHCn) is passed directly into the position
capture circuitry.
When I7mn4 is set to 1, the encoder index channel input (CHCn) is logically combined with (gated by)
the quadrature signals of Encoder n before going to the position capture circuitry. The intent is to get a
gated index signal exactly one quadrature state wide. This provides a more accurate and repeatable
capture, and makes the use of the capture function to confirm the proper number of counts per revolution
very straightforward.
In order for the gated index capture to work reliably, the index pulse must reliably span one, but only one,
high-high or low-low AB quadrature state of the encoder. I7mn5 allows the selection of which of these
two possibilities is used.
Note:
If I7mn4 is set to 1, but I7mn2 bit 0 is set to 0, so the index is not used in the
position capture, then the encoder position is captured on the first edge of any of
the U, V, or W flag inputs for the channel. In this case, bits 0, 1, and 2 of the
channel status word tell what hall-state edge caused the capture.
I7mn5 Servo IC m Channel n Encoder Index Gate State/Demux Control
Range: 0 - 3
Units: none
Default: 0
I7mn5 is a 2-bit variable that controls two functions for the index channel of the encoder.
When using the gated index feature of a PMAC2-style Servo IC for more accurate position capture
(I7mn4=1), bit 0 of I7mn5 specifies whether the raw index-channel signal fed into Encoder n of Servo IC
m is passed through to the position capture signal only on the high-high quadrature state (bit 0 = 0), or
only on the low-low quadrature state (bit 0 = 1).
Bit 1 of I7mn5 controls whether the Servo IC de-multiplexes the index pulse and the three hall-style
commutation states from the third channel based on the quadrature state, as with Yaskawa incremental
encoders. If bit 1 is set to 0, this de-multiplexing function is not performed, and the signal on the C
channel of the encoder is used as the index only. If bit 1 is set to 1, the Servo IC breaks out the third-
channel signal into four separate values, one for each of the four possible AB-quadrature states. The de-
multiplexed hall commutation states can be used to provide power-on phase position using Ixx81 and
Ixx91.
The following table shows what hall or index state is broken out for each of the four quadrature states:
A B C
1 1 Z
1 0 U
0 0 V
0 1 W
Note:
The B revision or newer of the DSPGATE1 Servo IC is required to support this
hall de-multiplexing feature.
Note:
Immediately after power-up, the Yaskawa encoder automatically cycles its AB
outputs forward and back through a full quadrature cycle to ensure that all of the
hall commutation states are available to the controller before any movement is
started. However, if the encoder is powered up at the same time as the Turbo
PMAC, this will happen before the Servo IC is ready to accept these signals. Bit 2
of the channels status word, Invalid De-multiplex, will be set to 1 if the Servo IC
has not seen all of these states when it was ready for them. To use this feature, it is
recommended that the power to the encoder be provided through a software-
controlled relay to ensure that valid readings of all states have been read before
using these signals for power-on phasing.
I7mn5 has the following possible settings:
I7mn5 = 0: Gate index with high-high quadrature state (GI = A and B and C), no demux
I7mn5 = 1: Gate index with low-low quadrature state (GI = A/ and B/ and C), no demux
I7mn5 = 2 or 3: De-multiplex hall and index from third channel, gating irrelevant
I7mn6 Servo IC m Channel n Output Mode Select
Range: 0 - 3
Units: none
Default: 0
I7mn6 controls what output formats are used on the command output signal lines for machine interface
channel n of a PMAC2-style Servo IC m. It has the following possible settings:
I7mn6 = 0: Outputs A and B are PWM; Output C is PWM
I7mn6 = 1: Outputs A and B are DAC; Output C is PWM
I7mn6 = 2: Outputs A and B are PWM; Output C is PFM
I7mn6 = 3: Outputs A and B are DAC; Output C is PFM
If a three-phase direct PWM command format is desired, I7mn6 should be set to 0. If signal outputs for
(external) digital-to-analog converters are desired, I7mn6 should be set to 1 or 3. In this case, the C
output can be used as a supplemental (non-servo) output in either PWM or PFM form. For example, it
can be used to excite an MLDT sensor (e.g. Temposonics
) in PFM form.
I7mn7 Servo IC m Channel n Output Invert Control
Range: 0 - 3
Units: none
Default: 0
I7mn7 controls the high/low polarity of the command output signals for Channel n on a PMAC2-style
Servo IC m. It has the following possible settings:
I7mn7 = 0: Do not invert Outputs A and B; Do not invert Output C
I7mn7 = 1: Invert Outputs A and B; Do not invert Output C
I7mn7 = 2: Do not invert Outputs A and B; Invert Output C
I7mn7 = 3: Invert Outputs A and B; Invert Output C
The default non-inverted outputs are high true. For PWM signals on Outputs A, B, and C, this means that
the transistor-on signal is high. Delta Tau PWM-input amplifiers, and most other PWM-input amplifiers,
expect this non-inverted output format. For such a 3-phase motor drive, I7mn7 should be set to 0.
Note:
If the high/low polarity of the PWM signals is wrong for a particular amplifier,
what was intended to be deadtime between top and bottom on states, as set by
I6m04 becomes overlap. If the amplifier-input circuitry does not lock this out
properly, this causes an effective momentary short circuit between bus power and
ground. This would destroy the power transistors very quickly.
For PFM signals on Output C, non-inverted means that the pulse-on signal is high (direction polarity is
controlled by I7mn8). During a change of direction, the direction bit will change synchronously with the
leading edge of the pulse, which in the non-inverted form is the rising edge. If the drive requires a set-up
time on the direction line before the rising edge of the pulse, the pulse output can be inverted so that the
rising edge is the trailing edge, and the pulse width (established by I6m04) is the set-up time.
For DAC signals on Outputs A and B, non-inverted means that a 1 value to the DAC is high. DACs used
on Delta Tau accessory boards, as well as all other known DACs always expect non-inverted inputs, so
I6mn7 should always be set to 0 or 2 when using DACs on Channel n.
Note:
Changing the high/low polarity of the digital data to the DACs has the effect of
inverting the voltage sense of the DACs analog outputs. This changes the polarity
match between output and feedback. If the feedback loop had been stable with
negative feedback, this change would create destabilizing positive feedback,
resulting in a dangerous runaway condition that would only be stopped when the
motor exceeded Ixx11 fatal following error
I7mn8 Servo IC m Channel n PFM Direction Signal Invert Control
Range: 0 - 1
Units: none
Default: 0
I7mn8 controls the polarity of the direction output signal in the pulse-and-direction format for Channel n
of a PMAC2-style Servo IC m. It is only active if I7mn6 has been set to 2 or 3 to use Output C as a
pulse-frequency-modulated (PFM) output. It has the following possible settings:
I7mn8 = 0: Do not invert direction signal (+ = low; - = high)
I7mn8 = 1: Invert direction signal (- = low; + = high)
If I7mn8 is set to the default value of 0, a positive direction command provides a low output; if I7mn8 is
set to 1, a positive direction command provides a high output.
I7mn9 Servo IC m Channel n Hardware-1/T Control
Range: 0 1
Units: none
Default: 0
I7mn9 controls whether the hardware-1/T functionality is enabled for Channel n of a PMAC2-style Servo
IC m. If I7mn9 is set to the default value of 0, the hardware-1/T functionality is disabled, permitting the
use of the software-1/T position extension that is calculated by default with encoder conversion method
$0. If I7mn9 is set to 1, the hardware-1/T functionality is enabled (if present on the IC), and the software-
1/T cannot be used.
The hardware-1/T functionality is present only on Revision D and newer of the PMAC2-style
DSPGATE1 IC, released at the beginning of the year 2002. Setting I7mn9 to 1 on an older revision IC
does nothing software-1/T functions can still be used. However, it is strongly recommended that I7mn9
be left at 0 in this case, to prevent possible problems when copying a configuration to newer hardware.
When the hardware-1/T functionality is enabled, the IC computes a new fractional-count position estimate
based on timers every SCLK (encoder sample clock) cycle. This permits the fractional count data to be
used for hardware capture and compare functions, enhancing their resolution. The sub-count position-
capture data can be used automatically in Turbo PMAC triggered-move functions if bit 12 of Ixx24 is set
to 1. This is particularly useful when the IC is used on an Acc-51 high-resolution analog-encoder
interpolator board. However, it replaces the timer registers at the first two Y addresses for the channel
with fractional count position data, so the traditional software-1/T method of the conversion table cannot
work if this is enabled.
If the hardware-1/T functionality is enabled and to be able to use 1/T interpolation in the servo loop, use
the hardware-1/T extension method ($C method digit with the mode switch bit set to 1) in the encoder
conversion table.
PMAC-Style Servo IC Setup I-Variables
I7mn0 Servo IC m Channel n Encoder/Timer Decode Control
Range: 0 - 15
Units: None
Default: 7
I7mn0 controls how the input signal for Encoder n on PMAC-style Servo IC m is decoded into counts.
As such, this defines the sign and magnitude of a count. The following settings may be used to decode an
input signal.
I7mn0 = 0: Pulse and direction CW
I7mn0 = 4: Pulse and direction CCW
In any of the quadrature decode modes, PMAC is expecting two input waveforms on CHAn and CHBn,
each with approximately 50% duty cycle, and approximately one-quarter of a cycle out of phase with
each other. Times-one (x1) decode provides one count per cycle; x2 provides two counts per cycle; and
x4 provides four counts per cycle. The vast majority of users select x4 decode to get maximum
resolution.
WARNING:
Changing the direction sense of the encoder decode for a motor that is servoing
properly will result in unstable positive feedback and a dangerous runaway
condition in the absence of other changes (for motors not commutated by PMAC
from the same encoder). The output polarity must be changed as well to re-
establish polarity match for stable negative feedback.
In the pulse-and-direction decode modes, PMAC is expecting the pulse train on CHAn, and the direction
(sign) signal on CHBn. If the signal is unidirectional, the CHBn input can be tied high (to +5V) or low
(to GND), or, if set up by E18-E21, E24-E27 for single-ended (non-differential) input, left to float high.
Any spare encoder counters may be used as fast and accurate timers by setting this parameter in the 8 to
15 range. In this range, any input signal is ignored.
The following settings may be used in timer mode:
I7mn0 = 8: Timer counting up at SCLK/10
I7mn0 = 11: Timer counting up at SCLK/2.5
I7mn0 = 12: Timer counting down at SCLK/10
I7mn0 = 15: Timer counting down at SCLK/2.5
These timers are useful particularly when the related capture and compare registers are utilized for precise
event marking and control, including triggered time base. The SLCK frequency is determined by the
crystal clock frequency and E34-E38.
I7mn1 Servo IC m Channel n Encoder Filter Disable
Range: 0 - 1
Units: None
Default: 0
I7mn1 controls whether the Encoder n on PMAC-style Servo IC m enables or disables its digital delay
filter. The possible settings of I7mn1 are:
I7mn1 = 0: Encoder n digital delay filter enabled
I7mn1 = 1: Encoder n digital delay filter disabled (bypassed)
The filter is a 3-stage digital delay filter with best-2-of-3 voting to help suppress noise spikes on the input
lines. It does introduce a small delay into the signal, which can be unacceptable if the motor is using
interpolated sub-count parallel data input, because of loss of synchronization between the quadrature and
parallel data signals.
Generally, the only people to disable this filter are those using the special interpolated parallel data
format. These people should disable the filters both on the encoder for their quadrature signals and the
encoder matching their parallel data input.
The sampling frequency for the filter is that of the SCLK signal, which is set by the master clock
frequency and jumpers E34-E38. The higher the frequency of SCLK, the higher the possible count rate,
but the narrower the pulse that can be filtered out. SCLK should be set to allow the maximum expected
encoder frequency, but no faster, in order to provide the maximum noise protection.
I7mn2 Servo IC m Channel n Capture Control
Range: 0 - 15
Units: none
Default: 1
I7mn2 determines which input signal or combination of signals for PMAC-style Servo IC m Channel n,
and which polarity, triggers a hardware position capture of the counter for Encoder n. If a flag input
(home, limit, or user) is used, I7mn3 determines which flag. Proper setup of this variable is essential for a
successful homing search move or other move-until-trigger for the Motor xx using Channel n for its
position-loop feedback and flags if the super-accurate hardware position capture function is used. If
Ixx97 is at its default value of 0 to select hardware capture and trigger, this variable must be set up
properly.
The following settings of I7mn2 may be used:
I7mn2 = 0: Software control armed
I7mn2 = 3: Capture on (Index high AND Flag n high)
I7mn2 = 4: Software control triggered
I7mn2 = 7: Capture on (Index low AND Flag n high)
I7mn2 = 8: Software control armed
I7mn2 = 11: Capture on (Index high AND Flag n low)
I7mn2 = 12: Software control triggered
I7mn2 = 15: Capture on (Index low AND Flag n low)
feedback.
The trigger is armed when the position capture register is read. After this, as soon as the Servo IC
hardware sees that the specified input lines change into the specified states, the trigger will occur -- it is
edge-triggered, not level-triggered.
Note:
Several of these values are redundant. To do a software-controlled position
capture, preset this parameter to 0 or 8; when the parameter is then changed to 4 or
12, the capture is triggered (this is not of much practical use, but can be valuable
for testing the capture function).
I7mn3 Servo IC m Channel n Capture Flag Select Control
Range: 0 - 3
Units: none
Default: 0
I7mn3 determines which of the Flag inputs will be used for hardware position capture (if one is used) of
the encoder counter of Channel n on PMAC-style Servo IC m. I7mn2 determines whether a flag is used
and which polarity of the flag will cause the trigger. The possible values of I7mn3 and the flag each
selects is:
I7mn3 = 0: HMFLn (Home Flag n)
I7mn3 = 1: -LIMn (Positive End Limit Flag n)
I7mn3 = 2: +LIMn (Negative End Limit Flag n)
I7mn3 = 3: FAULTn (Amplifier Fault Flag n)
Typically, I7mn3 is set to 0 for homing search moves in order to use the home flag for the channel. To
capture on the -LIMn or +LIMn overtravel limit flags or the FAULTn amplifier fault flag, disable their
normal functions with Ixx25 or use a channel n where none of the flags is used for the normal axis
functions.
Note:
The direction sense of the limit inputs is the opposite of what many people
consider intuitive. That is, the +LIMn input, when taken high (opened), stops
commanded motion in the negative direction; the -LIMn input, when taken high,
stops commanded motion in the positive direction. It is important to confirm the
direction sense of the limit inputs in actual operation.
Conversion Table I-Variables
I8000 - I8191 Conversion Table Setup Lines
Units: Modified Turbo PMAC Addresses
Defaults:
Turbo PMAC Defaults
I-Var. Setting Meaning I-Var. Setting Meaning
I8000 $078000 1/T Extension of Encoder 1 I8004 $078100 1/T Extension of Encoder 5
I8003 $07800C 1/T Extension of Encoder 4 I8007 $07810C 1/T Extension of Encoder 8
Note: I8008 - I8191 = 0
Turbo PMAC2 Defaults
Note: I8008 - I8191 = 0
Turbo PMAC2 Ultralite Defaults
I8000 $2F8420 MACRO Node 0 Reg. 0 Read I8008 $2F8430 MACRO Node 8 Reg. 0 Read
I8001 $018000 24 bits, bit 0 LSB I8009 $018000 24 bits, bit 0 LSB
I8006 $2F842C MACRO Node 5 Reg. 0 Read I8014 $2F843C MACRO Node 13 Reg. 0 Read
Note: I8016 - I8191 = 0
I8000 to I8191 form the 192 setup lines of the Turbo PMACs Encoder Conversion Table (ECT). The
main purpose of the ECT is to provide a pre-processing of feedback and master data to prepare it for use
by the servo loop. It can also be used to execute certain simple calculations at the servo update
frequency.
Each I-variable occupies a fixed register in the Turbo PMACs memory map. The register addresses are
important, because the results of the ECT are accessed by address.
The ECT has two halves: setup and results. The setup half resides in Turbo PMACs Y-memory, and can
be accessed through these 192 I-variables. The result half resides in Turbo PMACs X-memory. Each of
the 192 I-variables has a matching result X-register at the same numerical address. If the entry consists of
more than one line, the last line has the final result; any previous lines contain intermediate results.
The entries in the ECT are usually set up through the tables configuration menu in the PMAC Executive
program.
The following table shows the address of each ECT I-variable.
I-Variable Address I-Variable Address I-Variable Address I-Variable Address
I8000 $003501 I8048 $003531 I8096 $003561 I8144 $003591
I8001 $003502 I8049 $003532 I8097 $003562 I8145 $003592
I8002 $003503 I8050 $003533 I8098 $003563 I8146 $003593
I8003 $003504 I8051 $003534 I8099 $003564 I8147 $003594
I8004 $003505 I8052 $003535 I8100 $003565 I8148 $003595
I8005 $003506 I8053 $003536 I8101 $003566 I8149 $003596
I8006 $003507 I8054 $003537 I8102 $003567 I8150 $003597
I8007 $003508 I8055 $003538 I8103 $003568 I8151 $003598
I8008 $003509 I8056 $003539 I8104 $003569 I8152 $003599
I8009 $00350A I8057 $00353A I8105 $00356A I8153 $00359A
I8010 $00350B I8058 $00353B I8106 $00356B I8154 $00359B
I8011 $00350C I8059 $00353C I8107 $00356C I8155 $00359C
I8012 $00350D I8060 $00353D I8108 $00356D I8156 $00359D
I8013 $00350E I8061 $00353E I8109 $00356E I8157 $00359E
I8014 $00350F I8062 $00353F I8110 $00356F I8158 $00359F
I8015 $003510 I8063 $003540 I8111 $003570 I8159 $0035A0
I8016 $003511 I8064 $003541 I8112 $003571 I8160 $0035A1
I8017 $003512 I8065 $003542 I8113 $003572 I8161 $0035A2
I8018 $003513 I8066 $003543 I8114 $003573 I8162 $0035A3
I8019 $003514 I8067 $003544 I8115 $003574 I8163 $0035A4
I8020 $003515 I8068 $003545 I8116 $003575 I8164 $0035A5
I8021 $003516 I8069 $003546 I8117 $003576 I8165 $0035A6
I8022 $003517 I8070 $003547 I8118 $003577 I8166 $0035A7
I8023 $003518 I8071 $003548 I8119 $003578 I8167 $0035A8
I8024 $003519 I8072 $003549 I8120 $003579 I8168 $0035A9
I8025 $00351A I8073 $00354A I8121 $00357A I8169 $0035AA
I8026 $00351B I8074 $00354B I8122 $00357B I8170 $0035AB
I8027 $00351C I8075 $00354C I8123 $00357C I8171 $0035AC
I8028 $00351D I8076 $00354D I8124 $00357D I8172 $0035AD
I8029 $00351E I8077 $00354E I8125 $00357E I8173 $0035AE
I8030 $00351F I8078 $00354F I8126 $00357F I8174 $0035AF
I8031 $003520 I8079 $003550 I8127 $003580 I8175 $0035B0
I8032 $003521 I8080 $003551 I8128 $003581 I8176 $0035B1
I8033 $003522 I8081 $003552 I8129 $003582 I8177 $0035B2
I8034 $003523 I8082 $003553 I8130 $003583 I8178 $0035B3
I8035 $003524 I8083 $003554 I8131 $003584 I8179 $0035B4
I8036 $003525 I8084 $003555 I8132 $003585 I8180 $0035B5
I8037 $003526 I8085 $003556 I8133 $003586 I8181 $0035B6
I8038 $003527 I8086 $003557 I8134 $003587 I8182 $0035B7
I8039 $003528 I8087 $003558 I8135 $003588 I8183 $0035B8
I8040 $003529 I8088 $003559 I8136 $003589 I8184 $0035B9
I8041 $00352A I8089 $00355A I8137 $00358A I8185 $0035BA
I8042 $00352B I8090 $00355B I8138 $00358B I8186 $0035BB
I8043 $00352C I8091 $00355C I8139 $00358C I8187 $0035BC
I8044 $00352D I8092 $00355D I8140 $00358D I8188 $0035BD
I8045 $00352E I8093 $00355E I8141 $00358E I8189 $0035BE
I8046 $00352F I8094 $00355F I8142 $00358F I8190 $0035BF
I8047 $003530 I8095 $003560 I8143 $003590 I8191 $0035C0
Table Structure: The ECT consists of a series of entries, with each entry creating one processed
(converted) feedback value. An entry in the ECT can have 1, 2, or 3 lines, with each line containing a 24-
bit setup word (I-variable) in Y-memory, and a 24-bit result register in X-memory. Therefore, each entry
contains 1, 2, or 3 of these 24-bit I-variables. The final result is always in the X-memory register
matching the last I-variable in the entry.
The variables that commonly contain the address of the last line of the entry are Ixx03 Motor xx Position-
Loop Feedback Address, Ixx04 Motor xx Velocity-Loop Feedback Address, Ixx05 Motor xx Master
Position Address and Isx93 Coordinate System x Time-Base Address.
The addresses for these variables can be specified directly using the above table (e.g. I103=$3501) or
by reference to the table I-variable with the special on-line command I{constant}=@I{constant},
which sets the first I-variable to the address of the second (e.g. I103=@I8000).
Entry First Line: The first lines setup register (I-variable) in each entry consists of a source address in
the low 19 bits (bits 0 18), which contains the Turbo PMAC address of the raw data to be processed, a
possible mode switch in bit 19 and a method value in the high 4 bits (first hex digit), which specifies how
this data is to be processed. If the first line (I-variable) in the entry is $000000, this signifies the end of
the active table, regardless of what subsequent entries in the table (higher numbered I-variables) contain.
Entry Additional Lines: Depending on the method, one or two additional lines (I-variables) may be
required in the entry to provide further instructions on processing.
The following table summarizes the content of entries in the Encoder Conversion Table:
Method
Digit
# of
lines
Process Defined Mode Switch First
Additional Line
Second
Additional Line
$0 1 1/T Extension of Incremental
Encoder
None - -
$1 1 Acc-28 style A/D converter (high
16 bits, no rollover)
0 = signed data
1 = unsigned data
- -
$2 2 Parallel Y-word data, no filtering 0 = normal shift
1 = unshifted
Width/Offset Word -
$3 3 Parallel Y-word data, with filtering 0 = normal shift
1 = unshifted
Width/Offset Word Max Change per Cycle
$4 2 Time Base scaled digital
differentiation
None Time Base Scale
Factor
-
$5 2 Integrated Acc-28 style A/D
converter
0 = signed data
1 = unsigned data
Input Bias -
$6 2 Parallel Y/X-word data, no filtering 0 = normal shift
1 = unshifted
Width/Offset Word -
$7 3 Parallel Y/X-word data, with
filtering
0 = normal shift
1 = unshifted
Width/Offset Word Max Change per Cycle
$8 1 Parallel Extension of Incremental
Encoder
0 = PMAC IC
1 = PMAC2 IC
- -
$9 2 Triggered Time Base, frozen 0 = PMAC IC
1 = PMAC2 IC
Time Base Scale
Factor
-
$A 2 Triggered Time Base, running 0 = PMAC IC
1 = PMAC2 IC
Time Base Scale
Factor
-
$B 2 Triggered Time Base, armed 0 = PMAC IC
1 = PMAC2 IC
Time Base Scale
Factor
-
$C 1 Incremental Encoder, no extension None - -
$D 3 Exponential filter of parallel data None Max Change per
Cycle
Filter Gain (Inverse
Time Constant)
$E 1 Sum or difference of entries None - -
$F - (Extended entry type determined
by first digit of second line)
- - -

$F/$0 3 High-Resolution Interpolator 0 = PMAC IC
1 = PMAC2 IC
$0 Method digit and
Address of first A/D
converter
A/D Bias Term
$F/$2 2 Byte-wide parallel Y-word data,
no filtering
0 = normal shift
1 = unshifted
$2 and Width/Offset
Word
-
$F/$3 3 Byte-wide parallel Y-word data,
with filtering
0 = normal shift
1 = unshifted
$3 and Width/Offset
Word
Max Change per Cycle
Incremental Encoder Entries ($0, $8, $C): These three conversion table methods utilize the
incremental encoder registers in the Servo ICs. Each method provides a processed result with the units of
(1/32) count the low five bits of the result are fractional data.
Software 1/T Extension: With the $0 method, the fractional data is computed by dividing the Time Since
Last Count register by the Time Between Last 2 Counts register. This technique is known as 1/T
extension and is the default and most commonly used method. It can be used with a digital incremental
encoder connected directly to the Turbo PMAC, through either PMAC-style or PMAC2-style Servo ICs.
Note:
1/T extension with eight bits of fractional resolution (units of 1/256 count) can be
gotten using the intermediate result value of the triggered time-base conversion in
running mode. This intermediate result is in the first line of the entry. If used for
position data, one true count of the position is considered by Turbo PMAC
software to be eight counts.
Parallel Extension: With the $8 method, the fractional data is computed by reading the five inputs at bits
19-23 either of the specified address (USERn, Wn, Vn, Un, and Tn flag inputs, respectively) if the mode
switch bit of the setup I-variable is set to 1 for PMAC2-style Servo ICs, or of the specified address plus
four (CHC[n+1], HMFL[n+1], +LIM[n+1], -LIM[n+1], FAULT[n+1]) if the mode switch bit of the setup
I-variable is set to 0 for PMAC-style Servo ICs. This technique is known as parallel extension, and can
be used with an analog incremental encoder processed through an Acc-8D Option 8 Analog Encoder
Interpolator board or its equivalent.
No Extension: In the $C method with the mode switch bit set to 0, the fractional data is always set to
zero, which means there is no extension of the incremental encoder count. This setting is used mainly to
verify the effect of one of the two extension methods. It is also recommended when feeding back the
pulse-and-direction outputs for stepper drives.
Hardware 1/T Extension: In the $C method with the mode switch bit set to 1, the fractional data is read
from a special timer-based register in the Servo IC that has already computed the fractional-count data in
hardware. This feature is supported only in the D-revision or newer (first shipments around the beginning
of 2002) of the PMAC2-style DSPGATE1 Servo ICs. The alternate timer registers for the encoder
channel must be selected by setting I7mn9 for the channel to 1.
Using this mode, permits timer-based sub-count capture and compare features to be used on this encoder
channel.
With any of these three conversion methods, the source address in the low 19 bits (bits 0 - 18) is that of
the starting register of the machine interface channel.
The first table below shows the entries for PMAC-style encoder channels. The m in the first hex digit
(bits 20 - 23) represents the conversion method ($0, $8, or $C). For the PMAC-style channels, the bit 19
mode switch is always 0, so the second hex digit is always 7 for the hardware registers.
Entries for PMAC-Style Servo ICs
Servo
IC #
0 $m78000 $m78004 $m78008 $m7800C First IC on board PMAC
1 $m78100 $m78104 $m78108 $m7810C Second IC on board PMAC
2 $m78200 $m78204 $m78208 $m7820C First IC on first Acc-24P/V
3 $m78300 $m78304 $m78308 $m7830C Second IC on first Acc-24P/V
4 $m79200 $m79204 $m79208 $m7920C First IC on second Acc-24P/V
5 $m79300 $m79304 $m79308 $m7930C Second IC on second Acc-24P/V
6 $m7A200 $m7A204 $m7A208 $m7A20C First IC on third Acc-24P/V
7 $m7A300 $m7A304 $m7A308 $m7A30C Second IC on third Acc-24P/V
8 $m7B200 $m7B204 $m7B208 $m7B20C First IC on fourth Acc-24P/V
9 $m7B300 $m7B304 $m7B308 $m7B30C Second IC on fourth Acc-24P/V
The next table shows the entry values for PMAC2-style encoder channels. The m in the first hex digit
(bits 20 23) represents the conversion method ($0, $8, or $C). The n in the second hex digit (bits 16
19) contains the bit 19 mode switch and the start of the source address. For methods $0 (software 1/T
extension) and $C (no extension), the bit 19 mode switch is 0, making the second hex digit 7. For method
$8 (parallel extension) or for method $C for hardware 1/T extension, the bit 19 mode switch is 1,
changing the second hex digit from 7 to F.
Entries for PMAC2-Style Servo ICs
Servo
IC #
0 $mn8000 $mn8008 $mn8010 $mn8018
1 $mn8100 $mn8108 $mn8010 $mn8018
2 $mn8200 $mn8208 $mn8210 $mn8218
3 $mn8300 $mn8308 $mn8310 $mn8318
4 $mn9200 $mn9208 $mn9210 $mn9218
5 $mn9300 $mn9308 $mn9310 $mn9318
6 $mnA200 $mnA208 $mnA210 $mnA218
7 $mnA300 $mnA308 $mnA310 $mnA318
8 $mnB200 $mnB208 $mnB210 $mnB218
9 $mnB300 $mnB308 $mnB310 $mnB318
Entries for PMAC2 MACRO IC 0:
Handwheel Channel #
PMAC2
Channel 1
$mn8410
Channel 2
$mn8418
These are single-line entries in the table, so the next line (I-Variable) is the start of the next entry.
Acc-28 Style A/D Entries ($1, $5): The A/D feedback entries read from the high 16 bits of the specified
address and shift the data right three bits so that the least significant bit of the processed result in bit 5.
Unlike the parallel feedback methods, this method will not roll over and extend the result.
The $1 method processes the information directly, essentially a copying with shift. The $5 integrates the
input value as it copies and shifts it. That is, it reads the input value, shifts it right three bits, adds the bias
term in the second line, and adds this value to the previous processed result.
If the bit 19 mode switch of the entry is 0, the 16-bit source value is treated as a signed quantity; this
should be used for the Acc-28A. If bit 19 of the entry is 1, the 16-bit value is treated as an unsigned
quantity; this should be used for the Acc-28B or the Acc-28E.
The first two tables show the entry values that should be used for Acc-28 boards interfaced to PMAC-
style Servo ICs. The m in the first hex digit refers to the method digit $1 for un-integrated; $5 for
integrated. Note that setting the bit 19 mode switch bit to 1 for the Acc-28B changes the second hex digit
from 7 to F.
Entries for PMAC-Style Servo ICs using Acc-28A
Servo
IC #
0 $m78006 $m78007 $m7800E $m7800F First IC on board PMAC
1 $m78106 $m78107 $m7810E $m7810F Second IC on board PMAC
2 $m78206 $m78207 $m7820E $m7820F First IC on first Acc-24P/V
3 $m78306 $m78307 $m7830E $m7830F Second IC on first Acc-24P/V
4 $m79206 $m79207 $m7920E $m7920F First IC on second Acc-24P/V
5 $m79306 $m79307 $m7930E $m7930F Second IC on second Acc-24P/V
6 $m7A206 $m7A207 $m7A20E $m7A20F First IC on third Acc-24P/V
7 $m7A306 $m7A307 $m7A30E $m7A30F Second IC on third Acc-24P/V
8 $m7B206 $m7B207 $m7B20E $m7B20F First IC on fourth Acc-24P/V
9 $m7B306 $m7B307 $m7B30E $m7B30F Second IC on fourth Acc-24P/V
Entries for PMAC-Style Servo ICs using Acc-28B
Servo
IC #
0 $mF8006 $mF8007 $mF800E $mF800F First IC on board PMAC
1 $mF8106 $mF8107 $mF810E $mF810F Second IC on board PMAC
2 $mF8206 $mF8207 $mF820E $mF820F First IC on first Acc-24P/V
3 $mF8306 $mF8307 $mF830E $mF830F Second IC on first Acc-24P/V
4 $mF9206 $mF9207 $mF920E $mF920F First IC on second Acc-24P/V
5 $mF9306 $mF9307 $mF930E $mF930F Second IC on second Acc-24P/V
6 $mFA206 $mFA207 $mFA20E $mFA20F First IC on third Acc-24P/V
7 $mFA306 $mFA307 $mFA30E $mFA30F Second IC on third Acc-24P/V
8 $mFB206 $mFB207 $mFB20E $mFB20F First IC on fourth Acc-24P/V
9 $mFB306 $mFB307 $mFB30E $mFB30F Second IC on fourth Acc-24P/V
The next table shows the entry values that should be used for Acc-28B boards interfaced to PMAC2-style
Servo ICs (Acc-28A is not compatible with these ICs). The m in the first hex digit refers to the method
digit $1 for un-integrated; $5 for integrated. Note that setting the bit 19 mode switch bit to 1 for the
Acc-28B changes the second hex digit from 7 to F.
Entries for PMAC2-Style ADC Registers Using Acc-28B
Register PMAC2 First
Acc-24P/V2
Second
Acc-24P/V2
Third
Acc-24P/V2
Fourth
Acc-24P/V2
ADC 1A $mF8005 $mF8205 $mF9205 $mFA205 $mFB205
ADC 1B $mF8006 $mF8206 $mF9206 $mFA206 $mFB206
ADC 2A $mF800D $mF820D $mF920D $mFA20D $mFB20D
ADC 2B $mF800E $mF820E $mF920E $mFA20E $mFB20E
The next table shows the entry values that should be used for Acc-28E boards in a UMAC Turbo system.
The m in the first hex digit refers to the method digit $1 for un-integrated; $5 for integrated. Note that
setting the bit 19 mode switch bit to 1 for the Acc-28E changes the second hex digit from 7 to F.
Entries for UMAC Acc-28E ADCs
I/O IC # SW1-1 SW1-2 SW1-3 SW1-4 Chan. 1 Chan. 2 Chan. 3 Chan. 4
0 ON ON ON ON $mF8C00 $mF8C01 $mF8C02 $mF8C03
1 OFF ON ON ON $mF8D00 $mF8D01 $mF8D02 $mF8D03
2 ON OFF ON ON $mF8E00 $mF8E01 $mF8E02 $mF8E03
3 OFF OFF ON ON $mF8F00 $mF8F01 $mF8F02 $mF8F03
4 ON ON OFF ON $mF9C00 $mF9C01 $mF9C02 $mF9C03
5 OFF ON OFF ON $mF9D00 $mF9D01 $mF9D02 $mF9D03
6 ON OFF OFF ON $mF9E00 $mF9E01 $mF9E02 $mF9E03
7 OFF OFF OFF ON $mF9F00 $mF9F01 $mF9F02 $mF9F03
8 ON ON ON OFF $mFAC00 $mFAC01 $mFAC02 $mFAC03
3 OFF ON ON OFF $mFAD00 $mFAD01 $mFAD02 $mFAD03
4 ON OFF ON OFF $mFAE00 $mFAE01 $mFAE02 $mFAE03
5 OFF OFF ON OFF $mFAF00 $mFAF01 $mFAF02 $mFAF03
6 ON ON OFF OFF $mFBC00 $mFBC01 $mFBC02 $mFBC03
7 OFF ON OFF OFF $mFBD00 $mFBD01 $mFBD02 $mFBD03
8 ON OFF OFF OFF $mFBE00 $mFBE01 $mFBE02 $mFBE03
9 OFF OFF OFF OFF $mFBE00 $mFBE01 $mFBE00 $mFBE03
Integration Bias: The $5 integrated format requires a second line to specify the bias of the A/D converter.
This bias term is a signed quantity (even for an unsigned A/D converter), with units of 1/256 of the LSB
of the 16-bit A/D converter. This value is subtracted from the reading of the ADC before the integration
occurs.
For example, if there were an offset in a 16-bit ADC of +5 LSBs, this term would be set to 1280. If no
bias is desired, a zero value should be entered here. If the conversion is unsigned, the result after the bias
is not permitted to be less than zero. This term permits reasonable integration, even with an analog offset.
Parallel Feedback Entries ($2, $3, $6, $7): The parallel feedback entries read a word from the address
specified in the low 19 bits (bits 0 to 18) of the first line. The four methods in this class are:
$2: Y-word parallel, no filtering (2-line entry)
$3: Y-word parallel, with filtering (3-line entry)
$6: Y/X-word parallel, no filtering (2-line entry)
$7: Y/X-word parallel, with filtering (3-line entry)
The Bit-19 mode switch in the first line controls whether the least significant bit (LSB) of the source
register is placed in Bit 5 of the result register (normal shift), providing the standard 5 bits of (non-existent)
fraction, or the LSB is placed in Bit 0 of the result register (unshifted), creating no fractional bits.
Normally, the Bit-19 mode switch is set to 0 to place the source LSB in Bit 5 of the result register. Bit 19
is set to 1 to place to source LSB in Bit 0 of the result register for one of three reasons:
The data already comes with five bits of fraction, as from a Compact MACRO Station.
The normal shift limits the maximum velocity too much (V
max
<2
18
LSBs per servo cycle)
The normal shift limits the position range too much (Range<+2
47
/Ix08/32 LSBs)
Unless this is done because the data already contains fractional information, the unshifted conversion will
mean that the motor position loop will consider 1 LSB of the source to be 1/32 of a count, instead of 1
count.
Width/Offset Word: The second setup line (I-variable) of a parallel read entry contains the width of the
data to be read, and the location of the LSB. This 24-bit value, usually represented as 6 hexadecimal digits,
is split evenly into two halves, each of 3 hex digits. The first half represents the width of the parallel data in
bits, and can range from $001 (1 bit wide not of much practical use) to $018 (24 bits wide).
The second half of the line contains the bit location of the LSB of the data in the source word, and can
range from $000 (Bit 0 of the Y-word at the source address is the LSB), through $017 (Bit 23 of the Y-
word at the source address), and $018 (Bit 24, which is Bit 0 of the next word, is the LSB) to $02F (Bit
47, which is Bit 23 of the next word, is the LSB).
If the LSB bit location exceeds 23, or the sum of the LSB bit location and the bit width exceeds 24, the
source data extends into the next word. If the method character is $2 or $3, the next word is the Y-word
at the source address + 1. If the method character is $6 or $7, the next word is the X-word at the source
address.
For example, to use 20 bits starting at bit 0 (bits 0 19) of the Y-word of the source address, this word
would be set to $014000. To use all 24 bits of the X-word of the source address, this word would be set
to $018018. To use 24 bits starting at bit 12 of the specified address (with the highest 12 bits coming
from the X-word or the next higher Y-address, this word would be set to $01800C.
Maximum Change Word: If the method character for a parallel read is $3 or $7, specifying filtered
parallel read, there is a third setup line (I-variable) for the entry. This third line contains the maximum
change in the source data in a single cycle that will be reflected in the processed result, expressed in LSBs
per servo cycle. The filtering that this creates provides an important protection against noise and
misreading of data. This number is effectively a velocity value, and should be set slightly greater than the
maximum true velocity ever expected.
Acc-14: The Accessory 14 family of boards is often used to bring parallel data feedback to the Turbo
PMAC, such as that from parallel absolute encoders, and from interferometers. The following table
shows the first line of the entries for Acc-14D/V boards connected to a Turbo PMAC controller over a
JEXP expansion port cable:
Entries for Acc-14D/V Registers
Register First Line Value Register First Line Value
First Acc-14D/V Port A $m78A00 Fourth Acc-14D/V Port A $m78D00
First Acc-14D/V Port B $m78A01 Fourth Acc-14D/V Port B $m78D01
Second Acc-14D/V Port A $m78B00 Fifth Acc-14D/V Port A $m78E00
Second Acc-14D/V Port B $m78B01 Fifth Acc-14D/V Port B $m78E01
Third Acc-14D/V Port A $m78C00 Sixth Acc-14D/V Port A $m78F00
Third Acc-14D/V Port B $m78C01 Sixth Acc-14D/V Port B $m78F01
MACRO Position Feedback: When position feedback is received through the MACRO ring, the
MACRO input registers are treated as parallel-data feedback. The following table shows the first line of
the entries for MACRO position feedback registers.
Entries for Type 1 MACRO Position Feedback Registers
Register First Line Value Register First Line Value
MACRO IC 0 Node 0 Reg. 0 $2F8420 MACRO IC 2 Node 0 Reg. 0 $2FA420
MACRO IC 0 Node 5 Reg. 0 $2F842C MACRO IC 2 Node 5 Reg. 0 $2FA42C
MACRO IC 0 Node 13 Reg. 0 $2F843C MACRO IC 2 Node 13 Reg. 0 $2FA43C
MACRO IC 1 Node 0 Reg. 0 $2F9420 MACRO IC 3 Node 0 Reg. 0 $2FB420
MACRO IC 1 Node 5 Reg. 0 $2F942C MACRO IC 3 Node 5 Reg. 0 $2FB42C
MACRO IC 1 Node 13 Reg. 0 $2F943C MACRO IC 3 Node 13 Reg. 0 $2FB43C
Note that the bit-19 mode switch has been set to 1 so that the data out of the MACRO node is not shifted.
This changes the second hex digit from 7 to F. Type 1 MACRO feedback comes with fractional count
information in the low five bits, so it does not need to be shifted.
The second line of an entry for MACRO feedback should be $018000 to specify the use of 24 bits ($018)
starting at bit 0 ($000).
When performing commutation of motors over the MACRO ring, it is advisable to get servo position
feedback data not directly from the MACRO ring registers, as shown above, but from the motors
previous phase position register instead. This is where the commutation algorithm has stored the position
it read from the ring (with Ixx83) for use in its next cycle.
Using this register prevents the possibility of jitter if the conversion table execution can be pushed too late
in the cycle. The following table shows the first line of the conversion table entry for each motors
previous phase position register:
Entries for Turbo PMAC Previous Phase Position Registers
Motor # First Line
Value
Motor # First Line
Value
Motor # First Line
Value
Motor # First Line
Value
1 $2800B2 9 $2804B2 17 $2808B2 25 $280CB2
2 $280132 10 $280532 18 $280932 26 $280D32
3 $2801B2 11 $2805B2 19 $2809B2 27 $280DB2
4 $280232 12 $280632 20 $280A32 28 $280E32
5 $2802B2 13 $2806B2 21 $280AB2 29 $280EB2
6 $280332 14 $280732 22 $280B32 30 $280F32
7 $2803B2 15 $2807B2 23 $280BB2 31 $280FB2
8 $280432 16 $280832 24 $280C32 32 $281032
Note:
The bit 19 mode switch has been set to 1 so that the data out of the previous phase
position register from the MACRO ring is not shifted. This changes the second
hex digit from 0 to 8. Type 1 MACRO feedback comes with fractional count
information in the low five bits, so it does not need to be shifted.
The second line of an entry for previous phase position feedback should be $018000 to specify the use of
24 bits ($018) starting at bit 0 ($000).
MLDT Feedback: PMAC2-style Servo ICs have the ability to interface directly to magnetostrictive linear
displacement transducers (MLDTs), outputting the excitation pulse, receiving the echo pulse, and
measuring the time between the two. This time is directly proportional to the distance. For this feedback
the time between last two counts register is used like an absolute encoder. The following table shows the
first line of the parallel feedback entry for each channels timer register:
Entries for PMAC2-Style MLDT Timer Registers
Servo
IC #
The second line in an MLDT entry should be $013000 to specify the use of 19 bits ($013) starting at bit 0
($000).
The third line in an MLDT entry should contain a number slightly greater than the maximum velocity
ever expected, expressed as timer increments per servo cycle. An increment of the 120 MHz timer
represents about 0.024mm (0.0009 in) on a typical MLDT device. This value represents the maximum
change in position reading that will be passed through the conversion table in a single servo cycle, and it
provides an important protection against missing or spurious echo pulses.
Time-Base Entries ($4, $9, $A, $B): A time-base entry performs a scaled digital differentiation of the
value in the source register. It is most often used to perform electronic cam functions, slaving a motion
sequence to the frequency of a master encoder. There are two types of time-base entries: untriggered
and triggered. An untriggered time base does not provide a specific starting point in the master source
data. A triggered time base starts the differentiation upon receipt of a hardware trigger on the master
encoders channel, referenced to the position captured by that trigger. This can be used to create an
absolute synchronization between the master position and the slave trajectory.
Time-base entries are two-line entries. The first setup line (I-variable) contains the method digit and the
address of the source-data register. The second setup line (I-variable) contains the time-base scale factor.
The first result line contains the intermediate result value of the source data, saved for the next cycle to be
able to compute the differentiation. The second result line contains the final result, which is the
differentiated value. Most commonly this result is used as the time-base source for a coordinate system,
so Isx93 for the coordinate system points to this second line.
Untriggered Time Base ($4): In an untriggered time-base entry, the first setup line (I-variable) contains a
4 in the method digit (bits 20 23) and the address of the source register in bits 0 18. The source
register is usually the result register of an incremental encoder entry (e.g. 1/T) higher in the table
(addresses $3501 to $35C0). Refer to the table above, which lists the addresses of each line in the
encoder conversion table. For example, to use the result of the fourth line of the conversion table as a
source, this I-variable would be $403504.
The second setup line (I-variable) is the time-base scale factor which multiplies the differentiated
source value. The final result value equals 2 * Time-Base-Scale-Factor * (New Source Value - Old
Source Value).
Typically, New Source Value and Old Source Value (stored from the previous servo cycle) are in units of
1/32 of a count, the usual scaling of a 1/T encoder conversion result.
When this time base entry is used to calculate a frequency-based time base for a coordinate system, the
TBSF should be set to 2
17
/Real-Time Input Frequency (131,072/RTIF), where the Real-Time Input
Frequency (RTIF) in counts per millisecond, is the frequency at which motion trajectories using this time
base will execute at the programmed speed or in the programmed time. The motion sequence to be slaved
to this frequency should be written assuming that the master is always generating this real-time input
frequency (so always moving at the real-time speed). The true speed of trajectories using this time base
will vary proportionately with the actual input frequency.
Example:
The application requires the use of Encoder 4 on board a Turbo PMAC2 as an untriggered time-base
master for Coordinate System 1. The real-time input frequency is selected as 256 counts/msec. The
conversion table starts with eight single-line entries in I8000 I8007, with the 4
th
line (I8003) doing a 1/T
conversion of Encoder 4.
Setup On-line Commands
I8003=$078018 ; 1/T conversion of Encoder 4
I8008=$403504 ; Unriggered time base from 1/T encoder
I8009=512 ; TBSF=131072/256
I5193=@I8009 ; C.S.1 use I8009 result for time base
Triggered Time Base ($9, $A, $B): A triggered time-base entry is like a regular untriggered time-base
entry, except that it is easy to freeze the time base, then start it exactly on receipt of a trigger that captures
the starting master position or time.
In a triggered time-base entry, the first setup line (I-variable) contains a 9 A or B in the method digit (bits
20 23), depending on its present state. It contains the address of the source register in bits 0 18. The
source register for triggered time base must be the starting (X) address for one of the machine interface
channels of a Servo IC. The bit 19 mode switch must be set to 0 if a PMAC-style Servo IC (DSPGATE)
is addressed; it must be set to 1 if a PMAC2-style Servo or MACRO IC (DSPGATE1 or DSPGATE2) is
addressed. Note that setting bit 19 to 1 changes the second hex digit of the I-variable from 7 to F.
The second setup line (I-variable) is the time-base scale factor which multiplies the differentiated source
value. The final result value (when running) equals 512 * Time-Base-Scale-Factor * (New Source Count
- Old Source Count). New Source Count and Old Source Count are the values of the addressed encoder
counter, in counts.
When this time-base entry is used to calculate a frequency-based time base for a coordinate system, the
TBSF should be set to 2
14
/Real-Time Input Frequency (16,384/RTIF), where the Real-Time Input
Frequency (RTIF) in counts per millisecond, is the frequency at which motion trajectories using this time
base will execute at the programmed speed or in the programmed time. (Note that the TBSF is 1/8 of the
value for an untriggered time base, because the triggered time base creates an extra 3 bits [8x] of
fractional information with its 1/T extension.) The motion sequence to be slaved to this frequency should
be written assuming that the master is always generating this real-time input frequency (so always moving
at the real-time speed). The true speed of trajectories using this time base will vary proportionately with
the actual input frequency.
A triggered time-base entry in Turbo PMAC automatically computes the 1/T count extension of the input
frequency itself before the differentiation. It computes this to 1/256 of a count. This is compared to the
1/32 of a count that the separate 1/T encoder extension uses.
The extra fractional information can reduce the quantization noise created by the differentiation and
provide smoother operation under external time base.
Note:
The intermediate result in the first line of a triggered time-base entry contains the
undifferentiated 1/T extension of the source encoder position, in units of 1/256 of a
count. This value can be used as feedback data or master position data, with more
resolution than the standard 1/T extension.
In use, the method digit (comprising bits 20-23 of the first line) is changed as needed by setting of the I-
variable. Triggered time base has three states, frozen, armed, and running, all of which must be used to
utilize the triggering feature.
First, the method digit is set to $9 (e.g. I8010=$978008) before the calculations of the triggered move are
started, to freeze the time base (and therefore the motion) while the move calculations are done. This is
typically done in the users motion program. When this entry is in the frozen state, the table reads the
channels capture position register each servo cycle to ensure the triggering logic is reset for the next
capture. The final result of the entry is always 0 when frozen.
Note:
In a Turbo PMAC application with a light computational load, it is possible that
the entry will not be in the frozen state during a servo interrupt, and the table will
not get a chance to reset the trigger logic. Therefore, it is advisable to reset the
triggering logic explicitly in the user program with a dummy read of the channels
captured position register, which is the X-register with an address 3 greater than
the address specified in the entry (e.g. X:$07800B if the entry specifies $078008).
The suggested M-variable for the captured position register is Mxx03.
Next, the method digit is set to $B (e.g. I8010=$B78008) after the calculations of the triggered move are
finished, to arm the time base for the trigger. Typically, this is done in a PLC program that looks to see if
the entry is frozen and changes it to the armed state. The final result of the entry is always 0 when armed.
In the armed state, the Table checks every servo cycle for the channels trigger bit to be set. When the
Table sees the trigger (the capture trigger for the machine interface channel as defined by I7mn2 and
I7mn3 for Servo IC m Channel n, or by I68n2 and I68n3 for MACRO IC 0 Channel n), it sets the method
digit to $A for running time base automatically. It uses the position captured by the trigger as the starting
position (time zero) for the running time base. (Those using this method for the reduced quantization
noise may simply leave the method digit at $A.)
The following tables show the possible first-line entries for triggered time base (running mode):
Triggered Time-Base Entries for PMAC-Style Servo ICs (Running State)
Servo
IC #
0 $A78000 $A78004 $A78008 $A7800C First IC on board PMAC
1 $A78100 $A78104 $A78108 $A7810C Second IC on board PMAC
2 $A78200 $A78204 $A78208 $A7820C First IC on first Acc-24P/V
3 $A78300 $A78304 $A78308 $A7830C Second IC on first Acc-24P/V
4 $A79200 $A79204 $A79208 $A7920C First IC on second Acc-24P/V
5 $A79300 $A79304 $A79308 $A7930C Second IC on second Acc-24P/V
6 $A7A200 $A7A204 $A7A208 $A7A20C First IC on third Acc-24P/V
7 $A7A300 $A7A304 $A7A308 $A7A30C Second IC on third Acc-24P/V
8 $A7B200 $A7B204 $A7B208 $A7B20C First IC on fourth Acc-24P/V
9 $A7B300 $A7B304 $A7B308 $A7B30C Second IC on fourth Acc-24P/V

Triggered Time-Base Entries for PMAC2-Style Servo ICs (Running State)
Servo
IC #
0 $AF8000 $AF8008 $AF8010 $AF8018 First IC on board PMAC2, 3U stack
1 $AF8100 $AF8108 $AF8010 $AF8018 Second IC on board PMAC2, 3U stack
2 $AF8200 $AF8208 $AF8210 $AF8218 First Acc-24E2x, first IC on first Acc-24P/V2
3 $AF8300 $AF8308 $AF8310 $AF8318 Second Acc-24E2x, second IC on first Acc-24P/V2
4 $AF9200 $AF9208 $AF9210 $AF9218 Third Acc-24E2x, first IC on second Acc-24P/V2
5 $AF9300 $AF9308 $AF9310 $AF9318 Fourth Acc-24E2x, second IC on second Acc-24P/V2
6 $AFA200 $AFA208 $AFA210 $AFA218 Fifth Acc-24E2x, first IC on third Acc-24P/V2
7 $AFA300 $AFA308 $AFA310 $AFA318 Sixth Acc-24E2x, second IC on third Acc-24P/V2
8 $AFB200 $AFB208 $AFB210 $AFB218 Seventh Acc-24E2x, first IC on fourth Acc-24P/V2
9 $AFB300 $AFB308 $AFB310 $AFB318 Eighth Acc-24E2x, second IC on fourth Acc-24P/V2
Entries for PMAC2 MACRO IC 0
Handwheel Channel # PMAC2
Channel 1 $AF8410
Channel 2 $AF8418
Example:
The application requires the use of Encoder 4 on board a Turbo PMAC2 as a triggered time base master
for coordinate system 1. It is to be triggered by the rising edge of its index channel. The real-time input
frequency is selected as 256 counts/msec. The conversion table starts with 8 single-line entries in I8000
I8007.
Setup On-line Command
I8008=$AF8018 ; Triggered time base from PMAC2 channel 4
I8009=64 ; TBSF=16384/256
I7042=1 ; Servo IC 0 Channel 4 trigger on rising index
I5193=@I8009 ; C.S.1 use I8009 result for time base
M403->X:$07801B,0,24,S ; Channels captured position register
Motion Program Segment
DWELL 0 ; Stop any lookahead
I8008=$9F8018 ; Freeze the time base
P403=M403 ; Dummy read to ensure capture logic reset
X10 ; Calculate first move
PLC Program Segment
IF (I8008=$9F8018) ; If frozen
I8008=$BF8018 ; Then arm
ENDIF
Exponential-Filter Entries ($D): The $D entry is used to create an exponential filter on a word of input
data. This is particularly useful for smoothing master position values in position following (electronic
gearing) or external time-base (electronic cam) applications, especially when the slave is geared up from
the master; i.e. the slave moves more than one count for each count of the master, where it can
significantly smooth the motion of the following axis. Exponential filters are seldom used on feedback
position values, because the delay introduced by the filter has a destabilizing effect on the servo loop.
The equation of the exponential filter executed every servo cycle n is:
Out(n) = Out(n-1) + (K/2
23
)*[In(n)-Out(n-1)]
If [Out(n) - Out(n-1)] > Max_change, Out(n) = Out(n-1) + Max_change
If [Out(n) - Out(n-1)] < -Max_change, Out(n) = Out(n-1) - Max_change
In, Out, and K are all signed 24-bit numbers (range -8,388,608 to 8,388,607). The difference [In(n)-
Out(n-1)] is truncated to 24 bits to handle rollover properly.
The time constant of the filter, in servo cycles, is (2
23
/K)-1. The lower the value of K, the longer the time
constant.
No shifting action is performed. Any operations such as 1/T interpolation should have been done on the
data already, so the source register for this filter is typically the result register of the previous operation.
Method/Address Word: The first setup line (I-variable) of an exponential filter entry contains a D in the
first hex digit (bits 20 23) and the address of the source X-register in bits 0 18. Bit 19 is not used. If
it is desired to execute an exponential filter on the contents of a Y-register, the contents of the Y-register
must first be copied to an X-register in the conversion table with a parallel entry ($2) higher in the table.
The source addresses for exponential filter entries are almost always from the conversion table itself
(X:$3501 X:$35CF). For example, to perform an exponential filter on the result of the fourth line of the
table, the first setup line of the filter entry would be $D03504.
Filter Gain Word: The second setup line (I-variable) of an exponential filter entry contains the filter gain
value K, which sets a filter time constant T
f
of (2
23
/K)-1 servo cycles. Therefore, the gain value K can be
set as 2
23
/(T
f
+1). For example, to set a filter time constant of 7 servo cycles, the filter gain word would be
8,388,608/(7+1) = 1,048,576.
Maximum Change Word: The third setup line (I-variable) of an exponential filter entry contains the value
max change that limits how much the entry can change in one servo cycle. The units of this entry are
whatever the units of the input register are, typically 1/32 of a count. For example, to limit the change in
one servo cycle to 64 counts with an input register in units of 1/32 count, this third line would be 64*32 =
2048.
Result Word: The output value of the exponential filter is placed in the X register of the third line of the
conversion table entry. An operation that uses this value should address this third register; for example
Ixx05 for position following, or the source address for a time-base conversion-table entry (to keep
position lock in time base, this filter must be executed before the time-base differentiation, not afterward).
Addition/Subtraction of Entries ($E): The $E entry is used to add the results of two other entries in the
Table, possibly after negating one or both of them (which can effectively create subtraction), with the
option of integrating the sum. It is a single-line entry.
Control Digit: The second hex digit of the I-variable consists of four independent control bits (bits 19-16)
and determines whether the result is integrated or not, whether a second source entry is used or not, and
whether each of the source entries is negated before addition or not.
If the bit 19 mode switch bit is 0, which makes the second hex digit 0, the values in the two specified
entries are simply added. If the mode switch bit 19 is 1, the sum of the two entries.
If bit 18 is set to 1, the second entry to be added (as specified by bits 8-15) is not used. This permits easy
negation (change in sign) of a single entry. If bit 18 is set to 0, the second entry is used.
If bit 17 is set to 1, the second entry to be added (as specified by bits 8-15) is negated before the addition,
which means that it is effectively subtracted from the first entry. If bit 17 is not set to 1, the second entry
to be added is not negated.
If bit 16 is set to 1, the first entry to be added (as specified by bits 0-7) is negated before the addition,
which means that it is effectively subtracted. If bit 16 is not set to 1, the first entry to be added is not
negated.
Second Source Offset: Bits 8-15, which form the third and fourth hex digits of the entry, specify the
offset from the beginning of the table to the second entry to be used used, as an unsigned 8-bit quantity.
The value in these digits should equal the number of the I-variable matching the second entry minus 8000.
First Source Offset: Bits 0-7, which form the fifth and sixth hex digits of the entry, specify the address
offset from the beginning of the table to the first entry to be used, as an unsigned 8-bit quantity. The
value in these digits should equal the number of the I-variable matching the first entry minus 8000.
Examples:
To add the results of the first two lines in the table, from I8000 and I8001, the I-variable would be
$E00100. The E specifies addition, the 0 specifies no integration, using the second source, and no
negation of either source. The 01 specifies the second line of the table (matching I8001) as the second
source, and the final 00 specifies the first line of the table (matching I8000) as the first source.
To subtract the result of the second line (from I8001) of the table from that of the first line (from I8000),
the I-variable would be $E20100. The E specifies addition, the 2 (0010 binary) specifies no integration,
using the second source, negating the second source, but not the first source. The 01 specifies the second
line of the table (matching I8001) as the second source, and the final 00 specifies the first line of the
table (matching I8000) as the first source.
To invert the 20
th
line of the table (from I8019), the I-variable would be $E50013. The E specifies
addition, the 5 (0101 binary) specifies no integration, not using the second source, and negating the first
source. The 00 is not important, because the second source is not used. The 13 (19 decimal) specifies the
result matching I8019 as the first source.
Extended Entries ($F): Encoder conversion table entries in which the first hex digit of the first line is
$F are extended entries. In these entries, the actual method is dependent on the first digit of the second
line. Extended entries are a minimum of two lines.
High-Resolution Interpolator Entries ($F/$0): An ECT entry in which the first hex digit of the first
line is $F and the first hex digit of the second line is $0 processes the result of a high-resolution
interpolator for analog sine-wave encoders, such as the Acc-51. This entry, when used with a high-
resolution interpolator, produces a value with 4096 states per line. The entry must read both an encoder
channel for the whole number of lines of the encoder, and a pair of A/D converters to determine the
location within the line, mathematically combining the values to produce a single position value.
Encoder Channel Address: The first line of the three-line entry contains $F in the first hex digit and the
base address of the encoder channel to be read in the low 19 bits (bits 0 to 18). If the bit-19 mode switch
of the line is set to 0, Turbo PMAC expects a PMAC-style Servo IC on the interpolator, as in the Acc-
51P. If the bit-19 mode switch bit is set to1, Turbo PMAC expects a PMAC2-style Servo IC on the
interpolator, as in the Acc-51E.
The following table shows the possible entries when PMAC-style Servo ICs are used, as in the Acc-51P.
High-Res Interpolator Entry First Lines for PMAC-Style Servo ICs
Servo IC # Channel 1 Channel 2 Channel 3 Channel 4
2 $F78200 $F78204 $F78208 $F7820C
3 $F78300 $F78304 $F78308 $F7830C
4 $F79200 $F79204 $F79208 $F7920C
5 $F79300 $F79304 $F79308 $F7930C
6 $F7A200 $F7A204 $F7A208 $F7A20C
7 $F7A300 $F7A304 $F7A308 $F7A30C
8 $F7B200 $F7B204 $F7B208 $F7B20C
9 $F7B300 $F7B304 $F7B308 $F7B30C

The following table shows the possible entries when PMAC2-style Servo ICs are used, as in the Acc-51E:
High-Res Interpolator Entry First Lines for PMAC2-Style Servo ICs
2 $FF8200 $FF8208 $FF8210 $FF8218
3 $FF8300 $FF8308 $FF8310 $FF8318
4 $FF9200 $FF9208 $FF9210 $FF9218
5 $FF9300 $FF9308 $FF9310 $FF9318
6 $FFA200 $FFA208 $FFA210 $FFA218
7 $FFA300 $FFA308 $FFA310 $FFA318
8 $FFB200 $FFB208 $FFB210 $FFB218
9 $FFB300 $FFB308 $FFB310 $FFB318
Note:
By setting the bit-19 mode switch to 1, the second hex digit changes from 7 to F.
A/D Converter Address: The second line of the entry contains $0 in the first hex digit and the base
address of the first of two A/D converters to be read in the low 19 bits (bits 0 to 18). The second A/D
converter will be read at the next higher address. The following table shows the possible entries when the
Acc-51P, with PMAC style Servo ICs, is used:
High-Res Interpolator Entry Second Lines for PMAC-Style Servo ICs
2 $078202 $078206 $07820A $07820E
3 $078302 $078306 $07830A $07830E
4 $079202 $079206 $07920A $07920E
5 $079302 $079306 $07930A $07930E
6 $07A202 $07A206 $07A20A $07A20E
7 $07A302 $07A306 $07A30A $07A30E
8 $07B202 $07B206 $07B20A $07B20E
9 $07B302 $07B306 $07B30A $07B30E
The following table shows the possible entries when PMAC2-style Servo ICs are used, as in the Acc-51E:
High-Res Interpolator Entry First Lines for PMAC2-Style Servo ICs
2 $078205 $07820D $078215 $07821D
3 $078305 $07830D $078315 $07831D
4 $079205 $07920D $079215 $07921D
5 $079305 $07930D $079315 $07931D
6 $07A205 $07A20D $07A215 $07A21D
7 $07A305 $07A30D $07A315 $07A31D
8 $07B205 $07B20D $07B215 $07B21D
9 $07B305 $07B30D $07B315 $07B31D
A/D Bias Term: The third line of the entry contains the bias in the A/D converter values. This line
should contain the value that the A/D converters report when they should ideally report zero. Turbo
PMAC subtracts this value from both A/D readings before calculating the arctangent. Most will leave
this value at 0, but it is particularly useful to remove the offsets of single-ended analog encoder signals.
This line is scaled so that the maximum A/D converter reading provides the full value of the 24-bit
register (+/-2
23
, or +/-8,388,608). It is generally set by reading the A/D converter values directly as 24-bit
values, computing the average value over a cycle or cycles, and entering this value here.
Conversion Result: The result of the conversion is placed in the X-register of the third line of the entry.
Careful attention must be paid to the scaling of this 24-bit result. The least significant bit (Bit 0) of the
result represents 1/4096 of a line of the sine/cosine encoder.
When Turbo PMAC software reads this data for servo use with Ixx03, Ixx04, Ixx05, or Isx93, it expects
to find data in units of 1/32 of a count. Therefore, PMAC software regards this format as producing 128
counts per line. (The fact that the hardware counter used produces 4 counts per line is not relevant to the
actual use of this format; this fact would only be used when reading the actual hardware counter for
commutation or debugging purposes.)
Example:
This format is used to interpolate a linear scale with a 40-micron pitch (40m/line), producing a
resolution of about 10 nanometers (40,000/4096), used as position feedback for a motor. PMAC
considers a count to be 1/128 of a line, yielding a count length of 40/128 = 0.3125 m. To set user units
of millimeters for the axis, the axis scale factor would be:
UserUnit
counts
3200
m 3125 . 0
count
*
mm
m 1000
*
UserUnit
mm 1
actor AxisScaleF = =

Byte-Wide Parallel Feedback Entries ($F/$2, $F/$3): An ECT entry in which the first hex digit of the
first line is $F and the first hex digit of the second line is $2 or $3 processes the result of a parallel data
feedback source whose data is in byte-wide pieces in consecutive Y-words. This is used to process
feedback from 3U-format parallel-data I/O boards: the Acc-3E in stack form, and the Acc-14E in pack
(UMAC) form.
Address Word: The first setup line (I-variable) of the entry contains $F in the first hex digit (bits 20-23).
The bit-19 mode-switch bit in the first line controls whether the least significant bit (LSB) of the source
register is placed in bit 5 of the result register (normal shift), providing the standard 5 bits of (non-existent)
fraction, or the LSB is placed in Bit 0 of the result register (unshifted), creating no fractional bits.
Normally, the Bit-19 mode switch is set to 0 to place the source LSB in Bit 5 of the result register. Bit 19
is set to 1 to place to source LSB in Bit 0 of the result register for one of three reasons:
The data already comes with five bits of fraction, as from a Compact MACRO Station.
The normal shift limits the maximum velocity too much (V
max
<2
18
LSBs per servo cycle)
The normal shift limits the position range too much (Range<+2
47
/Ix08/32 LSBs)
Unless this is done because the data already contains fractional information, the unshifted conversion will
mean that the motor position loop will consider one LSB of the source to be 1/32 of a count, instead of one
count.
Bits 0 to 18 of the first line contain the base address of the parallel data to be read. This is the address of
the least significant byte in the parallel feedback word. The following table shows the possible entries
when an Acc-3E stack I/O board is used:
Entry First Lines for Acc-3E 3U-Stack I/O Boards
Acc-3E Address Jumper
E1 E2 E3 E4
First-Line Value
$F7880x $F7890x $F78A0x $F78B0x

The following table shows the possible entries when the Acc-14E UMAC I/O board is used:
Entry First Lines for Acc-14E UMAC I/O Boards
DIP-Switch
Setting
SW1-1 ON (0)
SW1-2 ON (0)
SW1-1 OFF (1)
SW1-2 ON (0)
SW1-1 ON (0)
SW1-2 OFF (1)
SW1-1 OFF (1)
SW1-2 OFF (1)
SW1-3 ON (0)
SW1-4 ON (0)
$F78C0x $F78D0x $F78E0x $F78F0x
SW1-3 OFF (1)
SW1-4 ON (0)
$F79C0x $F79D0x $F79E0x $F79F0x
SW1-3 ON (0)
SW1-4 OFF (1)
$F7AC0x $F7AD0x $F7AE0x $F7AF0x
SW1-3 OFF (1)
SW1-4 OFF (1)
$F7BC0x $F7BD0x $F7BE0x $F7BF0x
A switch that is ON is CLOSED; a switch that is OFF is OPEN.
In both of these tables, the second digit should be changed from a 7 to an F if bit 19 is set to 1 to disable
the data shift.
I/O point on the board is used for the LSB:
x=0: I/O00-07 I/O48-55 I/O96-103
x=1: I/O08-15 I/O56-63 I/O104-111
x=2: I/O16-23 I/O64-71 I/O112-119
x=3: I/O24-31 I/O72-79 I/O120-127
x=4: I/O32-39 I/O80-87 I/O128-135
x=5: I/O40-47 I/O88-95 I/O136-143
Width/Offset Word: The second setup line (I-variable) of this parallel read entry contains information
about what data is to be read starting at the base address. This 24-bit value, usually represented as 6
hexadecimal digits, is split into four parts, as shown in the following table.
Hex Digit
1 2 3 4 5 6
Contents
2 or 3 Bit Width Byte LSB Location
The first hex digit contains a 2 or a 3. If it has a 2, there is no filtering of the data, and the entry is a 2-line
entry. If it has a 3, the input data is filtered to protect against noise or data corruption, and the entry is a
3-line entry, with the third line controlling the filtering.
The second and third digits represent the width of the parallel data in bits, and can range from $01 (1 bit
wide not of much practical use) to $18 (24 bits wide). If the value of these digits is from $01 to $08,
only the base address in the first line is used. If the value of these digits is from $09 to $10 (16), the base
address and the next higher-numbered address are used. If the value of these digits is from $11 to $18 (17
to 24), three addresses starting at the base address are used.
The fourth digit represents which byte of the source words is used. It has three valid values:
0: Low byte (bits 0 7)
1: Middle byte (bits 8 15)
2: High byte (bits 16 23)
The fifth and sixth digits contain the bit location of the LSB of the data in the source word at the base
address, and can range from $00 (Bit 0 of the source address is the LSB), through $07 (Bit 7 of the source
address is the LSB). To calculate this value, divide the number of the I/O point used for the LSB by 8
and use the remainder here. For example, if I/O19 is used for the LSB, the remainder of 19/16 is 3.
Maximum Change Word: If the method character for a parallel read is $3 or $7, specifying filtered
parallel read, there is a third setup line (I-variable) for the entry. This third line contains the maximum
change in the source data in a single cycle that will be reflected in the processed result, expressed in LSBs
per servo cycle. The filtering that this creates provides an important protection against noise and
misreading of data. This number is effectively a velocity value, and should be set slightly greater than the
maximum true velocity ever expected.


Turbo PMAC On-Line Command Specification 285
TURBO PMAC ON-LINE COMMAND SPECIFICATION
<CONTROL-A>
Function: Abort all programs and moves.
Scope: Global
Syntax: ASCII Value 1D; $01
This command aborts all motion programs and stops all non-program moves on the card. It also brings
any disabled or open loop motors to an enabled zero-velocity closed-loop state. Each motor will
decelerate at a rate defined by its own motor I-variable Ixx15. However, a multi-axis system may not stay
on its programmed path during this deceleration.
A <CTRL-A> stop to a program is not meant to be recovered from gracefully, because the axes will in
general not stop at a programmed point. An on-line J= command may be issued to each motor to cause it
to move to the end point that was programmed when the abort occurred. Then the programs can be
resumed with an R (run) command.
To stop a motion sequence in a manner that can be recovered from easily, use instead the Quit (Q or
<CTRL-Q>) or the Hold (H or <CTRL-O>) command.
When Turbo PMAC is set up to power on with all motors killed (Ixx80 = 0), this command can be used to
enable all of the motors (provided that they are not synchronous motors commutated by Turbo PMAC --
in that case, the motors should be enabled with the $ or $$ command).
For multiple cards on a single serial daisy-chain, this command affects all cards on the chain, regardless
of the current software addressing.
See Also:
Stop Commands (Making an Application Safe)
On-line commands A, $, $$, /, \, J=, H, <CTRL-O>, Q, <CTRL-Q>
I-variables Ixx15, Ixx80.
<CONTROL-B>
Function Report status word for eight motors.
Scope Global
Syntax ASCII Value 2D; $02
This command causes Turbo PMAC to report the status words for 8 selected motors to the host in
hexadecimal ASCII form, 12 characters per motor starting with the lowest-numbered of the selected
motors, with the characters for each motor separated by spaces. The characters reported for each motor
are the same as if the ? command had been issued for that motor.
The set of eight motors whose data is reported is selected by the most recent ##{constant} value for
this port:
##0: Motors 1 8 (default)
##1: Motors 9 16
##2: Motors 17 24
##3: Motors 25 32
The detailed meanings of the individual status bits are shown under the ? command description.
For multiple cards on a single serial daisy-chain, this command affects only the card currently addressed
in software (@n).
286 Turbo PMAC On-Line Command Specification
Example:
<CTRL-B>
812000804001 812000804001 812000A04001 812000B04001 050000000000 050000000000
050000000000 050000000000<CR>
See Also:
On-line commands <CTRL-C>, <CTRL-G>, ##, ##{constant}, ?, @n
Memory-map registers X:$0000B0, X:$000130, etc., Y:$0000C0, Y:$000140, etc.;
Suggested M-Variable definitions Mxx30-Mxx45.
<CONTROL-C>
Function: Report all coordinate system status words
Scope: Global
Syntax: ASCII Value 3D, $03
This command causes Turbo PMAC to report the status words for all 16 of the coordinate systems to the
host in hexadecimal ASCII form, 12 characters per coordinate system starting with coordinate system 1,
with the characters for each coordinate system separated by spaces. The characters reported for each
coordinate system are the same as the first twelve characters reported if the ?? command had been issued
for that coordinate system.
The detailed meanings of the individual status bits are shown under the ?? command description.
in software (by the @n command).
Example:
<CTRL-C>
A80020020000 A80020020000 A80020020000 A80020020000 A80020000000 A80020000000
A80020000000 A80020000000 A80020020000 A80020020000 A80020020000 A80020020000
A80020000000 A80020000000 A80020000000 A80020000000<CR>
See Also:
On-line commands <CTRL-B>, <CTRL-G>, ??;
Memory-map registers X:$002040, X:$0020C0, etc., Y:$00203F, Y:$0020BF, etc.;
Suggested M-variable definitions Msx80-Msx90.
<CONTROL-D>
Function: Disable all PLC programs.
Scope: Global
This command causes all PLC programs to be disabled (i.e. stop executing). This is the equivalent of
DISABLE PLC 0..31 and DISABLE PLCC 0..31. It is especially useful if a CMD or SEND
statement in a PLC has run amok.
Example:
TRIGGER FOUND
TRIGTRIGER FOTRIGGER FOUND
TRTRIGTRIGGER FOUND (Out-of-control SEND message from PLC)
<CTRL-D>......... (Command to disable the PLCs)
............................ (No more messages; can now edit PLC)

See Also:
On-line commands DISABLE PLC, ENABLE PLC, DISABLE PLCC, ENABLE PLCC, OPEN PLC
Program commands DISABLE PLC, ENABLE PLC, DISABLE PLCC, ENABLE PLCC, COMMAND,
SEND
<CONTROL-F>
Function: Report following errors for 8 motors.
Scope: Global.
This command causes Turbo PMAC to report the following errors of a set of 8 motors to the host. The
errors are reported in an ASCII string, each error scaled in counts, rounded to the nearest tenth of a count.
A space character is returned between the reported errors for each motor.
this port:
##1: Motors 9 16
##2: Motors 17 24
##3: Motors 25 32
Refer to the on-line F command for more detail as to how the following error is calculated.
Example:
<CTRL-F>
0.5 7.2 -38.3 1.7 0 0 0 0<CR>
See Also:
I-variables Ixx11, Ixx12
On-line commands ##, ##{constant}, F, <CTRL-P>, <CTRL-V>
<CONTROL-G>
Function: Report global status word.
Scope: Global
This command causes Turbo PMAC to report the global status words to the host in hexadecimal ASCII
form, using 12 characters. The characters sent are the same as if the ??? command had been sent,
although no command acknowledgement character (<ACK> or <LF>, depending on I3) is sent at the end
of the response.
The detailed meanings of the individual status bits are shown under the ??? command description.
Example:
<CTRL-G>
003000400000<CR>
See Also:
On-line commands <CTRL-B>, <CTRL-C>, ???
Memory-map registers X:$000006, Y:$000006.
<CONTROL-H>
Function: Erase last character.
Scope: Port specific
Syntax: ASCII Value 8D; $08 (<BACKSPACE>).
This character, usually entered by typing the <BACKSPACE> key when talking to Turbo PMAC in
terminal mode, causes the most recently entered character in Turbo PMAC's command-line-receive buffer
for this port to be erased.
See Also:
Talking to Turbo PMAC
On-line command <CTRL-O> (Feed Hold All)
<CONTROL-I>
Function: Repeat last command line.
Syntax: ASCII Value 9D; $09 (<TAB>).
This character, sometimes entered by typing the <TAB> key, causes the most recently sent alphanumeric
command line to Turbo PMAC on this port to be re-commanded. It provides a convenient way to quicken
a repetitive task, particularly when working interactively with Turbo PMAC in terminal mode. Other
control-character commands cannot be repeated with this command.
Note:
Most versions of the PMAC Executive Program trap a <CTRL-I> or <TAB> for
their own purposes, and do not send it on to Turbo PMAC, even when in terminal
mode.
Example:
This example shows how the tab key can be used to look for some event:
PC<CR>
P1:10<CR>
<TAB>
P1:10<CR>
<TAB>
P1:10<CR>
<TAB>
P1:11<CR>
See Also:
On-line command <CONTROL-Y>.
<CONTROL-K>
Function: Kill all motors.
Scope: Global
Syntax: ASCII Value 11D; $0B
This command kills all motor outputs by opening the servo loop, commanding zero output, and taking the
amplifier enable signal (AENAn) false (polarity is determined by jumper E17x on Turbo PMAC boards)
for all motors on the card. If any motion programs are running, they will be aborted automatically.
(For the motor-specific K (kill) command, if the motor is in a coordinate system that is executing a motion
program, the program execution must be stopped with either an A (abort) or Q (quit) command before
Turbo PMAC will accept the K command.)
See Also: On-line commands K, A, <CONTROL-A>.
<CONTROL-M>
Function: Enter command line.
Syntax: ASCII Value 13D; $0D (<CR>)
This character, commonly known as <CR> (carriage return), causes the alphanumeric characters in the
Turbo PMAC's command-line-receive buffer for this port to be interpreted and acted upon. (Control-
character commands do not require a <CR> character to execute.)
Note that for multiple Turbo PMACs daisy-chained together on a serial interface, this will act on all cards
simultaneously, not just the software-addressed card. For simultaneous action on multiple cards, it is best
to load up the command-line-receive buffers on all cards before issuing the <CR> character.
Example:
#1J+<CR>
P1<CR>
@0&1B1R@1&1B7R<CR> (This causes card 0 on the serial daisychain to
............................ have its CS 1 execute PROG 1 and card 1 to
............................ have its CS 1 execute PROG 7 simultaneously.)
See Also: Talking to Turbo PMAC
<CONTROL-N>
Function: Report command line checksum.
Syntax: ASCII Value 14D; $0E
This character causes Turbo PMAC to calculate and report the checksum of the alphanumeric characters
of the present command line (i.e. since the most recent carriage-return character) for this port.
As typically used, the host computer would send the entire command line up to, but not including, the
carriage return. It would then send the <CTRL-N> character, and Turbo PMAC would return the
checksum value. If this value agreed with the host's internally calculated checksum value, the host would
then send the <CR> and Turbo PMAC would execute the command line. If the values did not agree, the
host would send a <CTRL-X> command to erase the command line, then resend the line, repeating the
process.
Note:
The PMAC Executive Program terminal mode will not display the checksum
values resulting from a <CTRL-N> command.
Example:
With I4=1 and I3=2:
Host sends:..........J+<CTRL-N>
Turbo PMAC sends: <117dec> (117=74[J] + 43[+]; correct)
Host sends:..........<CR>
Turbo PMAC sends: <ACK><117dec> (handshake & checksum again)
Host sends:..........J/<CTRL-N>
Turbo PMAC sends: <122dec> (122 != 74[J] +47[/]; incorrect)
Host sends:..........<CTRL-X> (Erase the incorrect command)
............................J/<CTRL-N> (Send the command again)
Turbo PMAC sends: <121dec> (121 = 74[J] + 47[/]; correct)
Host sends:..........<CR>
Turbo PMAC sends: <ACK><121dec> (handshake & checksum again)
See Also:
Communications Checksum (Writing a Host Communications Program)
I-variables I3, I4
On-line commands <CTRL-M> (<CR>), <CTRL-X>
<CONTROL-O>
Function: Feed hold on all coordinate systems.
Scope: Global
Syntax: ASCII Value 15D; $0F
This command causes all coordinate systems in Turbo PMAC to undergo a feed hold. It is equivalent to
issuing the H command to each coordinate system. Refer to the H command specification for more detail
on the action.
A feed hold is much like a %0 command where the coordinate system is brought to a stop without
deviating from the path it was following, even around curves. However, with a feed hold, the coordinate
system slows down at a slew rate determined by Isx95, and can be started up again with an R
(run)command. The system then speeds up at the rate determined by Isx95, until it reaches the desired %
value (from internal or external timebase). From then on, any timebase changes occur at a rate
determined by Isx94.
See Also:
Resetting Turbo PMAC (Talking to Turbo PMAC)
On-line commands <CTRL-H> (backspace) H (feedhold), R (run), % (feedrate override).
<CONTROL-P>
Function: Report positions for eight motors.
Scope: Global
This command causes the positions of a selected eight motors to be reported to the host. The positions
are reported as a decimal ASCII string, scaled in counts, rounded to the nearest 1/32 of a count, with a
space character in between each motors position.
this port:
##1: Motors 9 16
##2: Motors 17 24
##3: Motors 25 32
The position window in the Turbo PMAC Executive program works by repeatedly sending the <CTRL-
P> command and rearranging the response into the window.
Turbo PMAC reports the value of the actual position register plus the position bias register plus the
compensation correction register, and if bit 1 of Ixx06 is 1 (handwheel offset mode), minus the master
position register.
Example:
<CTRL-P>
9999.5 10001.2 5.7 -2.1 0 0 0 0<CR>
See Also:
On-line commands ##, ##{constant}, P, <CTRL-V>, <CTRL-F>.
<CONTROL-Q>
Function: Quit all executing motion programs.
Scope: Global
This command causes any and all motion programs running in any coordinate system to stop executing
either at the end of the currently executing move, or after the moves that have already been calculated are
finished, depending on the mode. It is equivalent to issuing the Q command to all coordinate systems.
Refer to the Q command description for more details.
Program execution may be resumed from this point with the R (run) or S (step) commands.
See Also:
On-line commands <CTRL-A>, <CTRL-K>, <CTRL-O>, <CTRL-R>, <CTRL-S>, Q
Motion-program command STOP.
<CONTROL-R>
Function: Begin execution of motion programs in all coordinate systems.
Scope: Global
This command is the equivalent of issuing the R (run) command to all coordinate systems in Turbo
PMAC. Each active coordinate system (i.e. one that has at least one motor assigned to it) that is to run a
program must already be pointing to a motion program (initially this is done with a B{prog num}
command).
Example:
&1B1&2B500<CR>
<CTRL-R>
See Also:
Executing a Motion Program (Writing a Motion Program)
On-line commands R, B{constant}
<CONTROL-S>
Function: Step working motion programs in all coordinate systems.
Scope: Global
This command is the equivalent of issuing an S (step) command to all of the coordinate systems in Turbo
PMAC.
Each active coordinate system (i.e. one that has at least one motor assigned to it) that is to run a program
must already be pointing to a motion program (initially this is done with a B{prog num} command).
A program that is not running will execute all lines down to and including the next motion command
(move or dwell), or if it encounters a BLOCKSTART command first, all lines down to and including the
next BLOCKSTOP command.
If a program is already running in continuous execution mode (from an R (run) command), an S
command will put the program in single-step mode, stopping execution after the next motion command).
In this situation, it has exactly the same effect as a Q (quit) command.
For multiple cards on a single serial daisy chain, this command affects all cards on the chain, regardless of
the current software addressing.
See Also:
On-line commands <CTRL-A>, <CTRL-O>, <CTRL-Q>, <CTRL-R>, A, H, O, Q, R, S;
Motion-program commands BLOCKSTART, BLOCKSTOP, STOP.
Control-panel port (JPAN) input STEP/.
<CONTROL-T>
Function: Cancel MACRO pass-through mode
Scope: Global
This command causes Turbo PMAC to cancel the MACRO pass-through mode it had been put in with the
MACROMSTASCII or the MACROSTASCII command on this port. In the MACRO pass-through mode,
any command received on the port is passed on to another master on the ring through the MACRO link,
the response is received over the ring from the other master, and this response is reported back to the host
over this port.
The <CONTROL-T> command ends this mode, and resumes normal communications over this port.
Subsequent commands on the port are acted on by this Turbo PMAC, and responses go directly over the
communications port to the host computer.
If I63 is set to its default value of 0, Turbo PMAC sends no acknowledgment that it has finished its action
on the <CTRL-T> command. If I63 is set to 1, Turbo PMAC acknowledges that it has finished its action
by returning a <CTRL-X> character back to the host.
If the port that receives the <CONTROL-T> command is not currently in the MACRO pass-through
mode, Turbo PMAC will take no action on receipt of the command.
See Also:
MACRO Master-to-Master Communications
On-line command MACROMSTASCII, MACROSTASCII
<CONTROL-V>
Function: Report velocity for eight motors.
Scope: Global
This command causes Turbo PMAC to report the velocities of a selected set of eight motors to the host.
Typically, the velocity units are scaled in encoder counts per servo cycle, rounded to the nearest tenth.
The velocity window in the Turbo PMAC Executive program works by repeatedly issuing the <CTRL-
V> command and displaying the response on the screen.
To scale these values into counts/msec, multiply the response by 8,388,608/I10 (servo cycles/msec).
this port:
##1: Motors 9 16
##2: Motors 17 24
##3: Motors 25 32
This command returns filtered velocity values, with the filter time constant controlled by global variables
I60 and I61. It does not report the raw velocity register calculated by the servo loop each servo cycle.
For multiple cards on a single serial daisy chain, this command affects only the card currently addressed
in software (@n).
See Also:
I-variables I10, I59 I60, I61 Ixx60
On-line commands <CTRL-B>, <CTRL-F>, <CTRL-P>, ##, ##{constant}, V
<CONTROL-X>
Function: Cancel in-process communications.
Scope: Port-specific
This command causes the Turbo PMAC to stop sending any messages that it had started to send, even
multi-line messages, on the port over which this command is sent. This also causes Turbo PMAC to
empty the ports command queue from the host, so it will erase any partially sent commands.
It can be useful to send this before sending a query command for which an exact response format is
expected, if not sure what Turbo PMAC has been doing before, because it makes sure nothing else comes
through before the expected response. As such, it is often the first character sent to Turbo PMAC from
the host when trying to establish initial communications.
If I63 is set to its default value of 0, Turbo PMAC sends no acknowledgment that it has finished its action
on the <CTRL-X> command. If I63 is set to 1, Turbo PMAC acknowledges that it has finished its action
by echoing the <CTRL-X> character back to the host.
This can result in more efficient communications, and is supported in PCOMM32 communications
routines in V2.21 and newer (March 1999 and later).
Note:
This command empties the command queue in Turbo PMAC RAM, but it cannot
erase the 1 or 2 characters already in the response port. A robust algorithm for
clearing responses would include two-character read commands that can time-out
if necessary.
For multiple cards on a single serial daisy chain, this command affects all cards on the chain, regardless of
the current software addressing.
See Also:
I-variable I63
On-line command <CTRL-H>
!{axis}{constant}[{axis}{constant}]
Function: Alter destination of RAPID move
Scope: Coordinate-system specific
Syntax: !{axis}{constant}[{axis}{constant}]
where:
{axis} is the letter specifying which axis (X, Y, Z, A, B, C, U, V, W);
{constant} is a numerical value representing the end position;
[{axis}{constant}] is the optional specification of simultaneous movement for more axes.
or
!{axis}Q{constant}[{axis}Q{constant}]
where:
{axis} is the letter specifying which axis (X, Y, Z, A, B, C, U, V, W);
{constant} is a numerical value representing the number or the Q-variable whose value specifies
the end position;
[{axis}Q{constant}] is the optional specification of simultaneous movement for more axes.
This command creates a RAPID-mode move of the specified axis or axes to the specified destinations. If
another RAPID-mode move of an axis is in progress, that move is broken into and the motion of the axes
is blended into the move to this new destination, effectively altering the destination of the move in
progress.
Each axis destination can be specified either directly as a numerical constant (e.g. !X63.72), or
indirectly by specifying the Q-variable whose value represents the axis destination (e.g. !XQ15).
In either case, the destination value for each axis is in the scaled engineering units for the axis. The
destination value always represents the end position for the axis, relative to program zero, even if the axis
is currently in incremental mode. Execution of this command does not change the mode of the axis. The
order in which the axes are specified in this command does not matter.
If a programmed move of a mode other than RAPID is in progress when this command is sent, this
command will be rejected with an error.
If no move is in progress when this command is sent, this command will simply execute a RAPID-mode
move to the specified destination. In this case, before starting the move, Turbo PMAC will execute the
PMATCH position-matching function automatically to make sure motor and axis positions are properly
linked in order for the move to execute properly.
Examples:
!X5
!X23.762 Y-345.124
!A-90.2 B37.3
!XQ152 YQ154
!XQ30 Y37.936
See Also:
Altered Destination Moves
RAPID-Mode Moves
I-Variables Ixx16, Ixx19, Ixx20, Ixx21, Ixx22, Ixx90, Ixx92
@
Function: Report currently addressed card on serial daisy-chain
Scope: Global
Syntax: @
This command causes the addressed Turbo PMAC on a serial daisy-chain to report its number to the host.
The number is set by variable I0 on the board, and can range from 0 to 15. If all cards are addressed, card
@0 will return an @ character.
I1 must be set to 2 or 3 for this command to be accepted. Otherwise, ERR003 is reported.
Example:
@ ; Ask Turbo PMAC chain which card is addressed
4 ; Turbo PMAC @4 reports that it is addressed
See Also:
Addressing Commands (Talking to Turbo PMAC)
Multiple-Card Applications (Synchronizing Turbo PMAC to External Events)
I-variables I0, I1
On-line commands #, #{constant}, &, &{constant}, @{constant}
@{card}
Function: Address a card on the serial daisychain.
Scope: Global
Syntax: @{card}
where:
{card} is a hexadecimal digit (0 to 9, A to F), representing the number of the card on the serial
daisychain to be addressed; or the @ character, denoting that all cards are to be addressed
simultaneously.
This command makes the Turbo PMAC board specified by {card} the addressed board on the serial
daisychain. (the one on which subsequent commands will act). The number for each board is set by
variable I0 on the board. The addressing is modal, so all further commands will affect this board until a
different board is addressed. At power-up/reset, Board @0 is addressed.
I1 must be set to 2 or 3 for this command to be accepted. Otherwise, ERR003 is reported.
To address all cards simultaneously, use the @@ command. Query commands (those requiring a data
response) will be rejected in this mode.
It is best to send a <CR> carriage return character immediately after the @{card} command before any
other command is sent, to give the card that had been addressed time to tri-state its serial port outputs so
that it will not interfere with the response of the newly addressed card.
This command should only be used when multiple Turbo PMAC cards are connected on a single serial
cable. In this case, I-variable I1 should be set to 2 or 3 on all boards.
Example:
I1=2@0 ; This sequence can be used the first time talking to
multiple cards on a chain to put them in the proper configuration.
@0#1J+ ; Jog motor 1 of Card 0.
@5P20 ; Request the value of P20 on card @5
@@R ; All cards, addressed C.S. run active program
See Also:
Addressing Commands (Talking to Turbo PMAC)
Multiple-Card Applications (Synchronizing Turbo PMAC to External Events)
I-variables I0, I1
On-line commands #, &, &{constant}, @
#
Function: Report ports currently addressed motor
Syntax: #
This command causes Turbo PMAC to return the number of the motor currently addressed for the
communications port over which this command is sent.
This is the motor that will act on subsequent motor-specific commands sent over this port until a different
motor is addressed with a #{constant} command.
Other communications ports may be addressing different motors at the same time, as set by
#{constant} commands sent over those ports. In addition, each background PLC program can
individually modally address a motor using the ADDRESS statement for subsequent COMMAND
statements, and the hardware control panel on a Turbo PMAC can separately select a motor for its
hardware inputs.
Note:
In firmware versions 1.934 and older, all communications ports addressed the
same motor, so a #{constant} command sent over any port set the addressed
motor for all ports.
Example:
# ; Ask Turbo PMAC which motor is addressed
2 ; Turbo PMAC reports that motor 2 is addressed
See Also:
Control-Panel Port Inputs (Connecting Turbo PMAC to the Machine)
On-line commands #{constant}, &, &{constant}, @{constant}
Program commands ADDRESS, COMMAND
#{constant}
Function: Select ports addressed motor
Syntax: #{constant}
where:
{constant} is an integer from 1 to 32, representing the number of the motor to be addressed
This command makes the motor specified by {constant} the addressed motor for the communications
port over which this command is sent. This is the motor that will act on subsequent motor-specific
commands sent over this port until a different motor is addressed with another #{constant}
command.
Other communications ports may be addressing different motors at the same time, as set by
#{constant} commands sent over those ports. In addition, each background PLC program can
individually modally address a motor using the ADDRESS statement for subsequent COMMAND
statements, and the hardware control panel on a Turbo PMAC can separately select a motor for its
hardware inputs.
Note:
same motor, so a #{constant} command sent over any port set the addressed
motor for all ports.
Example:
#1J+ ; Command Motor 1 to jog positive
J- ; Command Motor 1 to jog negative
#2J+ ; Command Motor 2 to jog positive
J/ ; Command Motor 2 to stop jogging
See Also:
Control-Panel Port Inputs (Connecting Turbo PMAC to the Machine)
Addressing commands (Talking to Turbo PMAC)
Program commands COMMAND, ADDRESS
On-line commands #, &, &{constant}, @{constant}
#{constant}->
Function: Report the specified motor's coordinate system axis definition.
Syntax: #{constant}->
where:
{constant} is an integer from 1 to 32 representing the number of the motor whose axis definition
is requested
Note:
No spaces are allowed in this command.
This command causes Turbo PMAC to report the current axis definition of the specified motor in the
currently addressed coordinate system. If the motor has not been defined to an axis in the currently
addressed system, Turbo PMAC will return a 0 (even if the motor has been assigned to an axis in another
coordinate system). A motor can have an axis definition in only one coordinate system at a time.
Example:
&1 ; Address Coordinate System 1
#1-> ; Request Motor 1 axis definition in C.S. 1
10000X ; Turbo PMAC responds with axis definition
&2 ; Address Coordinate System 2
#1-> ; Request Motor 1 axis definition in C.S. 2
0 ; Turbo PMAC shows no definition in this C.S.
See Also:
Axes, Coordinate Systems (Setting Up a Coordinate System)
On-line commands #{constant}->0, #{constant}->{axis definition}, UNDEFINE,
UNDEFINE ALL.
#{constant}->0
Function: Clear axis definition for specified motor.
Syntax: #{constant}->0
where:
is to be cleared
Note:
No spaces are allowed in this command.
This command clears the axis definition for the specified motor if the motor has been defined to an axis in
the currently addressed coordinate system. If the motor is defined to an axis in another coordinate
system, this command will not be effective. This allows the motor to be redefined to another axis in this
coordinate system or a different coordinate system.
Compare this command to UNDEFINE, which erases all the axis definitions in the addressed coordinate
system, and to UNDEFINE ALL, which erases all the axis definitions in all coordinate systems.
Example:
This example shows how the command can be used to move a motor from one coordinate system to
another:
&1 ; Address C.S. 1
#4-> ; Request definition of #4
5000A ; Turbo PMAC responds
#4->0 ; Clear definition
&2 ; Address C.S. 2
#4->5000A ; Make new definition in C.S. 2
See Also:
On-line commands UNDEFINE, UNDEFINE ALL, #{constant}->{axis definition}.
#{constant}->{axis definition}
Function: Assign an axis definition for the specified motor.
Syntax: #{constant}->{axis definition}
where:
is to be made;
{axis definition} consists of 1 to 3 sets of [{scale factor}]{axis}, separated by the
+ character, in which:
the optional {scale factor} is a floating-point constant representing the number of motor
counts per axis unit (engineering unit); if none is specified, Turbo PMAC assumes a value of 1.0;
{axis} is a letter (X, Y, Z, A, B, C, U, V, W) representing the axis to which the motor is to be
matched;
[+{offset}] (optional) is a floating-point constant representing the difference between axis
zero position and motor zero (home) position, in motor counts; if none is specified, Turbo PMAC
assumes a value of 0.0
Note:
No space is allowed between the motor number and the arrow double character, or
between the scale factor and the axis letter.
This command assigns the specified motor to a set of axes in the addressed coordinate system. It also
defines the scaling and starting offset for the axis or axes.
In the vast majority of cases, there is a one-to-one matching between Turbo PMAC motors and axes, so
this axis definition statement only uses one axis name for the motor.
A scale factor is typically used with the axis character, so that axis moves can be specified in standard
units (e.g. millimeters, inches, degrees). This number is what defines what the user units will be for the
axis. If no scale factor is specified, a user unit for the axis is one motor count.
Occasionally an offset parameter is used to allow the axis zero position to be different from the motor
home position. (This is the starting offset; it can later be changed in several ways, including the PSET,
{axis}=, ADIS, and IDIS commands).
If the specified motor is currently assigned to an axis in a different coordinate system, Turbo PMAC will
reject this command (reporting an ERR003 if I6=1 or 3). If the specified motor is currently assigned to an
axis in the addressed coordinate system, the old definition will be overwritten by this new one.
To undo a motor's axis definition, address the coordinate system in which it has been defined, and use the
command #{constant}->0. To clear all of the axis definitions within a coordinate system, address
the coordinate system and use the UNDEFINE command. To clear all axis definitions in all coordinate
systems, use UNDEFINE ALL.
For more sophisticated systems, two or three cartesian axes may be defined as a linear combination of the
same number of motors. This allows coordinate system rotations and orthogonality corrections, among
other things. One to three axes may be specified (if only one, it amounts to the simpler definition above).
All axes specified in one definition must be from the same triplet set of cartesian axes: XYZ or UVW. If
this multi-axis definition is used, a command to move an axis will result in multiple motors moving.
Example:
#1->X ; User units = counts
#4->2000 A ; 2000 counts/user unit
#9->3333.333Z-666.667 ; Non-integers OK
#3->Y ; 2 motors may be assigned to the same axis;
#2->Y ; both motors move when a Y move is given
#1->8660X-5000Y ;This provides a 30o rotation of X and Y...
#2->5000X+8660Y ;with 10000 cts/unit -- this rotation does
#3->2000Z-6000 ;not involve Z, but it could have
This example corrects for a Y axis 1 arc minute out of square:
#5->100000X ;100000 cts/in
#6->-29.1X+100000Y ;sin and cos of 1/60
See Also:
On-line commands #{constant}->, #{constant}->0, UNDEFINE, UNDEFINE ALL.
#{constant}->I
Function: Assign inverse-kinematic definition for specified motor
Syntax: #{constant}->I[+{offset}]
where:
is to be made;
[+{offset}] (optional) is a floating-point constant representing the difference between axis zero
position and motor zero (home) position, in motor counts; if none is specified, Turbo PMAC assumes
a value of 0.0
Note:
No space is allowed between the motor number and the arrow double character.
This command assigns the specified motor to an inverse-kinematic axis in the addressed coordinate
system. It also defines the offset for the axis. A motor assigned in this way must get its commanded
positions each programmed move or segment from the inverse-kinematic program for the coordinate
system. This program, created with an OPEN INVERSE command, is executed automatically each
programmed move or segment if Isx50 for the coordinate system is set to 1.
At the end of each execution of the inverse-kinematic program for the coordinate system, Turbo PMAC
expects to find the motor position calculated by the program for each Motor xx in the coordinate system
defined as an inverse-kinematic axis in variable Pxx (e.g. P13 for Motor 13).
See Also:
Inverse Kinematics
I-variable Isx50
On-line commands OPEN FORWARD, OPEN INVERSE
##
Function: Report ports motor group
Syntax: ##
This command causes Turbo PMAC to return the number of the motor group currently selected on this
port for on-line commands <CTRL-B>, <CTRL-F>, <CTRL-P>, and <CTRL-V>. This value can be set
for the port by the ##{constant} command, and defaults to 0 on power-up/reset. Each
communications port can have a different value.
Note:
This is not related to the individual motor addressed with the # command, and
reported with the #{constant} command
The possible values returned and the motors they represent are:
0: Motors 1 8
1: Motors 9 16
2: Motors 17 24
3: Motors 25 32
Note:
In Turbo PMAC firmware versions 1.934 and older, this function was controlled
commonly for all ports by global I-variable I59.
See Also:
I-variable I59
On-line commands <CTRL-B>, <CTRL-F>, <CTRL-P>, <CTRL-V>, ##{constant}
##{constant}
Function: Select ports motor group
Syntax: ##{constant}
where:
{constant} is an integer from 0 to 3 representing the motor group
This command selects the group of eight motors whose data will be supplied in response to subsequent
<CTRL-B> (report motor status words), <CTRL-F> (report motor following errors), <CTRL-P> (report
motor positions), and <CTRL-V> (report motor velocities) commands issued on this same port. It does
not affect the behavior of these commands issued on any other port.
Note:
This is not related to the individual motor addressed with the # command, and
reported with the #{constant} command
The possible versions of the ##{constant} command and the motors they select are:
##0: Motors 1 8
##1: Motors 9 16
##2: Motors 17 24
##3: Motors 25 32
Note:
In Turbo PMAC firmware versions 1.934 and older, this function was controlled
commonly for all ports by global I-variable I59.
See Also:
I-variable I59
On-line commands <CTRL-B>, <CTRL-F>, <CTRL-P>, <CTRL-V>, ##
$
Function: Establish phase reference for motor
Scope: Motor specific
Syntax: $
This command causes Turbo PMAC to attempt to establish the phase reference and close the servo loop
for a PMAC-commutated (Ixx01 bit 0 = 1) synchronous (Ixx78 = 0) motor. On other types of motors,
where there is no need to establish a phase reference, the $ command will simply close the servo loop for
the motor (a J/ command is also suitable for these motors).
The phase reference for a synchronous PMAC-commutated can be established either by a phasing search
move if Ixx74 > 0, or by an absolute position read if Ixx81 > 0. If both of these variables are set to 0,
Turbo PMAC will set the phase reference error status bit for the motor on a $ command, leaving the
motor in the killed state, and not permitting the servo loop to be closed until the error status bit is
cleared.
If Ixx80 bit 0 is saved as 0, no phase reference is performed automatically at power-up or reset of the full
board, and the phase reference error bit is set, prohibiting the closing of the servo loop. A subsequent $
command, successfully executed, is required to establish the phase reference for synchronous, PMAC-
commutated motor.
If Ixx80 bit 0 is saved as 1, the phase reference operation is performed automatically at power-up or reset
of the full board. In this case it is possible, but not required, to re-establish the phase reference with a
subsequent $ command.
A phasing search move checks for any of the following error conditions both before and after the search:
Hardware overtravel limits
Amplifier fault
I
2
T overcurrent fault
Fatal following error fault
Integrated following error fault
If any of these error conditions is present, the phase reference is considered to have failed and the phase
reference error status bit is set. Also, if no movement is detected during the search, the error bit is set
An absolute phase position read checks for any of the above fault conditions shortly after the read. If any
of these is found, the read is presumed to have failed and the error bit is set. Also, if an illegal value is
read from the sensor (e.g. all 3 hall sensors at 0 or 1), the error bit is set.
If the $ command is issued while the motor is executing a move, the command will be rejected, with
Turbo PMAC reporting ERR018 if I6 is set to 1 or 3.
If another command to move the motor is issued while the phase reference is still in progress, that
command will be rejected, with Turbo PMAC reporting ERR018 if I6 is set to 1 or 3. The phase
reference in progress status bit is set to 1 while the reference is being done.
Example:
I180 ; Request value of #1 power-on mode variable
0 ; Turbo PMAC responds with 0 powers on unphased and killed
$$$ ; Reset card; motor is left in killed state
#1$ ; Initialize motor, phasing and reading as necessary
See Also:
Absolute Sensors (Setting Up a Motor)
Power-on Phasing (Setting Up Turbo PMAC Commutation)
I-variables Ixx10, Ixx73, Ixx74, Ixx75, Ixx80, Ixx81
On-line commands $*, $$, $$*, $$$, J/
$$
Function: Establish phase reference for motors in coordinate system
Scope: Coordinate system specific
Syntax: $$
This command causes Turbo PMAC to attempt to establish the phase references and close the servo loops
for all of the motors in the addressed coordinate system.
For PMAC-commutated (Ixx01 bit 0 = 1) synchronous (Ixx78 = 0) motors, a phasing search move (Ixx74
> 0) or absolute phase position read (Ixx81 > 0) is performed, and the servo loop is closed. For other
types of motors, where there is no need to establish a phase reference, the $$ command will simply close
the servo loop for the motor.
The action of the $$ command is equivalent to that of the $ command issued to each motor in the coordinate
system. For details on the action performed, refer to the specification of the $ command.
If the $$ command is issued while any motor is executing a move, the command will be rejected, with
Turbo PMAC reporting ERR018 if I6 is set to 1 or 3.
If another command to move a motor is issued while the phase reference for that motor is still in progress,
that command will be rejected, with Turbo PMAC reporting ERR018 if I6 is set to 1 or 3. The phase
reference in progress status bit for the motor is set to 1 while the reference is being done.
Example:
0 ; Turbo PMAC responds with 0
0 ; Turbo PMAC responds with 0 powers on unphased and killed
$$$ ; Reset card; motors are left in killed state
M100=1 M200=1 ; Manually supply power to drives
&1$$ ; Initialize motors, phasing and reading as necessary
See Also:
Absolute Sensors (Setting Up a Motor)
Power-on Phasing (Setting Up Turbo PMAC Commutation)
On-line commands $, $*, $$*, $$$, J/
$$$
Function: Full card reset.
Scope: Global
Syntax: $$$
This command causes Turbo PMAC to do a full card reset. The effect of $$$ is equivalent to that of
cycling power on Turbo PMAC, or taking the INIT/ line low, then high.
With the re-initialization jumper (E51 on a Turbo PMAC, E3 on a Turbo PMAC2) OFF, this command
does a standard reset of the Turbo PMAC. Turbo PMAC copies the contents of the flash memory into
active main memory during a normal reset cycle, overwriting any current contents. This means that
anything changed in Turbo PMAC's active main memory that was not saved to flash memory will be lost.
Contents of the Option 16 supplemental battery-backed parameter memory are not changed by the $$$
command.
With the re-initialization jumper ON, this command does a reset and re-initialization of the Turbo PMAC.
Instead of copying the last saved I-variable values from flash memory into active memory, Turbo PMAC
copies the factory default I-variable values into active memory.
Note:
Because this command immediately causes Turbo PMAC to enter its power-up/rest
cycle, there is no acknowledging character (<ACK> or <LF>) returned to the host.
Example:
I130=60000 ; Change #1 proportional gain
SAVE ; Copy active memory to non-volatile flash memory
I130=80000 ; Change gain again
$$$ ; Reset card
I130 ; Request value of parameter
60000 ; Turbo PMAC reports current value, which is saved value (Put E51 {E3} on)
$$$ ; Reset card
I130 ; Request value of parameter
2000 ; Turbo PMAC reports current value, which is default
See Also:
Control-Panel Port INIT/ Input (Connecting Turbo PMAC to the Machine)
On-line command $$$***
I-variables I5, Ixx80
JPAN Connector Pin 15
Jumpers E3, E51.
$$$***
Function: Global card reset and reinitialization.
Scope: Global
Syntax: $$$***
This command performs a full reset of the card and re-initializes the memory. All programs and other
buffers are erased in active memory. All I-variables are returned to their factory defaults. (Previously
SAVEd states for these programs, buffers, and variables are still held in flash memory, and can be brought
into active memory with a subsequent $$$command). The $$$*** command will also recalculate the
firmware checksum reference value and eliminate any password that might have been entered.
M-variable definitions, P-variable values, Q-variable values, and axis definitions are not affected by this
command. They can be cleared by separate commands (e.g. M0..8191->*, P0..8191=0,
Q0..8191=0, UNDEFINE ALL).
This command is particularly useful if the program buffers have become corrupted. It clears the buffers
and buffer pointers so the files can be re-sent to Turbo PMAC. Regular backup of parameters and
programs to the disk of a host computer is strongly encouraged so this type of recovery is possible. The
PMAC Executive program has Save Full Turbo PMAC Configuration and Restore Full Turbo PMAC
Configuration functions to make this process easy.
Example:
I130=60000 ; Set #1 proportional gain
SAVE ; Save to non-volatile memory
$$$*** ; Reset and re-initialize card
2000 ; Turbo PMAC reports current value, which is default
$$$ ; Normal reset of card
60000 ; Turbo PMAC reports last saved value
See Also:
On-line command $$$, PASSWORD={string};
Jumper E3 (PMAC2), E51 (PMAC)
PMAC Executive Program Save/Restore Full Configuration.
$$*
Function: Read motor absolute positions
Syntax: $$*
The $$* command causes PMAC to perform a read of the absolute positions for all motors in the
addressed coordinate system that require an absolute position read (Ixx10 > 0), as defined by Ixx10 and
Ixx95 for the motor. This command performs the same actions in reading the absolute position data that
are normally performed during the boards power-up/reset cycle if Ixx80 bit 2 is set to the default of 0.
The action of this command is equivalent to that of a motor-specific $* command to each motor in the
coordinate system. Refer to the $* command description for the exact actions of this command.
$*
Function: Read motor absolute position
Syntax: $*
The $* command causes PMAC to perform a read of the absolute position for the addressed motor, as
defined by Ixx10 and Ixx95 for the motor. It performs the same actions that are normally performed
during the boards power-up/reset cycle.
The $* command performs the following actions on the addressed motor:
The motor is killed (servo loop open, zero command, amplifier disabled).
If the motor is set up for local hardware encoder position capture by input flags, with bit 0 of Ixx97
set to 0 to specify hardware capture, and bit 18 of Ixx24 set to 0 to specify local, not MACRO, flag
operation (these are default values), the hardware encoder counter for the same channel as the flag
register specified by Ixx25 is set to 0 (e.g. if Ixx25 specifies flags from channel 3, then encoder
counter 3 is cleared).
The motor home complete status bit is cleared.
The motor position bias register, which contains the difference between motor and axis zero
positions, is set to 0.
If Ixx10 for the motor is greater than 0, specifying an absolute position read, the sensor is read as
specified by Ixx10 and Ixx95 to set the motor actual position. The actual position value is set to the
sum of the sensor value and the Ixx26 home offset parameter. Unless the read is determined to be
unsuccessful, the motor home complete status bit is set to 1.
If Ixx10 for the motor is set to 0, specifying no absolute position read, the motor actual position
register is set to 0.
Because the motor is killed the actual position value is automatically copied into the command
position register for the motor.
There are several things to note with regard to this command:
The motor is left in the killed state at the end of execution of this command. To enable the motor, a $
command should be used if this is a PMAC-commutated motor and a phase reference must be
established; otherwise a J/, A, or <CTRL-A> command should be used to enable the motor and close
the loop.
If bit 2 of Ixx80 is set to 1, PMAC will not attempt an absolute position read at the board power-
on/reset; in this case, the $* command must be used to establish the absolute sensor. If bit 2 of Ixx80
is set to 0 (the default), PMAC will attempt an absolute position read at the board power-on/reset.
With Ixx10 set to 0, the action of $* is very similar to that of the HOMEZ command. There are a few
significant differences, however:
$* always kills the motor; HOMEZ leaves the servo in its existing state.
$* sets the present actual position to be zero; HOMEZ sets the present commanded position to be
zero.
$* zeros the hardware encoder counter in most cases; HOMEZ does not change the hardware
encoder counter.
All of the motors in a single coordinate system that require an absolute position read can be
commanded at once with the coordinate-system specific $$* command.
See Also:
On-line commands $, $$$, $$*, HOMEZ
%
Function: Report the addressed coordinate system's feedrate override value.
Syntax: %
This command causes Turbo PMAC to report the present feedrate-override (time-base) value for the
currently addressed coordinate system. A value of 100 indicates "'real time"'; i.e. move speeds and times
occur as specified.
Turbo PMAC will report the value in response to this command, regardless of the source of the value
(even if the source is not the %{constant} command).
Example:
% ; Request feedrate-override value
100 ; Turbo PMAC responds: 100 means real time
H ; Command a feed hold
% ; Request feedrate-override value
0 ; Turbo PMAC responds: 0 means all movement frozen
See Also:
Time-Base Control (Synchronizing Turbo PMAC to External Events)
I-Variables I10, Isx93, Isx94, Isx95
On-line commands %{constant}, H
%{constant}
Function: Set the addressed coordinate system's feedrate override value.
Syntax: %{constant}
where:
{constant} is a non-negative floating point value specifying the desired feedrate override (time-
base) value (100 represents real-time)
This command specifies the feedrate override value for the currently addressed coordinate system. The
rate of change to this newly specified value is determined by coordinate system I-variable Isx94.
I-variable Isx93 for this coordinate system must be set to its default value (which tells to coordinate
system to take its time-base value from the % -command register) in order for this command to have any
effect.
The maximum % value that Turbo PMAC can implement is equal to (2
23
/I10)*100 or the (servo update
rate in kHz)*100. If a value greater than this is specified, Turbo PMAC will saturate at this value instead.
To control the time base based on a variable value, assign an M-variable (suggested Msx97) to the
commanded time base register (X:$002000, X:$002100, etc.), then assign a variable value to the M-
variable. The value assigned here should be equal to the desired % value times (I10/100).
Example:
%0 ; Command value of 0, stopping motion
%33.333 ; Command 1/3 of real-time speed
%100 ; Command real-time speed
%500 ; Command too high a value
% ; Request current value
225.88230574 ; Turbo PMAC responds; this is max allowed value
M5197->X:$002000,24,S ; Assign variable to C.S. 1 % command reg.
M5197=P1*I10/100 ; Equivalent to &1%(P1)
See Also:
I-Variables I10, Isx93, Isx94, Isx95
On-line commands %, H
Memory map registers X:$002000, X:$002100, etc.
&
Function: Report ports currently addressed coordinate system.
Syntax: &
This command causes Turbo PMAC to return the number of the coordinate system currently addressed
for the communications port over which this command is sent. This is the coordinate system that will act
on subsequent coordinate-system-specific commands sent over this port until a different coordinate
system is addressed with an &{constant} command.
Other communications ports may be addressing different coordinate systems at the same time, as set by
&{constant} commands sent over those ports. In addition, each background PLC program can
individually modally address a coordinate system using the ADDRESS statement for subsequent
COMMAND statements, and the hardware control panel on a Turbo PMAC can separately select a
coordinate system for its hardware inputs.
Note:
same coordinate system, so an &{constant} command sent over any port set
the addressed coordinate system for all ports.
Example:
& ; Ask Turbo PMAC which C.S. is addressed
4 ; Turbo PMAC reports that C.S. 4 is addressed
See Also:
I-variable I2
On-line commands #, #{constant},&{constant};
Program commands ADDRESS, COMMAND;
&{constant}
Function: Select ports addressed coordinate system.
Syntax: &{constant}
where:
{constant} is an integer from 1 to 16, representing the number of the coordinate system to be
addressed on this port
This command makes the coordinate system specified by {constant} the addressed coordinate system
for the communications port over which this command is sent. This is the coordinate system that will act
on subsequent coordinate-system -specific commands sent over this port until a different coordinate
system is addressed with another &{constant} command.
Other communications ports may be addressing different coordinate systems at the same time, as set by
&{constant} commands sent over those ports. In addition, each background PLC program can
individually modally address a coordinate system using the ADDRESS statement for subsequent
COMMAND statements, and the hardware control panel on a Turbo PMAC can separately select a
coordinate system for its hardware inputs.
Note:
same coordinate system, so an &{constant} command sent over any port set
the addressed coordinate system for all ports.
Example:
&1B4R ; C.S.1 point to Beginning of Prog 4 and Run
Q ; C.S.1 Quit running program
&3B6R ; C.S.3 point to Beginning of Prog 5 and Run
A ; C.S.3 Abort program
See Also:
I-variable I2
On-line commands #, #{constant}, &
Program commands ADDRESS, COMMAND
\
Function: Quick Stop in Lookahead / Feed Hold
Syntax: \
This command causes the Turbo PMAC to calculate and execute the quickest stop within the lookahead
buffer for the addressed coordinate system that does not violate acceleration constraints for any motor
within the coordinate system. Motion will continue to a controlled stop along the programmed path, but
the stop will not necessarily be at a programmed point.
The \ quick-stop command is generally the best command to stop motion interactively within lookahead.
Its function is much like that of a traditional feed-hold command, but unlike the regular H feed-hold
command in Turbo PMAC, it is guaranteed to observe constraints.
Note:
The use of DWELL, WHILE({condition})WAIT, and a violation of the double-
jump-back rule momentarily switches PMAC out of lookahead mode. Therefore,
these constructs should not be used in programs and sub-programs when the \
quick-stop command will be used to control their lookahead state.
Once stopped, several options are possible:
Jog axes away with any of the jogging commands. The on-line jog commands can be used to jog any
of the motors in the coordinate system away from the stopped point. However, before execution of
the programmed path can be resumed, all motors must be returned to the original stopping point with
the J= command.
Start reverse execution along the path with the < command.
Resume forward execution with the >, R, or S command.
End program execution with the A command.
This same functionality can be obtained from within a Turbo PMAC program by setting Isx21 to 4, which
executes more quickly than CMD &n\.
If the \ command is given to a coordinate system that is not currently executing moves within the
lookahead buffer, Turbo PMAC will execute the H feed-hold command instead.
See Also:
I-variables Isx13, Isx20, Isx21
On-line commands <, >, /, A, H, J=, R, S
<
Function: Back up through Lookahead Buffer
Syntax: <
This command causes the Turbo PMAC to start reverse execution in the lookahead buffer for the
addressed coordinate system. If the program is currently executing in the forward direction, it will be
brought to a quick stop (the equivalent of the \ command) first.
Execution proceeds backward through points buffered in the lookahead buffer, observing velocity and
acceleration constraints just as in the forward direction. This execution continues until one of the
following occurs:
Reverse execution reaches the beginning of the lookahead buffer the oldest stored point still
remaining in the lookahead buffer and it comes to a controlled stop at this point, observing
acceleration limits in decelerating to a stop.
The \ quick-stop command is given, which causes Turbo PMAC to come to the quickest possible
stop in the lookahead buffer.
The > resume-forward, R run, or S step command is given, which causes Turbo PMAC to resume
normal forward execution of the program, adding to the lookahead buffer as necessary.
An error condition occurs, or a non-recoverable stopping command is given.
If any motor has been jogged away from the quick-stop point, and not returned with a J= command,
Turbo PMAC will reject the < back-up command, reporting ERR017 if I6 is set to 1 or 3.
executes more quickly than CMD &n<.
If the coordinate system is not currently in the middle of a lookahead sequence, Turbo PMAC will treat
this command as an H feed-hold command.
See Also:
On-line commands \, >, /, A, H, J=, R, S
>
Function: Resume Forward Execution in Lookahead Buffer
Syntax: >
This command causes the Turbo PMAC to resume forward execution in the lookahead buffer for the
addressed coordinate system. Typically, it is used to resume normal operation after a \ quick-stop
command, or a < back-up command. If the program is currently executing in the backward direction, it
will be brought to a quick stop (the equivalent of the \ command) first.
If previous forward execution had been in continuous mode (started with the R command), the >
command will resume it in continuous mode. If previous forward execution had been in single-step mode
(started with the S command), the > command will resume it in single-step mode.
The R and S commands can also be used to resume forward execution, but they may change the
continuous/single-step mode.
Deceleration from a backward move (if any) and acceleration in the forward direction observe the Ixx17
acceleration limits.
If any motor has been jogged away from the quick-stop point, and not returned with a J= command,
Turbo PMAC will reject the > resume command, reporting ERR017 if I6 is set to 1 or 3.
executes more quickly than CMD &n>.
If the coordinate system is not currently in the middle of a lookahead sequence, Turbo PMAC will treat
this command as an R run command.
See Also:
On-line commands \, <, /, A, H, J=, R, S
/
Function: Halt Motion at End of Block
Syntax: /
This command causes PMAC to halt the execution of the motion program running in the currently
addressed coordinate system at the end of the currently executing move, provided the coordinate system is
in segmentation mode (Isx13 > 0). If the coordinate system is not in segmentation mode (Isx13 = 0), the
/ end-block command has the same effect as the Q or S command. It will halt execution at the end of the
latest calculated move, which can be 1 or 2 moves past the currently executing move.
If the coordinate system is currently executing moves with the special lookahead function, motion will stop
at the end of the move currently being added to the lookahead buffer. This is not necessarily the move that
is currently executing from the lookahead buffer, and there can be a significant delay before motion is
halted. Acceleration limits will be observed while ramping down to a stop at the programmed point.
Once halted at the end of the move, program execution can be resumed with the R run or S single-step
command. In the meantime, the individual motors may be jogged way from this point, but they must all
be returned to this point using the J= command before program execution may be resumed.
An attempt to resume program execution from a different point will result in an error (ERR017 reported if
I6 = 1 or 3). If resumption of this program from this point is not desired, the A (abort) command should
be issued before other programs are run.
See Also:
On-line commands \, <, >, A, H, J=, R, S
?
Function: Report motor status
Syntax: ?
This command causes Turbo PMAC to report the motor status bits as an ASCII hexadecimal word.
Turbo PMAC returns twelve characters, representing two status words. Each character represents four
status bits. The first character represents Bits 20-23 of the first word; the second shows Bits 16-19; and
so on, to the sixth character representing Bits 0-3. The seventh character represents Bits 20-23 of the
second word; the twelfth character represents Bits 0-3.
If the Turbo PMAC is in bootstrap mode (suitable for the downloading of new firmware) instead of the
normal operational mode, its response to this command will simply be BOOTSTRAP PROM.
The value of a bit is 1 when the condition is true; 0 when it is false. The meaning of the individual bits is:
First Word Returned (X:$0000B0, X:$000130, etc.):
First character returned:
Bit 23 Motor Activated: This bit is 1 when Ixx00 is 1 and the motor calculations are active; it is 0 when
Ixx00 is 0 and motor calculations are deactivated.
Bit 22 Negative End Limit Set: This bit is 1 when motor actual position is less than the software
negative position limit (Ixx14), or when the hardware limit on this end (+LIMn on Turbo PMAC note.)
has been tripped; it is 0 otherwise. If the motor is deactivated (bit 23 of the first motor status word set to
zero) or killed (bit 19 of the first motor status word set to zero), this bit is not updated.
Bit 21 Positive End Limit Set: This bit is 1 when motor actual position is greater than the software
positive position limit (Ixx13), or when the hardware limit on this end (-LIMn -- note!) has been tripped;
it is 0 otherwise. If the motor is deactivated (bit 23 of the first motor status word set to zero) or killed (bit
14 of the second motor status word set to zero), this bit is not updated.
Bit 20 Extended Servo Algorithm Enabled: This bit is 1 when Iyy00/Iyy50 for the motor is set to 1 and
the extended servo algorithm for the motor is selected. It is 0 when Iyy00/Iyy50 is 0 and the PID servo
algorithm is selected.
Second character returned:
Bit 19 Amplifier Enabled: This bit is 1 when the outputs for this motor's amplifier are enabled, either in
open loop or closed-loop mode (refer to Open-Loop Mode status bit to distinguish between the two
cases). It is 0 when the outputs are disabled (killed).
Bit 18 Open Loop Mode: This bit is 1 when the servo loop for the motor is open, either with outputs
enabled or disabled (killed). (Refer to Amplifier Enabled status bit to distinguish between the two cases.)
It is 0 when the servo loop is closed (under position control, always with outputs enabled).
Bit 17 Move Timer Active: This bit is 1 when the motor is executing any move with a predefined end-
point and end-time. This includes any motion program move dwell or delay, any jog-to-position move,
and the portion of a homing search move after the trigger has been found. It is 0 otherwise. It changes
from 1 to 0 when execution of the commanded move finishes.
Bit 16 Integration Mode: This bit is 1 when Ixx34 is 1 and the servo loop integrator is only active when
desired velocity is zero. It is 0 when Ixx34 is 0 and the servo loop integrator is always active.
Third character returned:
Bit 15 Dwell in Progress: This bit is 1 when the motor's coordinate system is executing a DWELL
instruction. It is 0 otherwise.
Bit 14 Data Block Error: This bit is 1 when move execution has been aborted because the data for the
next move section was not ready in time. This is due to insufficient calculation time. It is 0 otherwise. It
changes from 1 to 0 when another move sequence is started. This is related to the Run Time Error
Coordinate System status bit.
Bit 13 Desired Velocity Zero: This bit is 1 if the motor is in closed-loop control and the commanded
velocity is zero (i.e. it is trying to hold position). It is zero either if the motor is in closed-loop mode with
non-zero commanded velocity, or if it is in open-loop mode.
Bit 12 Abort Deceleration: This bit is 1 if the motor is decelerating due to an Abort command, or due to
hitting hardware or software position (overtravel) limits. It is 0 otherwise. It changes from 1 to 0 when
the commanded deceleration to zero velocity finishes.
Fourth character returned:
Bit 11 Block Request: This bit is 1 when the motor has just entered a new move section, and is
requesting that the upcoming section be calculated. It is 0 otherwise. It is primarily for internal use.
Bit 10 Home Search in Progress: This bit is set to 1 when the motor is in a move searching for a
trigger: a homing search move, a jog-until trigger, or a motion program move-until-trigger. It becomes 1
as soon as the calculations for the move have started, and becomes zero again as soon as the trigger has
been found, or if the move is stopped by some other means. This is not a good bit to observe to see if the
full move is complete, because it will be 0 during the post-trigger portion of the move. Use the Home
Complete and Desired Velocity Zero bits instead.
Bit 9 User-Written Phase Enable: This bit is 1 when Ixx59 bit 1 for the motor is set to 1 and the motor
executes the user-written phase routine instead of the normal phase routine. It is 0 when Ixx59 bit 1 is 0
and the motor executes the normal phase routine.
Bit 8 User-Written Servo Enable: This bit is 1 when Ixx59 bit 0 for the motor is set to 1 and the motor
executes the user-written servo routine instead of the normal servo routine. It is 0 when Ixx59 bit 0 is 0
and the motor executes the normal servo routine.
Fifth character returned:
Bit 7 Alternate Source/Destination: This bit is 1 when Ixx01 bit 1 is 1 and an alternate source or
destination for the motor algorithms is used. If Ixx01 bit 0 is 0, this means that the motor writes its
command to an X-register instead of the standard Y-register. If Ixx01 bit 0 is 1, this means that the motor
reads its commutation feedback from a Y-register instead of the standard X-register. This bit is 0 when
Ixx01 bit 1 is 0, and the standard source or destination is used for the motor.
Bit 6 Phased Motor: This bit is 1 when Ixx01 bit 0 is 1 and this motor is being commutated by Turbo
PMAC; it is 0 when Ixx01 bit 0 is 0 and this motor is not being commutated by Turbo PMAC.
Bit 5 Following Offset Mode: This bit is 1 when Ixx06 bit 1 is 1 and position following is executed in
offset mode, in which the motors programming reference position moves with the following. This bit
is 0 when Ixx06 bit 1 is 0 and position following is executed in normal mode, in which the motors
programming reference does not move with the following.
Bit 4 Following Enabled: This bit is 1 when Ixx06 bit 0 is 1 and position following for this axis is
enabled; it is 0 when Ixx06 bit 0is 0 and position following is disabled.
Sixth character returned:
Bit 3 Error Trigger: This bit is 1 when Ixx97 bit 1 is set to 1 and the motors triggered moves trigger
on the warning following error limit being exceeded. Itis 0 when Ixx97 bit 1 is set to 0 and the motors
triggered moves trigger on a specified input flag state.
Bit 2 Software Position Capture: This bit is 1 when Ixx97 bit 0 is set to 1 and the motors triggered
moves use a software-captured position as the reference for the post-trigger move. It is 0 when Ixx97 bit
0 is set to 0 and the motors triggered moves use the hardware-captured counter position as the reference
for the post-trigger move.
Bit 1 Alternate Command-Output Mode: This bit is 1 when Ixx96 is set to 1 and the motors
commands are output in the alternate mode. If Ixx01 bit 0 is 1, this means that open-loop direct-
microstepping commutation is performed instead of the normal closed-loop commutation. If Ixx01 bit 0
is 0, this means that the motors non-commutated output is formatted as a sign-and-magnitude signal pair,
instead of a single bipolar signal output. This bit is 0 when Ixx96 is set to 0 and the motors commands
are output in the standard mode.
Bit 0 Maximum Rapid Speed: This bit is 1 when Ixx90 is set to 1 and the motor uses its Ixx16
maximum speed parameter for RAPID moves. It is 0 when Ixx90 is set to 0 and the motor uses its Ixx22
jog speed parameter for RAPID moves.
Second Word Returned (Y:$0000C0, Y:$000140, etc.):
Seventh character returned:
Bits 20-23 (C.S. - 1) Number: These three bits together hold a value equal to the (Coordinate System
number minus one) to which the motor is assigned. Bit 23 is the MSB, and bit 20 is the LSB. For
instance, if the motor is assigned to an axis in C. S. 6, these bits would hold a value of 5: bit 23 = 0, bit 22
= 1, bit 21 = 0, and bit 20 = 1.
Eighth character returned:
Bits 16-19 Coordinate Definition: These four bits tell what axis or axes this motor has been
assigned to in an axis definition statement. The following values are currently used:
0: No definition
1: Assigned to A-axis
2: Assigned to B-axis
3: Assigned to C-axis
4: Assigned to UVW axes
7: Assigned to XYZ axes
Ninth Character Returned:
Bit 15 Assigned to C.S.: This bit is 1 when the motor has been assigned to an axis in any coordinate
system through an axis definition statement. It is 0 when the motor is not assigned to an axis in any
coordinate system.
Bit 14 (Reserved for future use)
Bit 13 Foreground In-Position: This bit is 1 when the foreground in-position checking is enabled with
I13=1 and when four conditions are satisfied: the loop is closed, the desired velocity zero bit is 1 (which
requires closed-loop control and no commanded move); the program timer is off (not currently executing
any move, DWELL, or DELAY), and the magnitude of the following error is smaller than Ixx28. It is 0
otherwise.
Bit 12 Stopped on Desired Position Limit: This bit is 1 if the motor has stopped because the desired
position has exceeded the software overtravel limit parameters (Ixx24 bit 15 must be 1 to enable this
function). It is 0 otherwise.

Tenth Character Returned:
Bit 11 Stopped on Position Limit: This bit is 1 if this motor has stopped because of either a software or
a hardware position (overtravel) limit, even if the condition that caused the stop has gone away. It is 0 at
all other times, even when into a limit but moving out of it.
Bit 10 Home Complete: This bit, set to 0 on power-up or reset, becomes 1 when the homing move
successfully locates the home trigger. Usually, at this point in time the motor is decelerating to a stop or
moving to an offset from the trigger determined by Ixx26. If a second homing move is done, this bit is set
to 0 at the beginning of the move, and only becomes 1 again if that homing move successfully locates the
home trigger. Use the Desired Velocity Zero bit and/or the In Position bit to monitor for the end of motor
motion.
Bit 9 Phasing Search/Read Active: This bit is set to 1 if the phasing search move or phasing absolute
position read is currently ongoing for the motor. It is set to 0 otherwise.
Bit 8 Phasing Reference Error: This bit is set to 1 on power-up/reset for a PMAC-commutated (Ixx01
bit 0 = 1) synchronous motor. It is also set to 1 at the beginning of a phasing search move or phasing
absolute position read for such a motor. It is set to 0 on the successful completion of a phasing search
move or phasing absolute position read. If this bit is 1, the position/velocity servo loop cannot be closed
for this motor.
This bit is set to 1 if the phasing search move for a Turbo PMAC-commutated motor has failed due to
amplifier fault, overtravel limit, or lack of detected motion. It is set to 0 if the phasing search move did
not fail by any of these conditions (not an absolute guarantee of a successful phasing search).
Eleventh Character Returned:
Bit 7 Trigger Move: This bit is set to 1 at the beginning of a jog-until-trigger or motion program move-
until-trigger. It is set to 0 at the end of the move if the trigger has been found, but remains at 1 if the
move ends with no trigger found. This bit is useful to determine whether the move was successful in
finding the trigger.
Bit 6 Integrated Fatal Following Error: This bit is 1 if this motor has been disabled due to an
integrated following error fault, as set by Ixx11 and Ixx63. The fatal following error bit (bit 2) will also
be set in this case. Bit 6 is zero at all other times, becoming 0 again when the motor is re-enabled.
Bit 5 I
2
T Amplifier Fault Error: This bit is 1 if this motor has been disabled by an integrated current
fault. The amplifier fault bit (bit 3) will also be set in this case. Bit 5 is 0 at all other times, becoming 0
again when the motor is re-enabled.
Bit 4 Backlash Direction Flag: This bit is 1 if backlash has been activated in the negative direction. It
is 0 otherwise.
Twelfth Character Returned:
Bit 3 Amplifier Fault Error: This bit is 1 if this motor has been disabled because of an amplifier fault
signal, even if the amplifier fault signal has gone away, or if this motor has been disabled due to an I
2
T
integrated current fault (in which case bit 5 is also set). It is 0 at all other times, becoming 0 again when
the motor is re-enabled.
Bit 2 Fatal Following Error: This bit is 1 if this motor has been disabled because it exceeded its fatal
following error limit (Ixx11) or because it exceeded its integrated following error limit (Ixx63; in which
case bit 6 is also set). It is 0 at all other times, becoming 0 again when the motor is re-enabled.
Bit 1 Warning Following Error: This bit is 1 if the following error for the motor exceeds its warning
following error limit (Ixx12). It stays at 1 if the motor is killed due to fatal following error. It is 0 at all
other times, changing from 1 to 0 when the motor's following error reduces to under the limit, or if killed,
is re-enabled.
Bit 0 In Position: This bit is 1 when five conditions are satisfied: the loop is closed, the desired
velocity zero bit is 1 (which requires closed-loop control and no commanded move); the program timer is
off (not currently executing any move, DWELL, or DELAY), the magnitude of the following error is
smaller than Ixx28.and the first four conditions have been satisfied for (Ixx88+1) consecutive scans.
Example:
#1? ; Request status of Motor 1
81200001C401 ; PMAC responds with 12 hex digits representing 48 bits
; The following bits are true (all others are false):
; Word 1 Bit 23: Motor Activated
; Bit 16: Integration Mode
; Bit 13: Desired Velocity Zero
; Word 2 (Bits 20-23 all 0 assigned to C.S.1)
; (Bits 16-19 form 1 assigned to A-axis)
; Bit 15: Assigned to Coordinate System
; Bit 14: Amplifier Enabled
; Bit 10: Home Complete
; Bit 0: In Position
See Also:
On-line commands <CTRL-B>, ??, ???
Memory-map registers X:$0000B0, X:$000130, etc., Y:$0000C0, Y:$000140, etc.;
Suggested M-Variable definitions Mxx30-Mxx45.
??
Function: Report the status words of the addressed coordinate system.
Syntax: ??
This command causes Turbo PMAC to report status bits of the addressed coordinate system as an ASCII
hexadecimal word. Turbo PMAC returns eighteen characters, representing three 24-bit status words.
Each character represents four status bits. The first character represents bits 20-23 of the first word; the
second shows bits 16-19; and so on, to the sixth character representing bits 0-3. The seventh character
represents bits 20-23 of the second word; the twelfth character represents bits 0-3.
The value of a bit is 1 when the condition is true; 0 when it is false. The meanings of the individual bits are:
First Word Returned (X:$002040, X:$0020C0, etc.)
Bit 23 Z-Axis Used in Feedrate Calculations: This bit is 1 if this axis is used in the vector feedrate
calculations for F-based moves in the coordinate system; it is 0 if this axis is not used. See the FRAX
command.
Bit 22 Z-Axis Incremental Mode: This bit is 1 if this axis is in incremental mode -- moves specified by
distance from the last programmed point. It is 0 if this axis is in absolute mode -- moves specified by end
position, not distance. See the INC and ABS commands.
Bit 21 Y-Axis Used in Feedrate Calculations: (See bit 23 description.)
Bit 20 Y-Axis Incremental Mode: (See bit 22 description.)
Bit 19 X-Axis Used in Feedrate Calculations: (See bit 23 description.)
Bit 18 X-Axis Incremental Mode: (See bit 22 description.)
Bit 17 W-Axis Used in Feedrate Calculations: (See bit 23 description.)
Bit 16 W-Axis Incremental Mode: (See bit 22 description.)
Bit 15 V-Axis Used in Feedrate Calculations: (See bit 23 description.)
Bit 14 V-Axis Incremental Mode: (See bit 22 description.)
Bit 13 U-Axis Used in Feedrate Calculations: (See bit 23 description.)
Bit 12 U-Axis Incremental Mode: (See bit 22 description.)
Bit 11 C-Axis Used in Feedrate Calculations: (See bit 23 description.)
Bit 10 C-Axis Incremental Mode: (See bit 22 description.)
Bit 9 B-Axis Used in Feedrate Calculations: (See bit 23 description.)
Bit 8 B-Axis Incremental Mode: (See bit 22 description.)
Bit 7 A-Axis Used in Feedrate Calculations: (See bit 23 description.)
Bit 6 A-Axis Incremental Mode: (See bit 22 description.)
Bit 5 Radius Vector Incremental Mode: This bit is 1 if circle move radius vectors are specified
incrementally (i.e. from the move start point to the arc center). It is 0 if circle move radius vectors are
specified absolutely (i.e. from the XYZ origin to the arc center). See the INC (R) and ABS (R)
commands.
Bit 4 Continuous Motion Request: This bit is 1 if the coordinate system has requested of it a
continuous set of moves (e.g. with an R command). It is 0 if this is not the case (e.g. not running
program, Isx92=1, or running under an S command).
Bit 3 Move-Specified-by-Time Mode: This bit is 1 if programmed moves in this coordinate system are
currently specified by time (TM or TA), and the move speed is derived. It is 0 if programmed moves in
this coordinate system are currently specified by feedrate (speed; F) and the move time is derived.
Bit 2 Continuous Motion Mode: This bit is 1 if the coordinate system is in a sequence of moves that it
is blending together without stops in between. It is 0 if it is not currently in such a sequence, for whatever
reason.
Bit 1 Single-Step Mode: This bit is 1 if the motion program currently executing in this coordinate
system has been told to step one move or block of moves, or if it has been given a Q (Quit) command. It
is 0 if the motion program is executing a program by a R (run) command, or if it is not executing a motion
program at all.
Bit 0 Running Program: This bit is 1 if the coordinate system is currently executing a motion
program. It is 0 if the C.S. is not currently executing a motion program. Note that it becomes 0 as soon
as it has calculated the last move and reached the final RETURN statement in the program, even if the
motors are still executing the last move or two that have been calculated. Compare to the motor Running
Program status bit.
Second Word Returned (Y:$00203F, Y:$0020BF, etc.)
Bit 23 Lookahead in Progress: This bit is 1 when the coordinate system is actively computing and/or
executing a move sequence using the multi-block lookahead function. It is 0 otherwise.
Bit 22 Run-Time Error: This bit is 1 when the coordinate system has stopped a motion program due to
an error encountered while executing the program (e.g. jump to non-existent label, insufficient calculation
time, etc.) It is 0 otherwise. The run-time error code word (Y:$002x14) shows the cause of a run-time
error.
Bit 21 Move In Stack: (For internal use)
Bit 20 Amplifier Fault Error: This bit is 1 when any motor in the coordinate system has been killed due
to receiving an amplifier fault signal. It is 0 at other times, changing from 1 to 0 when the offending
motor is re-enabled.
Bit 19 Fatal Following Error: This bit is 1 when any motor in the coordinate system has been killed
due to exceeding its fatal following error limit (Ixx11). It is 0 at other times. The change from 1 to 0
occurs when the offending motor is re-enabled.
Bit 18 Warning Following Error: This bit is 1 when any motor in the coordinate system has exceeded
its warning following error limit (Ixx12). It stays at 1 if a motor has been killed due to fatal following
error limit. It is 0 at all other times. The change from 1 to 0 occurs when the offending motor's following
error is reduced to under the limit, or if killed on fatal following error as well, when it is re-enabled.
Bit 17 In Position: This bit is 1 when all motors in the coordinate system are in position. Five
conditions must apply for all of these motors for this to be true:, the loops must be closed, the desired
velocity must be zero for all motors, the coordinate system cannot be in any timed move (even zero
distance) or DWELL, all motors must have a following error smaller than their respective Ixx28 in-position
bands, and the above conditions must have been satisfied for (Ixx88+1) consecutive scans.
Bit 16 Rotary Buffer Request: This bit is 1 when a rotary buffer exists for the coordinate system and
enough program lines have been sent to it so that the buffer contains at least I17 lines ahead of what has
been calculated. Once this bit has been set to 1 it will not be set to 0 until there are less than I16 program
lines ahead of what has been calculated. The PR command may be used to find the current number of
program lines ahead of what has been calculated.
Ninth character returned:
Bit 15 Delayed Calculation Flag: (for internal use)
Bit 14 End of Block Stop: This bit is 1 when a motion program running in the currently addressed
Coordinate System is stopped using the ' / ' command from a segmented move (Linear or Circular mode
with Isx13 > 0).
Bit 13 Synchronous M-variable One-Shot: (for internal use)
Bit 12 Dwell Move Buffered: (for internal use)
Tenth character returned:
Bit 11 Cutter Comp Outside Corner: This bit is 1 when the coordinate system is executing an added
outside corner move with cutter compensation on. It is 0 otherwise.
Bit 10 Cutter Comp Move Stop Request: This bit is 1 when the coordinate system is executing moves
with cutter compensation enabled, and has been asked to stop move execution. This is primarily for
internal use.
Bit 9 Cutter Comp Move Buffered: This bit is 1 when the coordinate system is executing moves with
cutter compensation enabled, and the next move has been calculated and buffered. This is primarily for
internal use.
Bit 8 Pre-jog Move Flag: This bit is 1 when any motor in the coordinate system is executing a jog
move to "pre-jog" position (J= command). It is 0 otherwise.
Eleventh character returned:
Bit 7 Segmented Move in Progress: This bit is 1 when the coordinate system is executing motion
program moves in segmentation mode (Isx13>0). It is 0 otherwise. This is primarily for internal use.
Bit 6 Segmented Move Acceleration: This bit is 1 when the coordinate system is executing motion
program moves in segmentation mode (Isx13>0) and accelerating from a stop. It is 0 otherwise. This is
primarily for internal use.
Bit 5 Segmented Move Stop Request: This bit is 1 when the coordinate system is executing motion
program move in segmentation mode (Isx13>0) and it is decelerating to a stop. It is 0 otherwise. This is
primarily for internal use.
Bit 4 PVT/SPLINE Move Mode: This bit is 1 if this coordinate system is in either PVT move mode or
SPLINE move mode. (If bit 0 of this word is 0, this means PVT mode; if bit 0 is 1, this means SPLINE
mode.) This bit is 0 if the coordinate system is in a different move mode (LINEAR, CIRCLE, or
RAPID). See the table below.
Twelfth character returned:
Bit 3 2D Cutter Comp Left/3D Cutter Comp On: With bit 2 equal to 1, this bit is 1 if the coordinate
system has 2D cutter compensation on, compensating to the left when looking in the direction of motion.
It is 0 if 2D compensation is to the right. With bit 2 equal to 0, this bit is 1 if the coordinate system has
3D cutter compensation on. It is 0 if no cutter compensation is on.
Bit 2 2D Cutter Comp On: This bit is 1 if the coordinate system has 2D cutter compensation on. It is
0 if 2D cutter compensation is off (but 3D cutter compensation may be on if bit 3 is 1).
Bit 1 CCW Circle\Rapid Mode: When bit 0 is 1 and bit 4 is 0, this bit is set to 0 if the coordinate
system is in CIRCLE1 (clockwise arc) move mode and 1 if the coordinate system is in CIRCLE2
(counterclockwise arc) move mode. If both bits 0 and 4 are 0, this bit is set to 1 if the coordinate system
is in RAPID move mode. Otherwise this bit is 0. See the table below.
Bit 0 CIRCLE/SPLINE Move Mode: This bit is 1 if the coordinate system is in either CIRCLE or
SPLINE move mode. (If bit 4 of this word is 0, this means CIRCLE mode; if bit 4 is 1, this means
SPLINE mode.) This bit is 0 if the coordinate system is in a different move mode (LINEAR, PVT, or
RAPID.). See the table below.
The states of bits 4, 1, and 0 in the different move modes are summarized in the following table:
Mode Bit 4 Bit 1 Bit 0
LINEAR 0 0 0
RAPID 0 1 0
SPLINE 1 0 1
CIRCLE1 0 0 1
CIRCLE2 0 1 1
PVT 1 1 0
Third Word Returned (Y:$002040, Y:$0020C0, etc.)
Thirteenth character returned:
Bit 23 Lookahead Buffer Wrap: This bit is 1 when the lookahead buffer for the coordinate system is
active and has wrapped around since the beginning of the current continuous motion sequence, meaning
that retrace back to the beginning of the sequence is no longer possible. It is 0 otherwise.
Bit 22 Lookahead Lookback Active: (For internal use)
Bit 21 Lookahead Buffer End: (For internal use)
Bit 20 Lookahead Synchronous M-variable: (For internal use)
Fourteenth character returned:
Bit 19 Lookahead Synchronous M-variable Overflow: This bit is 1 if the program has attempted to put
more synchronous M-variable assignments into the lookahead buffer than the buffer has room for. If this
bit is set, one or more synchronous M-variable assignments have failed to execute or will fail to execute.
Bit 18 Lookahead Buffer Direction: This bit is 1 if the lookahead buffer is executing in the reverse
direction, or has executed a quick stop from the reverse direction. It is 0 if the lookahead buffer is
executing in the forward direction, has executed a quick stop for the forward direction, or is not executing.
Bit 17 Lookahead Buffer Stop: This bit is 1 if the lookahead buffer execution is stopping due to a
quick-stop command or request. It is 0 otherwise.
Bit 16 Lookahead Buffer Change: This bit is 1 if the lookahead buffer is currently changing state
between forward and reverse direction, or between executing and stopped. It is 0 otherwise.
Fifteenth character returned:
Bit 15 Lookahead Buffer Last Segment: This bit is 1 if the lookahead buffer is currently executing the
last segment before the end of a sequence. It is 0 otherwise.
Bit 14 Lookahead Buffer Recalculate: This bit is 1 if the lookahead buffer is recalculating segments
already in the buffer due to a change in the state of the buffer. It is 0 otherwise.
Bit 13 Lookahead Buffer Flush: This bit is 1 if the lookahead buffer is executing segments but not
adding any new segments. It is 0 otherwise.
Bit 12 Lookahead Buffer Last Move: This bit is 1 if the last programmed move in the buffer has
reached speed. It is 0 otherwise.
Sixteenth character returned:
(Bits 8 11 form variable Isx21.)
Bit 11 Lookahead Buffer Single-Segment Request: This bit can be set to 1 by the user as part of a
request to change the state of the lookahead buffer. It should be set to 1 to request the buffer to move
only a single segment from a stopped state (in either direction). It should be set to 0 otherwise. Turbo
PMAC leaves this bit in the state of the last request, even after the request has been processed.
Bit 10 Lookahead Buffer Change Request: This bit can be set to 1 by the user to request a change in
the state of the lookahead buffer. It remains at 1 until the Turbo PMAC processes the change, at which
time Turbo PMAC changes it to 0.
Bit 9 Lookahead Buffer Movement Request: This bit can be set by the user as part of a request to
change the state of the lookahead buffer. It should be set to 1 to request the buffer to operate (in either the
forward or reverse direction); it should be set to 0 to request the buffer to execute a quick stop. Turbo
PMAC leaves this bit in the state of the last request, even after the request has been processed.
Bit 8 Lookahead Buffer Direction Request: This bit can be set by the user as part of a request to
change the state of the lookahead buffer. It should be set to 1 to request operation in the reverse direction;
it should be set to 0 to request operation in the forward direction. Its state does not matter in a request to
execute a quick stop. Turbo PMAC leaves this bit in the state of the last request, even after the request
has been processed.
Seventeenth character returned:
Bits 4 7 (Reserved for future use)
Eighteenth character returned:
Bit 3 Radius Error: This bit is 1 when a motion program has been stopped because it was asked to do
an arc move whose distance was more than twice the radius (by an amount greater than Ixx96).
Bit 2 Program Resume Error: This bit is 1 when the user has tried to resume program operation after
a feed-hold or quick-stop, but one or more of the motors in the coordinate system are not at the location of
the feed-hold or quick-stop. It is 0 otherwise.
Bit 1 Desired Position Limit Stop: This bit is 1 if the motion program in the coordinate system has
stopped due to the desired position of a motor exceeding a limit.
Bit 0 In-Program PMATCH: This bit is 1 if Turbo PMAC is executing the PMATCH function
automatically, as at the end of a move-until-trigger. It is 0 otherwise. This bit is primarily for internal use.
Example:
?? ; Request coordinate system status words
A8002A020010000000
; Turbo PMAC responds; the following bits are true:
; Word 1 Bit 23: Z-axis used in feedrate calcs
; Bit 21: Y-axis used in feedrate calcs
; Bit 19: X-axis used in feedrate calcs
; Bit 5: Radius vector incremental mode
; Bit 3: Move specified by time
; Bit 1: Single-step mode
; Word 2 Bit 17: In-position
; Bit 4: PVT/Spline mode
; Word 3 no bits set no lookahead active
See Also:
On-line commands <CONTROL-C>, ?, ???
Memory-map registers X/Y:$002040, X/Y:$0020C0, etc., Y:$00203F, Y:$0020BF, etc.;
Suggested M-variable definitions Msx80-Msx90.
???
Function: Report global status words.
Scope: Global
Syntax: ???
This command causes Turbo PMAC to return the global status bits in ASCII hexadecimal form. Turbo
PMAC returns twelve characters, representing two status words. Each character represents four status
bits. The first character represents Bits 20-23 of the first word, the second shows Bits 16-19; and so on,
to the sixth character representing Bits 0-3. The seventh character represents Bits 20-23 of the second
word; the twelfth character represents Bits 0-3 of the second word.
A bit has a value of 1 when the condition is true; 0 when false. The meaning of the individual status bits is:
First Word Returned (X:$000006):
Bit 22 Real-Time Interrupt Re-entry: This bit is 1 if a real-time interrupt task has 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 CPU Type Bit 1: This bit is 1 if the Turbo PMAC has an Option 5Ex DSP56311 or an Option
5Fx DSP56321 processor. It is 0 if it has an Option 5Cx DSP56303 or an Option 5Dx DSP56309
processor. In both cases, bit 21 in the second word returned (Y:$000006) distinguishes between
processor types.
Bit 20 Servo Error: This bit is 1 if Turbo 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.
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 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 Servo Request: (Internal use).
Bit 15 Watchdog Timer: (Internal use)
Bit 14 Leadscrew Compensation On: This bit is 1 if leadscrew compensation is currently active in
Turbo PMAC. It is 0 if the compensation is not active.
Bit 13 Any Memory Checksum Error: This bit is 1 if a checksum error has been detected for either the
Turbo PMAC firmware or the user program buffer space. Bit 12 of this word distinguishes between the
two cases.
Bit 12 PROM Checksum Active: This bit is 1 if Turbo PMAC is currently evaluating a firmware
checksum (Bit 13 = 0), or has found a firmware checksum error (Bit 13 = 1). It is 0 if Turbo PMAC is
evaluating a user program checksum (Bit 13 = 0), or has found a user program checksum error (Bit 13 = 1).
Bit 11 DPRAM Error: This bit is 1 if Turbo PMAC detected an error in its automatic DPRAM check
function at power-up/reset due to missing or defective DPRAM. It is 0 otherwise.
Bit 10 Flash Error: This bit is 1 if Turbo PMAC detected a checksum error in reading saved data from
the flash memory on board reset. It is 0 otherwise.
Bit 9 Real-Time Interrupt Warning: This bit is 1 if a real-time interrupt task (motion program or PLC
0) has taken more than one interrupt period a possible sign of CPU loading problems. It is 0 otherwise.
Bit 8 Illegal L-Variable Definition: This bit is 1 if a compiled PLC has failed because it used an L-
variable pointer that accessed an illegal M-variable definition. It is 0 otherwise.
Bit 7 Configuration Error: (For internal use)
Bit 6 TWS Variable Parity Error: This bit is 1 if the most recent TWS-format M-variable read or
write operation with a device supporting parity had a parity error; it is 0 if the operation with such a
device had no parity error. The bit status is indeterminate if the operation was with a device that does not
support parity.
Bit 5 MACRO Auxiliary Communications Error: This bit is 1 if the most recent MACRO auxiliary
read or write command has failed. It is set to 0 at the beginning of each MACRO auxiliary read or write
command.
Bit 4 MACRO Ring Check Error: This bit is 1 if the MACRO ring check function is enabled (I80 > 0)
and Turbo PMAC has either detected at least I81 ring communication errors in an I80-servo-cycle period,
or has failed to detect the receipt of I82 ring sync packets.
Bit 3 Phase Clock Missing: This bit is set to 1 if the CPU received no hardware-generated phase clock
from a source external to it (Servo IC, MACRO IC, or through serial port). If this bit is set, no motor may
be enabled (starting in V1.940). This bit is 0 otherwise.
Bit 1 All Cards Addressed: This bit is set to 1 if all cards on a serial daisychain have been addressed
simultaneously with the @@ command. It is 0 otherwise.
Bit 0 This Card Addressed: This bit is set to 1 if this card is on a serial daisychain and has been
addressed with the @n command. It is 0 otherwise.
Second Word Returned (Y:$000006)
Bit 23 Turbo Ultralite: This bit is 1 if Turbo PMAC has detected that it is an Ultralite PMAC2 with no
Servo ICs on board. It is 0 if Turbo PMAC has detected that it has Servo ICs on board.
Bit 22 Turbo VME: This bit is 1 if Turbo PMAC has detected that it has a VME bus interface on board.
It is 0 otherwise.
Bit 21 CPU Type Bit 0: This bit is 1 if the Turbo PMAC has an Option 5Dx DSP56309 or an Option 5Fx
DSP56321 processor. It is 0 if it has an Option 5Cx DSP56303 or an Option 5Dx DSP56311 processor. In
both cases, bit 21 in the first word returned (X:$000006) distinguishes between processor types.
Bit 20 Binary Rotary Buffers Open: This bit is 1 if the rotary motion program buffers on Turbo PMAC
are open for binary-format entry through the DPRAM. It is 0 otherwise.
Bit 19 Motion Buffer Open: This bit is 1 if any motion program buffer (PROG or ROT) is open for
entry. It is 0 if none of these buffers is open.
Bit 18 ASCII Rotary Buffer Open: This bit is 1 if the rotary motion program buffers on Turbo PMAC
are open for ASCII-format entry. It is 0 otherwise.
Bit 17 PLC Buffer Open: This bit is 1 if a PLC program buffer is open for entry. It is 0 if none of these
buffers is open.
Bit 16 UMAC System: This bit is 1 if the Turbo PMAC is a 3U Turbo system (UMAC or Stack). It is 0
otherwise.
Ninth character returned:
Bits 14-15 Kinematics Active: (For internal use)
Bit 13 Ring-Master-to-Master Communications: (For internal use)
Bit 12 Master-to-Ring-Master Communications: (For internal use)
Tenth character returned:
Bit 11 Fixed Buffer Full: This bit is 1 when no fixed motion (PROG) or PLC buffers are open, or
when one is open but there are less than I18 words available. It is 0 when one of these buffers is open and
there are more than I18 words available.
Bits 8-10 (For Internal use)
Eleventh and twelfth characters returned:
Bits 0-7 (Reserved for future use)
Example:
??? ; Ask Turbo PMAC for global status words
003000400000 ; Turbo PMAC returns the global status words
; First word bit 13 (Any checksum error) is true;
; First word bit 12 (PROM checksum error) is true;
; Second word bit 23 (for internal use) is true;
; All other bits are false
See Also:
On-line commands ?, ??, <CTRL-G>
Memory-map registers X:$000006, Y:$000006.
A
Function: Abort all programs and moves in the currently addressed coordinate system.
Syntax: A
This command causes all axes defined in the current coordinate system to begin immediately to decelerate
to a stop, aborting the currently running motion program (if any). It also brings any disabled (killed) or
open loop motors (defined in the current coordinate system) to an enabled zero-velocity closed-loop state.
If moving, each motor will decelerate its commanded profile at a rate defined by its own motor I-variable
Ixx15. If there is significant following error when the A command is issued, it may take a long time for
the actual motion to stop.
Although the command trajectory is brought to a stop at a definite rate, the actual position will continue to
catch up to the commanded position for a longer time.
Note that a multi-axis system may not stay on its programmed path during this deceleration.
An A (abort) stop to a program is not meant to be recovered from gracefully, because the axes will in
general not stop at a programmed point. An on-line J= command may be issued to each motor to cause it
to move to the end point that was programmed when the abort occurred. Then the programs can be
resumed with an R (run) command.
To stop a motion sequence in a manner that can be recovered from easily, use instead the Quit (Q or
<CTRL-Q>) or the Hold (H or <CTRL-O>) command.
Example:
B1R ; Start Motion Program 1
A ; Abort the program
#1J=#2J= ; Jog motors to original move-end position
R ; Resume program with next move
See Also:
Stop Commands (Making an Application Safe)
Control-Panel Port STOP/ Input (Connecting Turbo PMAC to the Machine)
I-variable Ixx15
On-line commands <CONTROL-A>, H, J/, K, Q
JPAN connector pin 10
ABR[{constant}]
Function: Abort currently running motion program and start another
Syntax: ABR[{constant}]
where:
{constant} is a numerical value whose integer part specifies the number of the program to be run,
and whose fractional part (if any) specifies the line label of that program where execution is to begin.
The ABR command permits a very quick end to the execution of one motion program and starting (or
restarting) of another (or the same) motion program. It performs the following tasks for the addressed
coordinate system, all in a unitary command:
It immediately stops execution of the currently running motion program in the addressed coordinate
system.
It brings the commanded trajectories of all motors in the coordinate system to stop at the rate set by
Ixx15 for each motor.
It points the coordinate systems program counter to a specific location in that program or another
program. If stopping and resuming the rotary motion program buffer, it immediately clears the rotary
buffer of unexecuted lines.
As soon as the commanded trajectories of all motors in the coordinate system have stopped, it will
start execution of the newly addressed program (which could be the same program.
It is essentially a combination of the existing A (abort), B (point to beginning of program), and R (run)
commands. By combining these into a single command, all three actions are executed in a single
command cycle, speeding the transition.
If the ABR command is given without a numerical argument, Turbo PMAC will restart the presently
executing program at the top. If an ABR0 command is given, Turbo PMAC will end execution of the
currently executing program if it is currently executing the rotary program buffer, clear the rotary buffer
and point to the top of the rotary program buffer.
If an ABR{constant} command is given with a non-zero constant value, Turbo PMAC will start
execution of the program number specified by the integer part of the constant (valid values 1 32,767)
and at the numeric line label whose value is equal to the fractional part times 100,000 (10
5
). If no
fractional part is specified, execution will start at the top of this program.
Examples:
ABR0 ; Stop execution of rotary buffer, clear, and restart at top
ABR20 ; Stop execution and start at top of program 20
ABR44.37 ; Stop execution and start at N37000 of program 44
ABS
Function: Select absolute position mode for axes in addressed coordinate system.
Syntax: ABS
ABS ({axis}[,{axis}...])
where:
{axis} is a letter (X, Y, Z, A, B, C, U, V, W) representing the axis to be specified, or the character
R to specify radial vector mode
No spaces are permitted in this command.
This command, without any arguments, causes all subsequent positions for all axes in the coordinate
system in motion commands to be treated as absolute positions (this is the default condition). An ABS
command with arguments causes the specified axes to be in absolute mode, and all others to remain
unchanged.
If R is specified as one of the 'axes', the I, J, and K terms of the circular move radius vector specification
will be specified in absolute form (i.e. as a vector from the origin, not from the move start point). An
ABS command without any arguments does not affect this vector specification. The default radial vector
specification is incremental.
If a motion program buffer is open when this command is sent to Turbo PMAC, the command will be
entered into the buffer for later execution.
Example:
ABS(X,Y) ; X and Y made absolute other axes and radial vector left unchanged
ABS ; All axes made absolute radial vector left unchanged
ABS(R) ; Radial vector made absolute all axes left unchanged
See Also:
Circular Moves (Writing a Motion Program)
On-line command INC
Program commands ABS, INC
{axis}={constant}
Function: Re-define the specified axis position.
Syntax: {axis}={constant}
where:
{axis} is a letter from the set (X, Y, Z, U, V, W, A, B, C) specifying the axis whose present
position is to be re-named;
{constant} is a floating-point value representing the new name value for the axis' present position
This command re-defines the current axis position to be the value specified in {constant}, in user
units (as defined by the scale factor in the axis definition). It can be used to relocate the origin of the
coordinate system. This does not cause the specified axis to move; it simply assigns a new value to the
position..
Internally, a position bias register is written to which creates this new position offset. PSET is the
equivalent motion program command.
Example:
X=0 ; Call axis X's current position zero
Z=5000 ; Re-define axis Z's position as 5000
See Also:
On-line command Z
Program commands PSET, ADIS, IDIS.
B{constant}
Function: Point the addressed coordinate system to a motion program.
Syntax: B{constant}
where:
{constant} is a floating point value from 0.0 to 32767.99999 representing the program and location to
point the coordinate system to; with the integer part representing the program number, and the fractional
part multiplied by 100,000 representing the line label (zero fractional part means the top of the program).
This command causes Turbo PMAC to set the program counter of the addressed coordinate system to the
specified motion program and location. It is usually used to set the program counter to the Beginning of a
motion program. The next R or S command will start execution at this point.
If {constant} is an integer, the program counter will point to the beginning of the program whose
number matches {constant}. Fixed motion program buffers (PROG) can have numbers from 1 to
32,767. The rotary motion program carries program number 0 for the purpose of this command.
If {constant} is not an integer, the fractional part of the number represents the line label (N or O) in
the program to which to point. The fractional value multiplied by 100,000 determines the number of the
line label to which to point (it fills the fraction to 5 decimal places with zeros).
Note:
If a motion program buffer (including ROTARY) is open when this command is
sent to Turbo PMAC, the command is entered into the buffer for later execution, to
be interpreted as a B-axis move command.
Example:
B7 ;points to the top of PROG 7
B0 ;points to the top of the rotary buffer
B12.6 ;points to label N60000 of PROG 12
B3.025R ;points to label N2500 of PROG 3 and runs
See Also:
On-line commands DEFINE ROT, R, S
Program commands B{data}, N{constant}, O{constant}.
CHECKSUM
Function: Report the firmware checksum value.
Scope: Global
Syntax: CHECKSUM
CHKS
This command causes Turbo PMAC to report the reference checksum value of the firmware revision that
it is using. The value is reported as a hexadecimal ASCII string. This value was computed during the
compilation of the firmware. It is mainly used for troubleshooting purposes.
The comparative checksum value that Turbo PMAC is continually computing by scanning the firmware
in active memory is stored in X:$001080. As long as there is no checksum error, this comparative value
is continually changing as PMAC continues its calculations. However, if during any pass of the
checksum calculations, if the final comparative checksum value does not agree with the reference value,
the calculations stop, and the final erroneous value is held in X:$001080.
Example:
CHECKSUM ; Request firmware reference checksum value
9FA263 ; Turbo PMAC returns hex value
See Also:
On-line commands DATE, VERSION
CID
Function: Report card ID or part number.
Scope: Global
Syntax: CID
This command causes Turbo PMAC to return the cards part number. This can be used to confirm
exactly which type of Turbo PMAC is being used.
The currently existing types of Turbo PMAC and the values they return for CID are:
Turbo PMAC PC: 602191
Turbo PMAC VME: 602199
Turbo PMAC2 PC: 602404
Turbo PMAC2 VME: 602413
Turbo PMAC2 PC Ultralite: 603182
Turbo PMA2 PCI: 603367
3U Turbo PMAC2: 603382
See Also:
I-Variable I4909
On-line commands CPU, TYPE, VERSION, VID
CLEAR
Function: Erase currently opened buffer.
Syntax: CLEAR
CLR
This command empties the program buffer (PROGRAM, PLC, ROTARY) that is currently opened on the
port over which the command is given. If used to empty an open rotary motion program buffer, it only
affects the buffer for the addressed coordinate system on that port.
If there is no open program buffer, or if the program buffer that is open was opened from another
communications port, the CLEAR command will be rejected with an error, reporting ERR007 if I6=1 or 3.
Note:
Prior to V1.936 firmware, an open buffer could be accessed from any port, and the
CLEAR command could be used on one port to empty a buffer that had been
opened on another port. Starting in V1.936, a CLEAR command could only be
used to empty a buffer opened from the same port.
Typically, as a buffer file is created in the host computer, start with the OPEN {buffer} and CLEAR
commands (even though these lines are technically not part of the buffer), and follow with the actual
contents. This will allow easy edit of the buffers from the host and repeated downloading of the buffers,
erasing the old buffers contents in the process.
Example:
OPEN PROG 1 ; Open motion program buffer 1
CLEAR ; Clear out this buffer
F1000 ; Program really starts here!
X2500 ;...and ends on this line!
CLOSE ; This closes the program buffer
OPEN PLC 3 CLEAR CLOSE ; This erases PLC 3
See Also:
Program Buffers (Talking to Turbo PMAC)
On-line commands OPEN, CLOSE, DELETE.
CLEAR ALL
Function: Erase all fixed motion, kinematic, and uncompiled PLC programs
Scope: Global
Syntax: CLEAR ALL
CLR ALL
This command causes Turbo PMAC to erase all fixed (not rotary) motion program buffers (PROGRAM),
all forward-kinematic program buffers (FORWARD), all inverse-kinematic program buffers (INVERSE),
and all uncompiled PLC program buffers (PLC) in the Turbo PMAC buffer space.
This command does not affect rotary motion program buffers (ROTARY), compiled PLC program buffers
(PLCC), or any non-program buffers, such as compensation tables and lookahead buffers.
See Also:
On-line commands CLEAR, CLEAR ALL PLCS, OPEN, DELETE ALL, DELETE ALL TEMP
CLEAR ALL PLCS
Function: Erase all uncompiled PLC programs
Scope: Global
Syntax: CLEAR ALL PLCS
CLR ALL PLCS
This command causes Turbo PMAC to erase all uncompiled PLC program buffers (PLC) in the Turbo
PMAC buffer space.
This command does not affect fixed motion program buffers (PROGRAM), forward-kinematic program
buffers (FORWARD), inverse-kinematic program buffers (INVERSE), rotary motion program buffers
(ROTARY), compiled PLC program buffers (PLCC), or any non-program buffers, such as compensation
tables and lookahead buffers.
See Also:
On-line commands CLEAR, CLEAR ALL, OPEN, DELETE ALL, DELETE ALL TEMP
CLOSE
Function: Close the currently opened buffer.
Scope: Global
Syntax: CLOSE
CLS
This command closes the program buffer (PROGRAM, PLC, ROTARY, BINARY ROTARY) that is
currently opened on the port over which the command is given. When Turbo PMAC receives a CLOSE
command, it automatically appends a RETURN statement to the end of the open program buffer. If used
to close open rotary motion program buffers, it closes the rotary program buffers for all coordinate
systems simultaneously.
If there is no open program buffer, or if the program buffer that is open was opened from another
communications port, the CLOSE command will be accepted, but no action will occur.
Note:
Prior to V1.936 firmware, an open buffer could be accessed from any port, and the
CLOSE command could be used on one port to close a buffer that had been opened
on another port. Starting in V1.936, if a CLOSE command could only be used to
close a buffer opened from the same port.
The CLOSE command should be used immediately after the entry of a motion, PLC, rotary, etc. buffer. If
the buffer is left open, subsequent statements that are intended as on-line commands (e.g. P1=0) will get
entered into the buffer instead. It is good practice to have CLOSE at the beginning and end of any file to
be downloaded to Turbo PMAC.
If the program buffer closed by the CLOSE command is improperly structured, structured (e.g. no ENDIF
or ENDWHILE to match an IF or WHILE), Turbo PMAC will report an error to the CLOSE command,
returning ERR009 if I6 is 1 or 3. However, the buffer will still be closed.
Example:
CLOSE ; This makes sure all buffers are closed
OPEN PROG 1 ; Open motion program buffer 1
CLEAR ; Clear out this buffer
F1000 ; Program actually starts here!...
X2500 ;...and ends on this line!
CLOSE ; This closes the program buffer
LIST PROG 1 ; Request listing of closed program
F1000 ; Turbo PMAC starts listing
X2500
RETURN ; This was appended by the CLOSE command
See Also:
Program Buffers (Talking to Turbo PMAC)
On-line commands OPEN, CLEAR, <CTRL-L>, <CTRL-U>
CLOSE ALL
Function: Close the currently opened buffer on any port
Scope: Global
Syntax: CLOSE ALL
CLS ALL
This command closes the program buffer (PROGRAM, PLC, ROTARY) that is currently opened,
regardless of the port over which the buffer was opened. When Turbo PMAC receives a CLOSE ALL
command, it automatically appends a RETURN statement to the end of the open program buffer (except
for rotary motion program buffers).
Note:
The similar CLOSE command can only affect a buffer that was opened on the same
port as which the CLOSE command is sent.
See Also:
On-line commands OPEN{buffer}, CLOSE
{constant}
Function: Assign value to variable P0, or to table entry.
Scope: Global
Syntax: {constant}
where:
{constant} is a floating-point value
This command is the equivalent of P0={constant}. That is, a value entered by itself on a command
line will be assigned to P-variable P0. This allows simple operator entry of numeric values through a
dumb terminal interface. Where the value goes is hidden from the operator; the Turbo PMAC user
program must take P0 and use it as appropriate.
Note:
If a compensation table on Turbo PMAC (BLCOMP, COMP, or TCOMP) has been
defined but not filled, a constant value will be entered into this table, not into P0.
Example:
In a motion program:
P0=-1 ; Set P0 to an illegal value
SEND"Enter number of parts in run:"
; Prompt operator at dumb terminal
; Operator simply needs to type in number
WHILE (P0<1) DWELL10 ; Hold until get legal response
P1=0 ; Initialize part counter
WHILE (P0<P1) ; Loop once per part
P1=P1+1
...
P0=1 ; Temporary value for P0
#1DEFINE COMP 5,2000 ; Set up 5-entry table
32 48 96 64 0 1 ; Firt 5 numbers into table; sixth into P0
P0 ; Query P0 value
-1 ; Turbo PMAC responds
See Also:
On-line commands DEFINE BLCOMP, DEFINE COMP, DEFINE TCOMP,
CPU
Function: Report the Turbo PMAC CPU type.
Scope: Global
Syntax: CPU
This command causes Turbo PMAC to report the part number of the CPU used on the board. It is mainly
used for troubleshooting purposes.
Example:
CPU ; Request the CPU part number
56303 ; Turbo PMAC responds
See Also:
On-line commands TODAY, VERSION, TYPE
DATE
Function: Report the firmware release date.
Scope: Global
Syntax: DATE
DAT
This command causes Turbo PMAC to report the release date of the firmware revision that it is using.
The date is reported in the North American format:
{mm}/{dd}/{yyyy}
where:
{mm} is the 2-digit representation of the month
{dd} is the 2-digit representation of the day of the month
{yyyy} is the 4-digit representation of the year
The 4-digit representation of the year eliminates possible Year 2000 problems in user code processing the
date information.
The DATE command is not to be confused with the TODAY command, which causes Turbo PMAC to
report the current date.
Example:
DATE ; Request the firmware release date
07/17/1998 ; Turbo PMAC reports the firmware release date
See Also:
On-line commands CPU, TODAY, VERSION, TYPE
DEFINE BLCOMP
Function: Define backlash compensation table
Syntax: DEFINE BLCOMP {entries},{count length}
DEF BLCOMP {entries},{count length}
where:
{entries} is a positive integer constant representing the number of values in the table;
{count length} is a positive integer representing the span of the table in encoder counts of the
motor.
This command establishes a backlash compensation table for the addressed motor. The next
{entries} constants sent to Turbo PMAC will be placed into this table. The last item on the command
line {count length}, specifies the span of the backlash table in encoder counts of the motor. In use,
if the motor position goes outside of the range 0 to count-length, the position is rolled over to within this
range before the compensation is computed. The spacing between entries in the table is {count
length} divided by {entries}.
On succeeding lines will be given the actual entries of the table as constants separated by spaces and or
carriage return characters. The units of these entries are 1/16 count, and the entries must be integer
values. The first entry is the correction at one spacing from the motor zero position (as determined by the
most recent home search move or power-up/reset), the second entry is the correction two spacings away,
and so on. The correction from the table at motor zero position is zero by definition.
The correction is the amount subtracted (added in the negative direction) from the nominal commanded
position when the motor is moving in the negative direction to get the corrected position. The correction
from the backlash table is added to the Ixx86 constant backlash parameter before adjusting the motor
position. Corrections from any leadscrew compensation tables that have this motor as the target motor
are always active in both directions.
The last entry in the table represents the correction at {count length} distance from the motors zero
position. Since the table has the capability to roll over, this entry also represents the correction at the
motors zero position. If it is set to a non-zero value, the correction at zero will also be zero.
Note:
Turbo PMAC will reject this command, reporting an ERR003 if I6=1 or 3, if any
BLCOMP buffer exists for a lower numbered motor, or if any TBUF, ROTARY,
LOOKAHEAD or GATHER buffer exists. Any of these buffers must be deleted
first. BLCOMP buffers must be defined from high-numbered motor to low-
numbered motor, and deleted from low-numbered motor to high-numbered motor.
I51 must be set to 1 to enable the table.
Example:
#32 DEFINE BLCOMP 100, 100000
See Also:
Backlash Compensation (Setting Up a Motor)
Leadscrew Compensation (Setting Up a Motor)
I-variables Ixx85, Ixx86, Ixx87
On-line commands DEFINE COMP, DELETE BLCOMP
DEFINE CCBUF
Function: Define extended cutter-compensation buffer
Syntax: DEFINE CCBUF {constant}
DEF CCBUF {constant}
where:
{constant} is a positive integer constant representing the size of the buffer in programmed moves
This command establishes an extended cutter-radius compensation move buffer for the addressed
coordinate system. This buffer is required only if it is desired to maintain the compensation through one
or more moves perpendicular to the plane of compensation (e.g. Z-axis moves during XY-plane
compensation). The {constant} value in the command specifies the number of moves that can be
stored in this extended buffer. This number must be at least as large as the number of consecutive
perpendicular moves that may be executed between two moves with a component in the plane of
compensation.
Once this buffer is defined, its use is automatic and invisible to the user. If the number of consecutive
moves perpendicular to the plane of compensation exceeds this buffer size, Turbo PMAC will assume that
the incoming and outgoing moves to this point in the plane of compensation form an outside corner. If it
turns out that they form an inside corner, there will be an overcut, or gouge.
The CCBUF is a temporary buffer. Its contents are never held through a board reset or power cycling. Its
structure is only retained through a board reset or power cycling if the latest SAVE command was issued
with the buffer defined and with I14 = 1.
Turbo PMAC will reject this command, reporting an ERR003 if I6 = 1 or 3, if any CCBUFFER exists for
a lower-numbered coordinate system, or if any LOOKAHEAD or GATHER buffer exists on the board.
Any of these buffers must be deleted first. CCBUFFERs must be defined from high-numbered coordinate
system to low-numbered coordinate system.
Example:
DEFINE CCBUF 5
See Also:
On-line command DELETE CCBUF
Program commands CC0, CC1, CC2, CCR
DEFINE COMP (one-dimensional)
Function: Define Leadscrew Compensation Table
Syntax: DEFINE COMP {entries}, [#{source}[D],[#{target},]] {count
length}
where:
{entries} is a positive integer constant representing the number of numbers in the table;
{source} (optional) is a constant from 1 to 32 representing the motor whose position controls
which entries in the table are used for the active correction; if none is specified, Turbo PMAC
assumes the source is the addressed motor; if a D is specified after the source motor number, the
desired position of the motor is used to calculate the correction; otherwise the actual position is used;
{target} (optional) is a constant from 1 to 32 representing the motor that receives the correction; if
none is specified, Turbo PMAC assumes the target is the addressed motor;
source motor
This command establishes a leadscrew compensation table assigned to the addressed motor. The next
{entries} constants sent to Turbo PMAC will be placed into this table. Once defined the tables are
enabled and disabled with the variable I51.
The table belongs to the currently addressed motor, and unless otherwise specified in the command line, it
will use the addressed motor both for source position data and as the target for its corrections. Each
motor can only have one table that "belongs" to it (for a total of 32 tables in one Turbo PMAC), but it can
act as a source or a target for multiple motors.
Note:
COMP buffer exists for a lower numbered motor, or if any TCOMP, BLCOMP,
TBUF, ROTARY, LOOKAHEAD, or GATHER buffer exists. Any of these
buffers must be deleted first. COMP buffers must be defined from high-numbered
motor to low-numbered motor, and deleted from low-numbered motor to high-
numbered motor.
It is possible to directly specify a source motor (with #{source}), or source and target motors (with
#{source},#{target}), in this command. Either or both of them may be different from the motor
to which the table "belongs". (In other words, just because a table belongs to a motor does not necessarily
mean that it affects or is affected by that motors position.)
The table can operate as a function of either the desired (commanded) or actual position of the source
motor. If a D is entered immediately after the source motor number (which must be explicitly declared
here), the table operates as a function of the desired position of the source motor; if no D is entered, the
table operates as a function of the actual position of the source motor.
The last item on the command line, {count length}, specifies the span of the compensation table in
encoder counts of the source motor. In use, if the source motor position goes outside of the range 0 to
count-length, the source position is rolled over to within this range before the correction is computed.
The spacing between entries in the table is {count length} divided by {entries}.
On succeeding lines will be given the actual entries of the table. The units of these entries are 1/16 count,
and the entries must be integer values. The first entry is the correction at one spacing from the motor zero
position (as determined by the most recent home search move or power-up/reset), the second entry is the
correction two spacings away, and so on. The correction is the amount added to the nominal position to
get the corrected position. The correction at the zero position is zero by definition.
motors zero position. If it is set to a non-zero value, the correction at zero will also be non-zero.
Example:
#1 DEFINE COMP 4,2000 ; Create table for motor 1
ERR003 ; Turbo PMAC rejects this command
DELETE GATHER ; Clear other buffers to allow loading
DELETE ROTARY
#8DEFINE COMP 500,20000 ; Uses motor 8 as source and target, 500 entries,
; spacing of 40 counts
#7DEFINE COMP 256,#3D,32768 ; Belongs to motor 7, uses #3 desired position as
; source, #7 as target, 256 entries, spacing of 128 counts
#6 DEFINE COMP 400,#5,#4,40000 ; Belongs to motor 6, uses #5 as source, #4 as target,
; 400 entries, spacing of 100 counts
#5 DEFINE COMP 200,#1D,#1,30000 ; Belongs to motor 5, uses #1 desired position as
; source and target, 200 entries, spacing of 150 count
I51=1 ; Enable compensation tables
See Also:
Leadscrew compensation (Setting Up a Motor)
I-variable I51
On-line commands {constant}, LIST COMP, LIST COMP DEF, DELETE COMP, DELETE
GATHER, DELETE ROTARY, SIZE
DEFINE COMP (two-dimensional)
Function: Define two-dimensional position compensation table
Scope: Motor-specific
Syntax: DEFINE COMP {Rows}.{Columns}, #{RowMotor}[D],
[#{ColumnMotor}[D], [#{TargetMotor}]],
{RowSpan},{ColumnSpan}
DEF COMP...
where:
{Rows} is a positive integer constant representing the number of rows in the table, where each row
represents a fixed location of the second (column) source motor;
{Columns} is a positive integer constant representing the number of columns in the table, where
each column represents a fixed location of the first (row) source motor;
{RowMotor} is an integer constant from 1 to 32 representing the number of the first source motor;
defaults to addressed motor; if a D is specified after the source motor number, the desired position of
the motor is used to calculate the correction; otherwise the actual position is used;
{ColumnMotor} is an integer constant from 1 to 32 representing the number of the second source
motor; if a D is specified after the source motor number, the desired position of the motor is used to
calculate the correction; otherwise the actual position is used;
{TargetMotor} is an integer constant from 1 to 32 representing the number of the target motor;
defaults to addressed motor;
{RowSpan} is the span of the table, in counts, along the first (row) source motors travel;
{ColumnSpan} is the span of the table, in counts, along the second (column) source motors travel.
This command establishes a two-dimensional position compensation table assigned to the addressed
motor. The next (Rows+1)*(Columns+1)-1 constants sent to Turbo PMAC will be placed into this table.
This type of table is usually used to correct a motor position (X, Y, or Z-axis) as a function of the planar
position of two motors (e.g. X and Y axes). Once defined, the tables are enabled and disabled with the
variable I51.
The table belongs to the currently addressed motor, and unless otherwise specified in the command line, it
will use the addressed motor both as the first-motor source position data and as the target for its
corrections. Each motor can only have one table that belongs to it (for a total of 32 tables in one PMAC),
but it can act as a source and/or a target for multiple tables.
Note:
PMAC will reject this command, reporting an ERR003 if I6=1 or 3, if any COMP
buffer exists for a lower numbered motor, or if any TCOMP, BLCOMP, TBUF,
ROTARY, or GATHER buffer exists. Any of these buffers must be deleted first.
COMP buffers must be defined from high-numbered motor to low-numbered
motor, and deleted from low-numbered motor to high-numbered motor.
The first source motor must be specified in the command line with #{RowMotor}. The second source
motor may be specified in the command line with #{ColumnMotor}; if it is not specified, Turbo
PMAC assumes that the second source motor is the currently addressed motor. The target motor may be
specified with #{TargetMotor}; if it is not specified, Turbo PMAC assumes that the target motor is
the currently addressed motor.
In other words, if only one motor is specified in the command line, it is the first (row) source motor, and
the second (column) source and target motors default to the addressed motor. If two motors are specified
in the command line, the first one specified is the first (row) source motor, the second is the second
(column) source motor, and the target motor defaults to the addressed motor. If three motors are
specified, the first is the first (row) source motor, the second is the second (column) source motor, and the
third is the target motor. None of these motors is required to be the addressed motor.
It is strongly recommended that both source motors and the target motor is specified in this command to
prevent possible confusion.
The table can operate as a function of either the desired (commanded) or actual position of the source
motors. If a D is entered immediately after the source motor number (which must be explicitly declared
here), the table operates as a function of the desired position of the source motor; if no D is entered, the
table operates as a function of the actual position of the source motor. If the target motor is also one of
the source motors, it is recommended that desired position be used, especially in high-gain systems, to
prevent interaction with the servo dynamics.
The last two items on the command line, {RowSpan} and {ColumnSpan}, specify the span of the
compensation table for the two source motors, row and column respectively, expressed in encoder counts
of those motors. In use, if the source motor position goes outside of the range 0 to {Span}, the source
position is rolled over to within this range along this axis before the correction is computed.
The count spacing between columns in the table is {RowSpan} divided by {Columns}. The count
spacing between rows in the table is {ColumnSpan} divided by {Rows}. Note carefully the
interaction between the row parameters and the column parameters.
On succeeding command lines will be given the actual correction entries of the table, given as integer
numerical constants in text form. The units of these entries are 1/16 count, and the entries must be integer
values. The first entry is the correction at one column spacing from the zero position of the RowMotor,
and the zero position of the ColumnMotor. The second entry is the correction at two column spacings
from the zero position of the RowMotor, and the zero position of the ColumnMotor, and so on. Entry
number Columns is the correction at RowSpan counts of the RowMotor, and at the zero position of the
ColumnMotor (this entry should be zero to use the table along the edge, to match the implied zero
correction at the origin). These entries should be considered as constituting Row 0 of the table.
The next entry (entry Columns+1, the first entry of Row 1) is the correction at the zero position of the
RowMotor, and one row spacing of the ColumnMotor. The following entry is the correction at one
column spacing of the RowMotor and one row spacing of the ColumnMotor. The entry after this is
the correction at two column spacing of the RowMotor and one row spacings of the ColumnMotor.,
and so on. The last entry of Row 1 (entry 2*Columns+1) is the correction at one row spacing of the
RowMotor, and RowSpan counts of the ColumnMotor.
Subsequent rows are added in this fashion, with the corrections of the entries for Row n being at n row
spacings from the zero position of the ColumnMotor. The last row (row Rows) contains corrections at
ColumnSpan counts of the ColumnMotor.
The size of the table is limited only by available data buffer space in Turbo PMACs memory.
The following chart shows the order of entries into a 2D table with r rows and c columns, covering a span
along the row motor of RowSpan, and along the column motor of ColSpan:
Column Motor
Position v

Col 0

Col 1

Col 2

(Col j)

Col c
Row Motor
Position >
0 RowSpan c 2*RowSpan c RowSpan
Row 0
0 [0] E
1
E
2
E
c
Row 1
ColSpan r E
c+1
E
c+2
E
c+3
E
2c+1

Row 2
2*ColSpan r E
2c+2
E
2c+3
E
2c+4
E
3c+2

(Row i)
(E
ic+I+j
)
Row r
ColSpan E
rc+r
E
rc+r+1
E
rc+r+2
E
rc+r+c

There are several important details to note in the entry of a 2D table:
The number of rows and number of columns is separated by a period, not a comma.
The correction to the target motor at the zero position of both source motors is zero by definition.
This is an implied entry at the beginning of the table (shown by [0] in the above chart); it should not
be explicitly entered.
Consecutive entries in the table are in the same row (except at rows end) separated by one column
spacing of the position of the first source (row) motor.
Both Row 0 and Row r must be entered into the table, so effectively (r+1) rows are being entered. If
there is any possibility that it may go beyond an edge of the table, matching entries of Row 0 and
Row r should have the same value to prevent a discontinuity in the correction. Row r in the table
may simply be an added row beyond the real range of concern used just to prevent possible
discontinuities at the edges of he real range of concern.
Both Column 0 and Column c must be entered into the table, so effectively (c+1) columns are being
entered. If there is any possibility that it may go beyond an edge of the table, matching entries of
Column 0 and Column c should have the same value to prevent a discontinuity in the correction.
Column c in the table may simply be an added column beyond the real range of concern used just to
prevent possible discontinuities at the edges of the real range of concern.
Because the outside rows and outside columns must match each other to prevent edge discontinuities,
the three explicitly entered corner corrections must be zero to match the implicit zero correction at the
first corner of the table.
Examples:
#1 DEFINE COMP 40.30,#1,#2,#3,300000,400000
; Create table belonging to Motor 1
DELETE GATHER ; Clear other buffers to allow loading
&1 DELETE ROTARY
&2 DELETE ROTARY
#2 DELETE COMP
#3 DELETE COMP
#4 DEFINE COMP 30.40,#1,#2,#3,400000,300000
; Create same table, now belonging to Motor 4; #1 & #2 are sources, #3
; is target; 30 rows x 40 columns, spacing of 10,000 counts
(1270 entries) ; (30+1)*(40+1)-1 entries of constants
#3 DEFINE COMP 25.20,#2,#3,#1,200000,250000
; Create table belonging to Motor 3; #2 and #3 are sources, #1 is target;
; 25 rows x 20 columns, spacing of 10,000 counts
(545 entries) ;(25+1)*(20+1)-1 entries of constants
#2 DEFINE COMP 10.10,#1,#4,10000,20000
; Create table belonging to Motor 2; #1 and #4 are sources, #2 (default)
; is target; 10 rows x10 columns, spacing of 1000 cts between columns;
; spacing of 2000 cts between rows;
#1 DEFINE COMP 12.10,#4,1280,1200
; Create table belonging to Motor 1; #4 and #1 (default) are sources, #1
; (default) is target;12 rows x 10 columns; spacing of 128 cts between;
; columns spacing of 100 cts between rows
I51=1 ; Enable compensation tables
DEFINE GATHER
Function: Create a data gathering buffer.
Scope: Global
Syntax: DEFINE GATHER [{constant}]
DEF GAT [{constant}]
where:
{constant} is a positive integer representing the number of words of memory to be reserved for
the buffer
This command reserves space in Turbo PMACs memory or in DPRAM depending upon the setting of
I5000 for the data gathering buffer and prepares it for collecting data at the beginning of the buffer. If a
data gathering buffer already exists, its contents are not erased but the Data Gather Buffer Storage address
(Y:$003120) is reinitialized to the Data Gather Buffer Start address (X:$003120) and the LIST
GATHER command will no longer function. Data collection will again start at the beginning of the buffer
when the command GATHER is issued.
If Data Gathering is in progress (an ENDGATHER command has not been issued and the gather buffer has
not been filled up) Turbo PMAC will report an error on receipt of this command.
The optional {constant} specifies the number of long words to be reserved for the data gathering
buffer, leaving the remainder of Turbo PMAC's memory available for other buffers such as motion and
PLC programs. If {constant} is not specified, all of Turbo PMAC's unused buffer memory is
reserved for data gathering. Until this buffer is deleted (with the DELETE GATHER command), no new
motion or PLC programs may be entered into Turbo PMAC.
Note:
If I5000 = 2 or 3 the {size} requested in the DEFINE GATHER {size}
command refers to a DPRAM long word (32-bits). If the {size} is smaller than
required to hold an even multiple of the requested data, the actual data storage will
go beyond the requested {size} to the next higher multiple of memory words
required to hold the data. For example, if gathering one 24-bit value and one 48-
bit value, 3 DPRAM long words of memory is needed. If the {size} specified is
4000 words (not a multiple of 3), the actual storage size will be 4002 words (the
next higher multiple of 3).
The number of long words of unused buffer memory can be found by issuing the SIZE command.
Example:
DEFINE GATHER
DEFINE GATHER 1000
See Also:
I-variables I5000 I5051
On-line commands GATHER, DELETE GATHER, <CTRL-G>, SIZE
DEFINE LOOKAHEAD
Function: Create a lookahead buffer
Syntax: DEFINE LOOKAHEAD {constant},{constant}
DEF LOOK {constant},{constant}
where:
the first {constant} is a positive integer representing the number of move segments that can be
stored in the buffer;
the second {constant} is a positive integer representing the number of synchronous M-variable
assignments that can be stored in the buffer
This command establishes a lookahead buffer for the addressed coordinate system. It reserves memory to
buffer both motion equations and synchronous M-variable output commands for the lookahead function.
Segment Buffer Size: The first constant value in the command determines the number of motion
segments that can be stored in the lookahead buffer. Each motion segment takes Isx13 milliseconds at the
motion program speeds and acceleration times (the velocity and acceleration limits may extend these
times). However, it is variable Isx20 for the coordinate system that determines how many motion
segments the coordinate system will actually look ahead in operation.
The lookahead buffer should be sized large enough to store all of the lookahead segments calculated,
which means that this constant value must be greater than or equal to Isx20. If backup capability is
desired, the buffer must be sized to be large enough to contain the desired lookahead distance plus the
desired backup distance.
The method for calculating the number of segments that must be stored ahead is explained in the Isx20
specification and in the Turbo PMAC User manual section on Lookahead. The fundamental equation is:
13 Isx * 2
1
*
xx
17 Ixx
16 Ixx
max *
3
4
20 Isx
(
=
If backup capability is desired, the buffer must be able to store an additional number of segments for the
entire distance to be covered in reversal. This number of segments can be calculated as:
( )
( ) ) seg sec/ m ( SegTime * sec / units
max
V
sec) sec/ m ( 1000 * units BackupDist
ts BackSegmen =
The total number of segments to reserve for the buffer is simply the sum of the forward and back
segments wishing to be able to hold:
ts BackSegmen 20 Isx nts TotalSegme + =
Memory Requirements: For each segment Turbo PMAC is told to reserve space for in the lookahead
buffer, Turbo PMAC will reserve (2x+4) 48-bit words of memory from the main buffer memory space,
where x is the number of motors in the coordinate system at the time that the buffer is defined. For
example, if there are 5 motors in the coordinate system, a command to reserve space for 50 segments will
reserve 50*(2*5 + 4) = 700 words of memory. If a motor is added to the coordinate system, or removed
from it, after the lookahead buffer has been defined, the lookahead buffer should be re-defined.
Output Buffer Size: The second constant value in the command determines the number of synchronous
M-variable assignments that can be stored in the lookahead buffer. Because these are evaluated at
lookahead time, but not actually implemented until move execution time, they must be buffered. This
section of the buffer must be large enough to store all of the assignments that could be made in the
lookahead distance. Synchronous M-variable assignments are not made during backup, so there is no
need to reserve memory to store assignments for the backup distance as well as the lookahead distance.
Memory Requirements: For each synchronous M-variable assignment Turbo PMAC is told to reserve
space for in the lookahead buffer, Turbo PMAC will reserve two 48-bit words of memory.
There are no performance penalties for making the lookahead buffer larger than required, but this does
limit the amount of Turbo PMAC memory free for other features.
A lookahead buffer is never retained through a power-down or board reset, so this command must be
issued after every power-up/reset if the lookahead function is to be used.
Note:
Turbo PMAC will reject the DEFINE LOOKAHEAD command, reporting an
ERR003 if I6=1 or 3, if any LOOKAHEAD buffer exists for a lower-numbered
coordinate system, or if a GATHER buffer exists. LOOKAHEAD buffers must be
defined from high-numbered coordinate system to low-numbered coordinate
system, and deleted from low-numbered coordinate system to high-numbered
coordinate system.
Example:
DELETE GATHER ; Ensure open memory
&2DEFINE LOOKAHEAD 1000,200 ; Create buffer for C.S. 2
&1DEFINE LOOKAHEAD 1500,20 ; Create buffer for C.S. 1
DEFINE ROTARY
Function: Define a rotary motion program buffer
Syntax: DEFINE ROTARY{constant}
DEF ROT{constant}
where:
{constant} is a positive integer representing the number of long words of memory to be reserved
for the buffer
This command causes Turbo PMAC to create a rotary motion program buffer for the addressed
coordinate system, allocating the specified number of long words of memory. Rotary buffers permit the
downloading of program lines during the execution of the program.
The buffer should be large enough to allow it to hold safely the number of lines anticipated to be
downloaded to Turbo PMAC ahead of the executing point. Each long word of memory can hold one sub-
block of a motion program (i.e. X1000 Y1000 is considered as two sub-blocks). The allocated memory
for this coordinate systems rotary buffer remains resident until the buffer is deleted with DELETE ROT.
Note:
ROTARY buffer exists for a lower numbered coordinate system, or if a
LOOKAHEAD or GATHER buffer exists. Any of these buffers must be deleted
first. ROTARY buffers must be defined from high-numbered coordinate system to
low-numbered coordinate system, and deleted from low-numbered coordinate
system to high-numbered coordinate system.
Example:
DELETE GATHER ; Ensure open memory
&2DEFINE ROT 100 ; Create buffer for C.S. 2
&1DEFINE ROT 100 ; Create buffer for C.S. 1
&1B0 &2B0 ; Point to these buffers
OPEN ROT ; Open these buffers for entry
... ; enter program lines here
See Also:
Rotary Program Buffers (Writing a Motion Program)
On-line commands OPEN ROTARY, DELETE ROTARY, DELETE GATHER
DEFINE TBUF
Function: Create a buffer for axis transformation matrices.
Scope: Global
Syntax: DEFINE TBUF {constant}
DEF TBUF {constant}
where:
{constant} is a positive integer representing the number of transformation matrices to create
This command reserves space in Turbo PMACs memory for one or more axis transformation matrices.
These matrices can be used for real-time translation, rotation, scaling, and mirroring of the X, Y, and Z
axes of any coordinate system. A coordinate system selects which matrix to use with the TSELn
command, where n is an integer from 1 to the number of matrices created here.
Note:
LOOKAHEAD, ROTARY,or GATHER buffer exists. Any of these buffers must
be deleted first.
The number of long words of unused buffer memory can be found by issuing the SIZE command. Each
defined matrix takes 21 words of memory.
Example:
DELETE GATHER
DEF TBUF 1
DEFINE TBUF 8
See Also:
Axis Transformation Matrices (Writing a Motion Program)
On-line commands DELETE TBUF, DELETE GATHER, SIZE.
Program commands TSEL, ADIS, AROT, IDIS, IROT, TINIT
DEFINE TCOMP
Function: Define torque compensation table
Syntax: DEFINE TCOMP {entries},{count length}
DEF TCOMP {entries},{count length}
where:
{entries} is a positive integer constant representing the number of values in the table;
motor.
This command establishes a torque compensation table for the addressed motor. The next {entries}
constants sent to Turbo PMAC will be placed into this table. The last item on the command line {count
length}, specifies the span of the torque compensation table in encoder counts of the motor. In use, if
the motor position goes outside of the range 0 to count-length, the position is rolled over to within this
range before the compensation is computed. The spacing between entries in the table is {count
length} divided by {entries}.
On succeeding lines will be given the actual entries of the table as constants separated by spaces and or
carriage return characters. The units of these entries are bits of a 16-bit DAC (even if the actual output
device has some other resolution), and the entries must be integer values. The first entry is the correction
at one spacing from the motor zero position (as determined by the most recent home search move or
power-up/reset), the second entry is the correction two spacings away, and so on. Turbo PMAC
computes corrections for positions between the table entries by a first-order interpolation between
adjacent entries. The correction from the table at motor zero position is zero by definition.
The correction is the magnitude added to Turbo PMACs servo loop output at that position. If Turbo
PMACs command is positive, a positive value from the table will increase the magnitude of the output; a
negative value will decrease the magnitude of the output. If Turbo PMACs command is negative, a
positive value from the table will increase the magnitude of the output in the negative direction; a
negative value will decrease the magnitude of the output.
motors zero position. If it is set to a non-zero value, the correction at zero will also be zero.
Note:
TCOMP buffer exists for a lower numbered motor, or if any BLCOMP, TBUF,
LOOKAHEAD, ROTARY, or GATHER buffer exists. Any of these buffers must
be deleted first. TCOMP buffers must be defined from high-numbered motor to
low-numbered motor, and deleted from low-numbered motor to high-numbered
motor.
I51 must be set to 1 to enable the table.
See Also:
Torque Compensation (Setting Up a Motor)
I-variables I51
On-line command DELETE TCOMP
DEFINE UBUFFER [modified description]
Function: Create a buffer for user variable use.
Scope: Global
Syntax: DEFINE UBUFFER {constant}
DEF UBUF {constant}
where:
{constant} is a positive integer representing the number of 48-bit words of Turbo PMAC memory
to reserve for this purpose
This command reserves space in Turbo PMACs memory for the users discretionary use. This memory
space will be untouched by any Turbo PMAC automatic functions. User access to this buffer is through
M-variables, or possibly through on-line W (write) and R (read) commands.
The buffer starts at Turbo PMAC data memory end address ($0107FF for the standard data memory, and
$03FFFF for the extended data memory) and continues back toward the beginning of memory ($000000)
for the number of long (48-bit) words specified by {constant}. This memory space can be subdivided
any way the user sees fit. These registers are backed up by the flash memory, so the values in the buffer
at the last SAVE command will be copied from the flash memory into the buffer at power-up or reset.
All other buffers except for fixed motion programs (PROG) and PLC programs must be deleted before
Turbo PMAC will accept this command. There can be no rotary motion program, leadscrew
compensation table, transformation matrix, data gathering or lookahead buffers in Turbo PMAC memory
(any buffer created with a DEFINE command) for this command to be accepted. It is usually best to
reinitialize the card with a $$$*** command, or erase all defined buffers with the DELETE ALL
command, before sending the DEFINE UBUFFER command
The address of the end of unreserved memory is held in register X:$0031B2. If no UBUFFER is defined,
this register will hold a value of $010800 for the standard data memory configuration, or $040000 for the
extended data memory configuration. (Starting with V1.937 firmware, a Turbo PMAC with the extended
data memory configuration will at re-initialization have a UBUFFER of 65,536 words defined, causing
this register to hold a value of $030000.) Immediately after the user buffer has successfully been defined,
this register will hold the address of the start of the buffer (the end of the user buffer is always at the end
of data memory).
To free up this memory for other uses, the DEFINE UBUFFER 0 command should be used (there is no
DELETE UBUFFER command). It may be more convenient simply to re-initialize the board with a
$$$*** command.
Example:
RHX:$0031B2 ; Look for end of unreserved memory
00FC99 ; Reply indicates some reserved
$$$*** ; Re-initialize card to clear memory
RHX:$0031B2 ; Check end of unreserved memory
010800 ; Reply indicates none reserved
DEFINE UBUFFER 2048 ; Reserve memory for buffer
RHX:$0031B2 ; Check for beginning of buffer
010000 ; Reply confirms 2048 words reserved
M1000->D:$010000 ; Define M-variable to first word
M1010->Y:$010020,12,1 ; Define M-variable to a middle word
M1023->X:$0107FF,24,S ; Define M-variable to last word
See Also:
User Buffer, M-Variables (Computational Features)
I-variable I4908
On-line commands $$$***, R[H]{address}, W{address}
DELETE ALL
Function: Erase all defined permanent and temporary buffers
Scope: Global
Syntax: DELETE ALL
DEL ALL
This command causes Turbo PMAC to erase all buffers created with a DEFINE command, permanent
(fixed) and temporary, in Turbo PMACs memory space. These include:
User buffer (UBUFFER)
Leadscrew compensation tables (COMP)
Torque compensation tables (TCOMP)
Backlash compensation tables (BLCOMP)
Transformation matrix buffers (TBUF)
Rotary motion program buffers (ROTARY)
Segment lookahead buffers (LOOKAHEAD)
Extended cutter-radius compensation buffers (CCBUF)
Data gathering buffer (GATHER)
See Also:
On-line commands CLEAR, CLEAR ALL, CLEAR ALL PLCS, OPEN, DELETE ALL TEMP
DELETE ALL TEMPS
Function: Erase all defined temporary buffers
Scope: Global
Syntax: DELETE ALL TEMPS
DEL ALL TEMP
This command causes Turbo PMAC to erase all temporary buffers created with a DEFINE command in
Turbo PMACs memory space.
Temporary buffers are those whose contents are not kept through a power-down or reset, even if the
structures for the buffers are (when I14=1). These include:
Rotary motion program buffers (ROTARY)
Segment lookahead buffers (LOOKAHEAD)
Extended cutter-radius compensation buffers (CCBUFFER)
Data gathering buffer (GATHER)
This command does not affect permanent buffers created with a DEFINE command. It also does not
affect fixed (not rotary) motion program buffers (PROGRAM), forward-kinematic program buffers
(FORWARD), inverse-kinematic program buffers (INVERSE), uncompiled PLC program buffers (PLC), or
compiled PLC program buffers (PLCC).
See Also:
I-variable I14
On-line commands CLEAR, CLEAR ALL, CLEAR ALL PLCS, OPEN, DELETE ALL
DELETE BLCOMP
Function: Erase backlash compensation table
Syntax: DELETE BLCOMP
DEL BLCOMP
This command causes Turbo PMAC to erase the compensation table for the addressed motor, freeing that
memory for other use.
Note:
BLCOMP buffer exists for a lower numbered motor, or if any TBUF, ROTARY,
or GATHER buffer exists. Any of these buffers must be deleted first. BLCOMP
buffers must be defined from high-numbered motor to low-numbered motor, and
deleted from low-numbered motor to high-numbered motor.
Example:
#2 DEL BLCOMP ; Erase table belonging to Motor 2
See Also:
Backlash Compensation (Setting Up a Motor)
On-line command DEFINE BLCOMP
DELETE CCUBUF
Function: Erase extended cutter-compensation buffer
Syntax: DELETE CCBUF
DEL CCBUF
This command causes Turbo PMAC to erase the extended cutter-radius compensation move buffer for the
addressed coordinate system, freeing that memory for other use.
Turbo PMAC will reject this command, reporting an ERR003 if I6 = 1 or 3, if any CCBUF exists for a
lower-numbered coordinate system, or if any LOOKAHEAD or GATHER buffer exists on the board.
Any of these buffers must be deleted first. CCBUFs must be deleted from low-numbered coordinate
See Also:
On-line command DEFINE CCBUF
Program commands CC0, CC1, CC2, CCR
DELETE COMP
Function: Erase leadscrew compensation table
Syntax: DELETE COMP
DEL COMP
This command causes Turbo PMAC to erase the compensation table belonging to the addressed motor,
freeing that memory for other use.
Note:
COMP buffer exists for a lower numbered motor, or if any TCOMP, BLCOMP,
TBUF, ROTARY, or GATHER buffer exists. Any of these buffers must be
deleted first. COMP buffers must be defined from high-numbered motor to low-
numbered motor, and deleted from low-numbered motor to high-numbered motor.
Remember that a compensation table belonging to a motor does not necessarily affect that motor or is not
necessarily affected by that motor. The command LIST COMP DEF will tell which motors it affects
and is affected by.
Example:
#2DEL COMP.... ; Erase table belonging to Motor 2
ERR003.............. ; Turbo PMAC rejects this command
#1 DELETE COMP ; Erase table belonging to Motor 1
#2 DELETE COMP ; Erase table belonging to Motor 2
See Also:
Leadscrew compensation (Setting Up a Motor)
I-variable I51
On-line commands {constant}, LIST COMP, LIST COMP DEF, DEFINE COMP
DELETE LOOKAHEAD
Function: Erase the lookahead buffer.
Syntax: DELETE LOOKAHEAD
DEL LOOK
This command causes Turbo PMAC to erase the lookahead buffer for the addressed coordinate system,
Note:
LOOKAHEAD buffer exists for a lower numbered coordinate system, or if any
ROTARY or GATHER buffer exists. Any of these buffers must be deleted first.
LOOKAHEAD buffers must be defined from high-numbered coordinate system to
low-numbered coordinate system, and deleted from low-numbered coordinate
Lookahead buffers are not maintained through a power-down or board reset, even if a SAVE command
has been done while the buffers exist. Therefore a board reset will automatically delete all lookahead
buffers.

DELETE GATHER
Function: Erase the data gather buffer.
Scope: Global
Syntax: DELETE GATHER
DEL GAT
This command causes the data gathering buffer to be erased. The memory that was reserved is now de-
allocated and is available for other buffers (motion programs, PLC programs, compensation tables, etc.).
If Data Gathering is in progress (an ENDGATHER command has not been issued and the gather buffer has
not been filled up) Turbo PMAC will report an error on receipt of this command.
Turbo PMAC's Executive Program automatically inserts this command at the top of a file when it uploads
a buffer from Turbo PMAC into its editor, so the next download will not be hampered by an existing
gather buffer. It is strongly recommended that this command be used as well when a program file is
created in the editor (see Examples below).
Note:
When the executive program's data gathering function operates, it automatically
reserves the entire open buffer space for gathered data. When this has happened,
no additional programs or program lines may be entered into Turbo PMAC's buffer
space until the DELETE GATHER command has freed this memory.
Example:
CLOSE ; Make sure no buffers are open
DELETE GATHER ; Free memory
OPEN PROG 50 ; Open new buffer for entry
CLEAR ; Erase contents of buffer
... ; Enter new contents here
See Also:
Buffered Commands (Talking to Turbo PMAC)
On-line commands GATHER, DEFINE GATHER, SIZE
DELETE PLCC
Function: Erase specified compiled PLC program
Scope: Global
Syntax: DELETE PLCC {constant}
DEL PLCC {constant}
where:
{constant} is an integer from 0 to 31, representing the program number
This command causes Turbo PMAC to erase the specified compiled PLC program. Remember that
because all of the compiled PLC programs must be downloaded to Turbo PMAC together, the only way
to restore this PLC is to download the entire set of compiled PLCs.
Only one PLCC program can be deleted in one command. Ranges and lists of PLCC program numbers
are not permitted in this command.
To perform the same function for an uncompiled PLC program, the command sequence would be OPEN
PLC n CLEAR CLOSE.
Example:
DELETE PLCC 5 ; Erase compiled PLC program 5
DEL PLCC 0.... ; Erase compiled PLC program 0
See Also:
Compiled PLCs (Writing a PLC Program)
I-variable I5
On-line commands DISABLE PLCC, ENABLE PLCC, CLEAR
DELETE ROTARY
Function: Delete rotary motion program buffer of addressed coordinate system
Syntax: DELETE ROTARY
DEL ROT
This command causes Turbo PMAC to erase the rotary buffer for the currently addressed coordinate
system and frees the memory that had been allocated for it.
Note:
Turbo PMAC will reject this command, reporting an ERR003 if I6=1 or 3, if the
ROTARY buffer for this coordinate system is open or executing, or if any
ROTARY buffer exists for a lower numbered coordinate system, or if a GATHER
buffer exists. Any of these buffers must be deleted first. ROTARY buffers must
be defined from high-numbered coordinate system to low-numbered coordinate
system, and deleted from low-numbered motor to high-numbered motor.
Example:
&2 DELETE ROTARY ; Try to erase C.S. 2s rotary buffer
ERR003.............. ; Turbo PMAC rejects this; C.S. 1 still has
............ ; a rotary buffer
&1 DELETE ROTARY ; Erase C.S. 1's rotary buffer
&2 DELETE ROTARY ; Erase C.S. 2's rotary buffer; OK now
See Also:
On-line commands DEFINE ROTARY, OPEN ROTARY.
DELETE TBUF
Function: Delete buffer for axis transformation matrices.
Scope: Global
Syntax: DELETE TBUF
DEL TBUF
This command frees up the space in Turbo PMAC's memory that was used for axis transformation
matrices. These matrices can be used for real-time translation, rotation, scaling, and mirroring of the X,
Y, and Z axes of any coordinate system.
Note:
ROTARYor GATHER buffer exists. Any of these buffers must be deleted first.
Example:
DEL TBUF
DELETE TBUF
See Also:
Axis Transformation Matrices (Writing a Motion Program)
On-line commands DEFINE TBUF
Program commands TSEL, ADIS, AROT, IDIS, IROT, TINIT
DELETE TCOMP
Function: Erase torque compensation table
Syntax: DELETE TCOMP
DEL TCOMP
This command causes Turbo PMAC to erase the torque compensation table for the addressed motor,
Note:
TCOMP buffer exists for a lower numbered motor, or if any BLCOMP, TBUF,
ROTARY, or GATHER buffer exists. Any of these buffers must be deleted first.
TCOMP buffers must be defined from high-numbered motor to low-numbered
motor, and deleted from low-numbered motor to high-numbered motor.
Example:
#2 DEL TCOMP ; Erase table belonging to Motor 2
See Also:
Torque Compensation (Setting Up a Motor)
I-variables I51
On-line command DEFINE TCOMP
DISABLE PLC
Function: Disable specified PLC programs.
Scope: Global
Syntax: DISABLE PLC {constant}[,{constant}]
DIS PLC {constant}[,{constant}]
DISABLE PLC {constant}..{constant}
DIS PLC {constant}..{constant}
where
This command causes Turbo PMAC to disable (stop executing) the specified uncompiled PLC program
or programs. Execution can subsequently be resumed at the top of the program with the ENABLE PLC
command. If it is desired to restart execution at the stopped point, execution should be stopped with the
PAUSE PLC command, and restarted with the RESUME PLC command
The on-line DISABLE PLC command can only suspend execution of a PLC program at the end of a
scan, which is either the end of the program, or after an ENDWHILE statement in the program. PLC
programs are specified by number, and may be specified in a command singularly, in a list (separated by
commas), or in a range of consecutively numbered programs. PLC programs can be re-enabled by using
the ENABLE PLC command. If a motion or PLC program buffer is open when this command is sent to
Turbo PMAC, the command will be entered into that buffer for later execution.
Example:
DISABLE PLC 1
DIS PLC 5
DIS PLC 3,4,7
DISABLE PLC 0..31
See Also:
I-variable I5
On-line commands ENABLE PLC, OPEN PLC, DISABLE PLCC, ENABLE PLCC, <CONTROL-D>.
Program commands DISABLE PLC, ENABLE PLC, DISABLE PLCC, ENABLE PLCC
DISABLE PLCC
Function: Disable compiled PLC programs.
Scope: Global
Syntax: DISABLE PLCC {constant}[,{constant}]
DIS PLCC {constant}[,{constant}]
PLCC {constant}..{constant}
DIS PLCC {constant}..{constant}
where:
{constant} is an integer from 0 to 31, representing the compiled PLC program number
This command causes Turbo PMAC to disable (stop executing) the specified compiled PLC program or
programs. Compiled PLC programs are specified by number, and may be specified in a command
singularly, in a list (separated by commas), or in a range of consecutively numbered programs. PLC
programs can be re-enabled by using the ENABLE PLCC command.
If a motion or PLC program buffer is open when this command is sent to Turbo PMAC, the command
will be entered into that buffer for later execution.
Example:
DISABLE PLCC 1
DIS PLCC 5
DIS PLCC 3,4,7
DISABLE PLCC 0..31
See Also:
I-variable I5
On-line commands DISABLE PLC, ENABLE PLC, ENABLE PLCC, OPEN PLC, <CONTROL-D>.
Program commands DISABLE PLC, DISABLE PLCC, ENABLE PLC, ENABLE PLCC
EAVERSION
Function: Report firmware version information
Scope: Global
Syntax: EAVERSION
EAVER
This command causes Turbo PMAC to report information about the firmware version it is using. Turbo
PMAC responds with seven decimal digits.
The first four digits represent the firmware version number, without the decimal point (e.g. 1934 for
version 1.934).
The fifth digit is 0 for a released firmware version. If it has a value n greater than 0, it is reporting the
nth test (pre-release) revision of this numerical firmware version.
The sixth digit is reserved for future use. It presently always reports a 0.
The seventh digit is a 0 for a Turbo PMAC1; it is a 1 for a Turbo PMAC2.
Example:
EAVERSION ; Ask Turbo PMAC for firmware version
1934201 ; Turbo PMAC responds Version 1.934 2
nd
test revision
; Turbo PMAC2 firmware
See Also:
On-line command DATE, VERSION, TYPE
ENABLE PLC
Function: Enable specified PLC programs.
Scope: Global
Syntax: ENABLE PLC {constant}[,{constant}]
ENA PLC {constant}[,{constant}]
ENABLE PLC {constant}..{constant}
ENA PLC {constant}..{constant}
where:
This command causes Turbo PMAC to enable (start executing) the specified uncompiled PLC program or
programs at the top of the program. Execution of the PLC program may have been stopped with the
DISABLE PLC, PAUSE PLC, or OPEN PLC command.
I-variable I5 must be in the proper state to allow the PLC programs specified in this command to execute.
Note:
This command must be used to start operation of a PLC program after it has been
entered or edited, because the OPEN PLC command disables the program
automatically and CLOSE does not re-enable it.
Example:
ENABLE PLC 1
ENA PLC 2,7
ENABLE PLC 3,21
ENABLE PLC 0..31
This example shows the sequence of commands to download a very simple PLC program and have it
enabled on the download automatically:
OPEN PLC 7 CLEAR
P1=P1+1
CLOSE
ENABLE PLC 7
See Also:
I-variable I5
On-line commands ENABLE PLC, OPEN PLC, <CONTROL-D>.
Program commands DISABLE PLC, ENABLE PLC
ENABLE PLCC
Function: Enable specified compiled PLC programs.
Scope: Global
Syntax: ENABLE PLCC {constant}[,{constant}]
ENA PLCC {constant}[,{constant}]
PLCC {constant}..{constant}
ENA PLCC {constant}..{constant}
where:
This command causes Turbo PMAC to enable (start executing) the specified compiled PLC program or
programs. Compiled PLC programs are specified by number, and may be used singularly in this
command, in a list (separated by commas), or in a range of consecutively numbered programs.
I-variable I5 must be in the proper state to allow the compiled PLC programs specified in this command
to execute.
Example:
ENABLE PLCC 1
ENA PLCC 2,7
ENABLE PLCC 3,21
ENABLE PLCC 0..31
See Also:
I-variable I5
On-line commands DISABLE PLC, DISABLE PLCC, ENABLE PLC, OPEN PLC, <CONTROL-D>.
Program commands DISABLE PLC, DISABLE PLCC, ENABLE PLC, ENABLE PLCC
ENDGATHER
Function: Stop data gathering.
Scope: Global
Syntax: ENDGATHER
ENDG
This command causes data gathering to cease. Data gathering may start up again (without overwriting
old data) with another GATHER command.
Usually, this command is used in conjunction with the data gathering and plotting functions of the Turbo
PMAC Executive Program.
Examples:
GAT B1R ; Start gathering and run program 1
ENDG ; Stop gathering -- give this command when moves of interest are done
OPEN PROG2 CLEAR
X10
DWELL1000
CMD"GATHER" ; Program issues start command here
X20 ; Move of interest
DWELL50
CMD"ENDG" ; Program issues stop command here
CLOSE
See Also:
Data Gathering Function (Analysis Features)
On-line commands DEFINE GATHER, GATHER, LIST GATHER, DELETE GATHER
Gathering and Plotting (Turbo PMAC Executive Program Manual)
F
Function: Report motor following error
Syntax: F
This command causes Turbo PMAC to report the present motor following error (in counts, rounded to the
nearest tenth of a count) for the addressed motor to the host. Following error is the difference between
motor desired and measured position at any instant. When the motor is open-loop (killed or enabled),
following error does not exist and Turbo PMAC reports a value of 0.
Example:
F ; Ask for following error of addressed motor
#3F ; Ask for following error of Motor 3
-6.7 ; Turbo PMAC responds
See Also:
Following Error (Servo Features)
On-line commands <CTRL-F>, P, V
Suggested M-variable definitions Mxx61, Mxx62
Memory map registers D:$0000DB, D:$00015B, etc.
FRAX
Function: Specify the coordinate system's feedrate axes.
Syntax: FRAX
FRAX({axis}[,{axis}...])
where:
{axis} (optional) is a character (X, Y, Z, A, B, C, U, V, W) specifying which axis is to be used in
the vector feedrate calculations
This command specifies which axes are to be involved in the vector-feedrate (velocity) calculations for
upcoming feedrate-specified (F) moves. Turbo PMAC calculates the time for these moves as the vector
distance (square root of the sum of the squares of the axis distances) of all the feedrate axes divided by the
feedrate. Any non-feedrate axes commanded on the same line will complete in the same amount of time,
moving at whatever speed is necessary to cover the distance in that time.
Vector feedrate has obvious geometrical meaning only in a Cartesian system, for which it results in
constant tool speed regardless of direction, but it is possible to specify for non-Cartesian systems, and for
more than three axes.
Note:
If the move time as calculated for the vector-feedrate axes is less than the time
computed as the distance of any non-feedrate axis commanded on the line divided
by the Isx86 alternate feedrate parameter, this longer time will be used for all axes
instead.
If a motion program buffer is open when this command is sent to Turbo PMAC, it will be entered into the
buffer for later execution.
For instance, in a Cartesian XYZ system, if using FRAX(X,Y), all of the feedrate-specified moves will
be at the specified vector feedrate in the XY-plane, but not necessarily in XYZ-space. If using
FRAX(X,Y,Z) or FRAX, yotheur feedrate-specified moves will be at the specified vector feedrate in
XYZ-space. Default feedrate axes for a coordinate system are X, Y, and Z.
Example:
FRAX ; Make all axes feedrate axes
FRAX(X,Y) ; Make X and Y axes only the feedrate axes
FRAX(X,Y,Z) ; Make X, Y, and Z axes only the feedrate axes
See Also:
Feedrate-Specified Moves (Writing a Motion Program)
Program commands F{data}, FRAX.
GATHER
Function: Begin data gathering.
Scope: Global
Syntax: GATHER [TRIGGER]
GAT [TRIG]
This command causes data gathering to commence according to the configuration defined in I-variables
I5000 I5051. If TRIGGER is not used in the command, gathering will start on the next servo cycle. If
TRIGGER is used, gathering will start on the first servo cycle after machine input MI2 goes true.
Gathering will proceed at the frequency set by I5049 (in number of servo interrupt cycles). If I5049 is 0,
only one set of data will be gathered per GATHER command. If Turbo PMAC is already gathering data,
GATHER will cause resynchronization of the gathering cycle to the next servo cycle.
Gathering will continue until Turbo PMAC receives an ENDGATHER command, or until the buffer
created by the DEFINE GATHER command is full.
This command is usually used in conjunction with the data gathering and plotting functions of the Turbo
PMAC Executive Program.
Example:
GAT B1R ; Start gathering and run program 1
ENDG ; Stop gathering -- give this command when moves of interest are done
OPEN PROG2 CLEAR
X10
DWELL1000
CMD"GATHER" ; Program issues start command here
X20 ; Move of interest
DWELL50
CMD"ENDG" ; Program issues stop command here
CLOSE
See Also:
On-line commands DEFINE GATHER, GATHER, LIST GATHER, DELETE GATHER

H
Function: Perform a feedhold
Syntax: H
This causes the currently addressed coordinate system to suspend execution of the program starting
immediately by bringing its time base value to zero, decelerating along its path at a rate defined by the
coordinate system I-variable Isx95.
The program is suspended while in feedhold mode, but technically still executing. If it is subsequently
desired that program execution will not be resumed, program execution should be aborted with the A
command
The H command is very similar in effect to a %0 command, except that deceleration is controlled by
Isx95, not Isx94, and execution can be resumed with an R or an S command, instead of a %100
command. In addition, H works under external time base, whereas a %0 command does not.
Jogging moves are permitted while in feedhold mode (unlike in non-Turbo PMACs). However, all
motors must be returned to their exact feedhold position (using the J= command) before the program may
be resumed.
Full speed execution along the path will commence again on an R or S command. The ramp up to full
speed will also take place at a rate determined by Isx95 (full time-base value, either internally or
externally set). Once the full speed is reached, Isx94 determines any time-base changes.
If the R or S command is issued when any motor is not commanding its feedhold position, Turbo PMAC
will reject the command with an error, reporting an ERR0017 if I6 has been set to 1 or 3.
See Also:
Stopping Commands (Making an Application Safe)
Control-Panel Port HOLD/ Input (Connecting Turbo PMAC to the Machine)
On-line commands <CTRL-O>, %, %{constant}, A, K, \, Q
HOME
Function: Start Homing Search Move
Syntax: HOME
HM
This command causes the addressed motor to perform a homing search routine. The characteristics of the
homing search move are controlled by motor I-variables Ixx97 and Ixx19-Ixx26, plus encoder I-variables
2 and 3 for that motor's position encoder.
The on-line home command simply starts the homing search routine. Turbo PMAC provides no
automatic indication that the search has completed (although the In-Position interrupt could be used for
this purpose) or whether the move completed successfully. Polling, or a combination of polling and
interrupts, is generally used to determine completion and success.
By contrast, when a homing search move is given in a motion program (e.g. HOME1,2), the motion
program will keep track of completion by itself as part of its sequencing algorithms.
Note the difference in syntax between the on-line homing search move command (#xHOME) and the
buffered motion program homing search move statement (HOMEn)
If there is an axis offset in the axis-definition statement for the motor, and/or following error in the motor
servo loop, the reported position at the end of the homing search move will be equal to the axis offset
minus the following error, not to zero.
Example:
HOME ; Start homing search on the addressed motor
#1HM ; Start homing search on Motor 1
#3HM#4HM ; Start homing search on Motors 3 and 4
See Also:
Control Panel Port HOME/ Input (Connecting Turbo PMAC to the Machine)
Homing Moves (Basic Motor Moves)
I-variables Ixx03, Ixx19-Ixx26, Encoder I-Variables 2 & 3
On-line command HOMEZ
Program command HOME{constant}, HOMEZ{constant}
HOMEZ
Function: Do a Zero-Move Homing
Syntax: HOMEZ
HMZ
This command causes the addressed motor to perform a zero-move homing search.
Instead of jogging until it finds a pre-defined trigger, and calling its position at the trigger the home
position, with this command, the motor calls wherever it is (commanded position) at the time of the
command the home position.
If there is an axis offset in the axis-definition statement for the motor, and/or following error in the motor
servo loop, the reported position at the end of the homing operation will be equal to the axis offset minus
the following error, not to zero.
Example:
On-line Command Examples:
HOMEZ ; Do zero-move homing search on the addressed motor
#1HMZ ; Do zero-move homing search on Motor 1
#3HMZ#4HMZ ; Do zero-move homing search on Motors 3 and 4
Buffered Motion Program Examples
HOMEZ1
HOMEZ2,3
On-line Commands Issued from PLC Program
IF (P1=1) ;
CMD"#5HOMEZ" ; Program issues on-line command
P1=0 ; So command is not repeatedly issued
ENDIF
See Also:
Homing Moves (Basic Motor Moves)
On-line command HOME
Program command HOME{constant}, HOMEZ{constant}
I{constant}
Function: Report the current I-variable values.
Scope: Global
Syntax: I{constant}[..{constant}]
where:
{constant} is an integer from 0 to 8191 representing the number of the I-variable;
the optional second{constant} must be at least as great as the first {constant} -- it represents
the number of the end of the range;
I{constant},{constant},{constant}
where:
the first {constant} is an integer from 0 to 8190 representing the number of the first I-variable;
the second {constant} is an integer from 1 to 8191 representing the number I-variables whose
value is to be reported;
the third {constant} is an integer from 1 to 8191 representing the numerical spacing between each
I-variable whose value is to be reported.
This command causes Turbo PMAC to report the current value of the specified I-variable, or range or set
of I-variables.
When I9 is 0 or 2, only the value of the I-variable itself is returned (e.g. 10000). When I9 is 1 or 3, the
entire variable value assignment statement (e.g. I130=10000) is returned by Turbo PMAC.
When I9 is 0 or 1, the values of address I-variables are reported in decimal form. When I9 is 2 or 3, the
values of these variables are reported in hexadecimal form.
Note:
If a motion program buffer (including a rotary buffer) is open, I{constant}
will be entered into that buffer for later execution, to be interpreted as a full-circle
move command with a vector to the center along the X-axis (see Circular Moves in
the Writing a Motion Program section).
Example:
I5 ; Request the value of I5
I130..135 ; Request the value of I130 through I135
60000 ; Turbo PMAC responds with 6 lines
5000
5000
50000
1
20000
I130,4,100 ; Request the value of I130, I230, I330, I430
55000
60000
65000
To see the effect of I9 on the form of the response, observe the following:
I9=0 I125
491520 ; Short form, decimal
I9=1 I125
I125=491520 ; Long form, decimal
I9=2 I125
$78000 ; Short form, hexadecimal
I9=3 I125
I125=$78000 ; Long form, hexadecimal
See Also:
Initialization (I) Variables (Computational Features)
I-Variable Specifications
I-variable I9
On-line commands I{constant}={expression}, M{constant}, P{constant},
Q{constant}
Program commands {axis}{data}{vector}{data}, I{data}
Function: Assign a value to an I-variable.
Scope: Global
Syntax: I{data}={expression}
where:
{data} is a constant, or an expression in parentheses, for an integer value from 0 to 8191
representing the I-variable number;
{expression} contains the value to be given to the specified I-variable
I{constant}..{constant}={constant}
where:
the second {constant} is an integer from 1 to 8191 representing the number of the last I-variable;
it must be at least as great as the first {constant}
the final {constant} contains the value to be given to the specified range of I-variables
I{constant},{constant},{constant}={constant}
where:
the second {constant} is an integer from 1 to 8191 representing the number I-variables whose
value is to be set;
I-variable whose value is to be set;
the final {constant} contains the value to be given to the specified set of I-variables
This command assigns the value on the right side of the equals sign to the specified I-variable, or range
or set of I-variables.
If a motion or PLC program buffer is open when the single-variable form of this command is sent to
Turbo PMAC, the command will be entered into the buffer for later execution. If a motion or PLC
program buffer is open when the multiple-variable form of this command is sent, Turbo PMAC will reject
the command with an error, reporting ERR003 if I6 is 1 or 3.
Examples:
I5=2
I130=1.25*I130
I(P1*100+30)=300000
I5001..5048=0
I102=$78003
I100,5,100=1 ; Sets I100, I200, I300, I400, I500 to 1
I104=I103
See Also:
I-Variable Specifications
On-line commands I{constant}, M{data}={expression}, P{data}={expression},
I{constant}=*
Function: Assign factory default value to an I-variable.
Scope: Global
Syntax: I{constant}[..{constant}]=*
where:
{constant} is an integer from 0 to 8191 representing the number of the I-variable;
I{constant},{constant},{constant}
where:
the second {constant} is an integer from 1 to 8191 representing the number of I-variables to be
set to default values;
I-variable to be set to default values
This command sets the specified I-variable or range of I-variables to the factor default value. Each I-
variable has its own factory default; these are shown in the I-Variable Specification section.
Example:
I13=*
I100..199=*
I5188,3,100=* ; Set I5188,I5288,I5388 to default
See Also:
I-Variable Specifications -- Default Values
On-line commands I{constant}, I{constant}={expression}
I{constant}=@I{constant}
Function: Set I-variable to address of another I-variable.
Scope: Global
Syntax: I{constant}=@I{constant}
where:
the first {constant} is an integer from 0 to 8191 representing the number of the I-variable whose
value is being set
the second {constant} is an integer from 0 to 8191 representing the number of the I-variable
whose address is being used to set the value of the first I-variable
This command permits the user to set the value of one I-variable to the address of another I-variable,
without having to know that address. The main use of this command is to set the value of address I-
variables Ixx03, Ixx04, Ixx05, and Isx93 to the address of an entry in the encoder conversion table,
without having to know that address explicitly.
Encoder conversion table setup I-variables I8000 I8191 reside at Turbo PMAC Y-addresses $003501 -
$0035C0, respectively. The result of a particular conversion resides in the X-register of the same address
as the last setup I-variable for that entry. This command permits the user to specify the address simply by
using the number of the last I-variable in the entry.
Examples:
I103=@I8000 ; Set I103 to address of first line in ECT
I103 ; Query value of I103
$3501 ; Turbo PMAC reports value
I5193=@I8014 ; Set I5193 to address of 15
th
line in ECT
I5193 ; Query value of I5193
$350F ; Turbo PMAC reports value
IDC
Function: Force active clock equal to ID-module clock
Scope: Global
Syntax: IDC
This command forces the active real-time clock in RAM to have the same time as the non-volatile real-
time clock in the Option 18B ID-number and clock/calendar module. It copies the time value from the ID
module into the active timer register in RAM, and reports this time back to the host computer. The time
is reported in the international 24-hour clock format:
{hh}:{mm}:{ss}
where:
{hh} is the 2-digit representation of the hour (00 <= {hh} <= 23)
{mm} is the 2-digit representation of the minute (00 <= {mm} <= 59)
{ss} is the 2-digit representation of the second (00 <= {ss} <= 59)
On power-up/reset, the time value in the Option 18B module is automatically copied into the timer
register in RAM. From that point on, however, both timers increment independently, and can drift apart.
The IDC command can be used periodically to force them back together.
See Also:
On-line commands TIME, TIME={time}, TODAY, UPDATE
IDNUMBER
Function: Report electronic identification number
Scope: Global
Syntax: IDNUMBER
IDNUM
This command causes Turbo PMAC to report the electronic identification number from the Option 18A
ID-number module, or the Option 18B ID-number & clock/calendar module.
The identification number is reported as a hexadecimal 16-digit ASCII string, representing a 64-bit value.
The first two hex digits represent the 8-bit checksum value for the module; these should match the
checksum digits engraved on the case of the module. The last two hex digits represent the module class;
these should match the class digits engraved on the case of the module (currently 01 for Option 18A, and
04 for Option 18B). The middle 12 hex digits represent the unique number for each module and board.
If no ID-number module is present, Turbo PMAC will return a 0.
The electronic identification number has no relationship to the serial number that is engraved on the
circuit board.
This command is identical to the SID command.
Example:
IDNUMBER
374A256E9014D101
INC
Function: Specify Incremental Move Mode
Syntax: INC
INC({axis}[,{axis}...])
where:
{axis} is a letter (X, Y, Z, A, B, C, U, V, W) representing the axis to be specified, or the character
R to specify radial vector mode
The INC command without arguments causes all subsequent positions for all axes in position motion
commands to be treated as incremental distances. An INC statement with arguments causes the specified
axes to be in incremental mode, and all others stay the way they were before. The default axis specification
is absolute.
If R is specified as one of the axes, the I, J, and K terms of the circular move radius vector specification
will be specified in incremental form (i.e. as a vector from the move start point, not from the origin). An
INC command without any arguments does not affect this vector specification. The default vector
If a motion program buffer is open when this command is sent to Turbo PMAC, it will be entered into the
buffer as a program statement.
Example:
INC(A,B,C) ; A, B, and C axes made incremental other axes and rad vector left as is
INC ; All axes made incremental -- radius vector left as is
INC(R) ; Radius vector made incremental -- all axes left as is
See Also:
On-line command ABS
Program commands ABS, INC
J!
Function: Adjust motor commanded position to nearest integer count
Syntax: J!
This command causes the addressed motor, if the desired velocity is zero, to adjust its commanded position
to the nearest integer count value. It can be valuable to stop dithering if the motor is stopped with its
commanded position at a fractional value and integral gain is causing oscillation about the commanded
position.
Note:
A half-count of true deadband created in the servo loop with Ixx64=-16 and
Ixx65=8 can serve the same purpose without the need for issuing a command.
Example:
OPEN PLC 7 CLEAR
IF (M50=1) ; Condition to start branch
CMD"#1J/" ; Tell motor to stop
WHILE (M133=0) ; Wait for desired velocity to reach zero
ENDWHILE
CMD"#1J!" ; Adjust command position to integer value
M50=0 ; To keep from repeated execution
ENDIF
See Also:
On-line commands J/, J={constant}
J+
Function: Jog Positive
Syntax: J+
This command causes the addressed motor to jog in the positive direction indefinitely. Jogging
acceleration and velocity are determined by the values of Ixx19-Ixx22 in force at the time of this
command.
Turbo PMAC will reject this command if the motor is in a coordinate system that is currently running a
motion program (reporting ERR001 if I6 is 1 or 3).
Example:
J+ ; Jog addressed motor positive
#7J+ ; Jog Motor 7 positive
#2J+#3J+ ; Jog Motors 2 and 3 positive
See Also:
Control Panel Port JOG+/ Input (Connecting Turbo PMAC to the Machine)
Jogging Moves (Basic Motor Moves)
I-variables Ixx19-Ixx22
On-line commands J-, J/, J=, J={constant}, J:{constant}, J^{constant}
J-
Function: Jog Negative
Syntax: J-
This command causes the addressed motor to jog in the negative direction indefinitely. Jogging
command.
Example:
J- ; Jog addressed motor negative
#5J- ; Jog Motor 5 negative
#3J-#4J- ; Jog Motors 3 and 4 negative
See Also:
Control Panel Port JOG-/ Input (Connecting Turbo PMAC to the Machine)
On-line commands J+, J/, J=, J={constant}, J:{constant}, J^{constant}

J/
Function: Jog Stop
Syntax: J/
This command causes the addressed motor to stop jogging. It also restores position control if the motor's
servo loop has been opened (enabled or killed), with the new commanded position set equal to the actual
position at the time of the J/ command. Jogging deceleration is determined by the values of Ixx19-Ixx21
in force at the time of this command.
Example:
#1J+ ; Jog Motor 1 positive
J/ ; Stop jogging Motor 1
O5 ; Open-loop output of 5% on Motor 1
O0 ; Open loop output of 0%
J/ ; Restore closed-loop control
K ; Kill output
J/ ; Restore closed-loop control
See Also:
Control Panel Port JOG+/, JOG-/ Inputs (Connecting Turbo PMAC to the Machine)
JPAN Connector Pin 4, 6
On-line commands <CTRL-A>, A, J+, J-, J=, J={constant}, J:{constant}, J^{constant},
K, O{constant}
J:{constant}
Function: Jog Relative to Commanded Position
Syntax: J:{constant}
where:
{constant} is a floating point value specifying the distance to jog, in counts.
This command causes a motor to jog the distance specified by {constant} relative to the present
commanded position. Jogging acceleration and velocity are determined by the values of Ixx19-Ixx22 in
force at the time of this command. Compare to J^{constant}, which is a jog relative to the present
actual position.
A variable incremental jog command can be executed with the J:* command
Example:
#1HM ; Do homing search move on Motor 1
J:2000 ; Jog a distance of 2000 counts (to 2000 counts)
J:2000 ; Jog a distance of 2000 counts (to 4000 counts)
See Also:
On-line commands J+, J-, J/, J=, J={constant}, J^{constant}
J:*
Function: Jog to specified variable distance from present commanded position
Syntax: J:*
This command causes the addressed motor to jog the distance specified in the motors variable jog
position/distance register relative to the present commanded position. Jogging acceleration and velocity
are determined by the values of Ixx19-Ixx22 in force at the time of this command. Compare to J^* ,
which is a jog relative to the present actual position.
The variable jog position/distance register is a floating-point register with units of counts. The register is
located at Turbo PMAC address L:$0000D7 for motor 1, L:$000157 for motor 2, etc. It is best accessed
with a floating-point M-variable; the suggested M-variable is Mxx72. The usual procedure is to write the
destination position to this register by assigning a value to the M-variable, then issuing the J:*
command.
Turbo PMAC will reject this command if the motor is in a coordinate sytem that is currently running a
Example:
M172->L:$0000D7 ; Define #1 variable jog position/distance reg.
#1HMZ ; Declare present position to be zero
M172=3000 ; Assign distance value to register
#1J:* ; Jog Motor 1 this distance; end cmd. pos. will be 3000
#1J:* ; Jog Motor 1 this distance; end cmd. pos. will be 6000
M172=P1*SIN(P2) ; Assign new distance value to register
#1J:* ; Jog Motor 1 this distance
#1J= ; Return to prejog target position
See Also:
Memory map registers L:$0000D7, L:$000157, etc.
Suggested M-variable definitions M172, M272, etc.
On-line commands J=, J={constant}, J=*, J^*
J=
Function: Jog to Prejog Position
Syntax: J=
This command causes the addressed motor to jog to the last pre-jog and pre-handwheel-move position
(the most recent programmed position). Jogging acceleration and velocity are determined by the values
of Ixx19-Ixx22 in force at the time of this command.
If the H feedhold command has been used to suspend program execution, and one or more motors jogged
away from the stop position, the J= command must be used to return the motors back to the stop position
before program execution can be resumed.
The J= command can also be useful if a program has been aborted in the middle of a move, because it
will move the motor to the programmed move end position (provided Isx13=0 so Turbo PMAC is not in
segmentation mode), so the program may be resumed properly from that point.
Example:
&1Q ; Stop motion program at end of move
#1J+ ; Jog Motor 1 away from this position
J/ ; Stop jogging
J= ; Jog back to position where program quit
R ; Resume motion program
&1A ; Stop motion program in middle of move
#1J=#2J=#3J= ; Move all motors to original move end position
R ; Resume motion program
See Also:
Control Panel Port PREJ/ Input (Connecting Turbo PMAC to the Machine)
On-line commands J+, J-, J/, J={constant}, J:{constant}, J^{constant}
J={constant}
Function: Jog to specified position
Syntax: J={constant}
where:
{constant} is a floating point value specifying the location to which to jog, in encoder counts.
This command causes the addressed motor to jog to the position specified by {constant}. Jogging
command.
A variable jog-to-position can be executed with the J=* command
Example:
J=0 ; Jog addressed motor to position 0
#4J=5000 ; Jog Motor 4 to 5000 counts
#8J=-32000 ; Jog Motor 8 to -32000 counts
See Also:
On-line commands J+, J-, J/, J=, J:{constant}, J^{constant}, J=*, J:*, J^*
J=*
Function: Jog to specified variable position
Syntax: J=*
This command causes the addressed motor to jog to the position specified in the motor's variable jog
position/distance register. Jogging acceleration and velocity are determined by the values of Ixx19-
Ixx22 in force at the time of this command.
destination position to this register by assigning a value to the M-variable, then issuing the J=*
command.
Virtually the same result can be obtained by writing to the motor target position register and issuing the
J= command. However, using the J=* command permits the returning to the real target position
afterwards without having to restore the target position register. Also, the J=* command uses a register
whose value is scaled in counts, not fractions of a count.
Turbo PMAC will reject this command if the motor is in a coordinate sytem that is currently running a
Example:
M172=3000 ; Assign position value to register
#1J=* ; Jog Motor 1 to this position
M172=P1*SIN(P2) ; Assign new position value to register
#1J=* ; Jog Motor 1 to this position
See Also:
On-line commands J=, J={constant}, J:*, J^*
J=={constant}
Function: Jog to specified motor position and make that position the pre-jog position
Syntax: J=={constant}
where:
{constant} is a floating point value specifying the location to which to jog, in encoder counts
This command causes the addressed motor to jog the position specified by {constant}. It also makes
this position the pre-jog position, so it will be the destination of subsequent J= commands. Jogging
command.
Example:
#1J==10000 ; Jog Motor 1 to 10000 counts and make that the pre-jog position.
J+ ; Jog indefinitely in the positive direction
J= ; Return to 10000 counts
See Also:
J^{constant}
Function: Jog Relative to Actual Position
Syntax: J^{constant}
where:
{constant} is a floating point value specifying the distance to jog, in counts.
This causes a motor to jog the distance specified by {constant} relative to the present actual position.
Jogging acceleration and velocity are determined by the values of Ixx19-Ixx22 in force at the time of this
command. Compare to J:{constant}, which is a jog relative to the present commanded position.
Usually the J:{constant} command is more useful, because its destination is not dependent on the
following error at the instant of the command. The J^0 command can be useful for swallowing any
existing following error.
A variable incremental jog can be executed with the J^* command
Example:
#1HM ; Do homing search move on Motor 1
J^2000 ; Jog a distance of 2000 counts from actual position
; If actual was -5 cts, new command pos is 1995 cts
J^2000 ; Jog a distance of 2000 counts from actual position
; If actual was 1992 cts, new cmd pos is 3992 cts
See Also:
On-line commands J+, J-, J/, J=, J={constant}, J:{constant}, J=*, J:*, J^*
J^*
Function: Jog to specified variable distance from present actual position
Syntax: J^*
This command causes the addressed motor to jog the distance specified in the motors variable jog
position/distance register relative to the present actual position. Jogging acceleration and velocity are
determined by the values of Ixx19-Ixx22 in force at the time of this command. Compare to J:* , which
is a jog relative to the present commanded position.
destination position to this register by assigning a value to the M-variable, then issuing the J^* command.
Example:
#1HMZ ; Declare present position to be zero
M172=3000 ; Assign distance value to register
#1J^* ; Jog Motor 1 this distance; if following error at command was 3,
; end cmd. pos. will be 2997
#1J^* ; Jog Motor 1 this distance; if following error at command was 2, end cmd.
; pos. will be 5995
M172=P1*SIN(P2) ; Assign new distance value to register
#1J^* ; Jog Motor 1 this distance
See Also:
{jog command}^{constant}
Function: Jog until trigger
Syntax: J=^{constant}
J={constant}^{constant}
J:{constant}^{constant}
J^{constant}^{constant}
J=*^{constant}
J:*^{constant}
J^*^{constant}
where:
{constant} after the ^ is a floating point value specifying the distance from the trigger to which to
jog after the trigger is found, in encoder counts
This command format permits a jog-until-trigger function. When the ^{constant} structure is added
to any definite jog command, the jog move can be interrupted by a pre-defined trigger condition, and the
motor will move to a point relative to the trigger position as specified by the final value in the command.
The indefinite jog commands J+ and J- cannot be turned into jog-until-trigger moves.
Jog-until-trigger moves are very similar to homing search moves, except they have a definite end position
in the absence of a trigger, and they do not change the motor zero position. In addition, in the absence of
a trigger, the move will simply stop at the first destination.
Trigger Condition: The trigger condition for a jog-until-trigger move can either be an input flag, or a
warning following error condition for the motor. If bit 1 of Ixx97 is 0 (the default), the trigger is a
transition of an input flag and/or encoder index channel from the set defined for the motor by Ixx25.
Encoder/flag variables 2 and 3 (e.g. I912 and I913) define which edges of which input signals create the
trigger.
If bit 1 of Ixx97 is 1, the trigger is the warning following error status bit of the motor becoming true.
Ixx12 for the motor sets the error threshold for this condition.
Trigger Position: The trigger position can either be the hardware-captured position for the, or a
software-read position. If bit 0 of Ixx97 is 0 (the default), the encoder position latched by the trigger in
Turbo PMACs DSPGATE hardware is used as the trigger position. This is the most accurate option
because it uses the position at the moment of the trigger, but it can be used only with incremental encoder
feedback brought in on the same channel number as the triggering flag set. This option cannot be used for
other types of feedback, or for triggering on following error.
If bit 0 of Ixx97 is 1, Turbo PMAC reads the present sensor position after it sees the trigger. This can be
used with any type of feedback and either trigger condition, but can be less accurate than the hardware
capture because of software delays.
Trigger Occurrence: The trigger move bit, bit 7 of the second motor status word (Y:$0000C0,
Y:$000140, etc.) is set to 1 at the beginning of the pre-trigger move, and cleared to 0 only when the
trigger is found. It can be checked at any time, including after the move, to see if the trigger has occurred.
Jogging acceleration and velocity are determined by the values of Ixx19-Ixx22 in force at the time of this
command.
Example:
#1J=^1000 ; Jog to pre-jog position in the absence of a trigger, but if trigger is found,
; jog to +1000 cts from trigger.
#2J:5000^-100 ; Jog 5000 counts in the positive direction in the absence of a trigger,
; but if trigger is found, jog to -100 cts from trigger position.
#3J=20000^0 ; Jog to 20000 counts in the absence of a trigger, but if trigger is found,
; return to trigger position.
See Also:
I-variables Ixx97, Ixx19-Ixx22, Ixx25, I7mn2, I7mn3
On-line commands J=, J={constant}, J:{constant}, J^{constant},
J=*, J:*, J^*
Program commands {axis}{data}^{data}
K
Function: Kill motor output
Syntax: K
This command causes Turbo PMAC kill the outputs for the addressed motor. The servo loop is disabled,
the position/velocity servo-loop output is set to zero (Ixx29 and/or Ixx79 offsets are still in effect), and the
AENA output for the motor is taken to the disable state (polarity is determined by E17 on PMAC-style
channels).
Closed-loop control of this motor can be resumed with a J/ command. The A command will re-establish
closed-loop control for all motors in the addressed coordinate system, and the <CTRL-A> command will
do so for all motors on Turbo PMAC.
The action on a K command is equivalent to what Turbo PMAC does automatically to the motor on an
amplifier fault or a fatal following error fault.
motion program (reporting ERR001 if I6 is 1 or 3). The program must be stopped first, usually with an A
command. However, the global <CTRL-K> command will kill all motors immediately, regardless of
whether any are running motion programs.
Example:
K ; Kill the addressed motor
#1K ; Kill Motor 1
J/ ; Re-establish closed-loop control of Motor 1
See Also:
Amplifier Fault, Following Error Limits, Stop Commands (Making an Application Safe)
I-variables Ixx29, Ixx79
On-line commands <CTRL-A>, <CTRL-K>, A, Q, H, J/
Jumpers E17, E17A-E17H
LEARN
Function: Learn present commanded position
Syntax: LEARN[({axis}[,{axis}...]]
[({axis}[,{axis}...]]
where:
{axis} (optional) is a character (X, Y, Z, A, B, C, U, V, W) specifying which axis position is to be
learned. If none are listed, the positions for all axes are learned.
This command causes Turbo PMAC to add a line to the end of the open motion program buffer containing
axis position commands equal to the current commanded positions for some or all of the motors defined in
the addressed coordinate system. In this way Turbo PMAC can learn a sequence of points to be repeated by
subsequent execution of the motion program.
If no motion program buffer is open, or if the motion program buffer that is open has been opened from
another port, Turbo PMAC will reject this command and report an error (ERR003 if I6=1 or 3).
Turbo PMAC effectively performs a PMATCH function, reading motor commanded positions and
inverting the axis definition equations to compute axis positions.
If axis names are specified in the LEARN command, only position commands for those axes are used in
the line added to the motion program. If no axis names are specified in the learn command, position
commands for all nine possible axis names are used in the line added to the motion program. The
position command for an axis with no motor attached (phantom axis) will be zero.
Note:
If a motor is closed loop, the learned position will differ from the actual position
by the amount of the position following error because commanded position is used.
If a motor is open-loop or killed, Turbo PMAC automatically sets motor
commanded position equal to motor actual position, so the LEARN function can be
used regardless of the state of the motor.
Example:
&1 ; Address coordinate system 1
#1->10000X ; Define motor 1 in C.S. 1
#2->10000Y ; Define motor 2 in C.S. 1
OPEN PROG 1 CLEAR Prepare program buffer for entry
F10 TA200 TS50 ; Enter required non-move commands {move motors to a position,
; e.g. #1 to 13450 commanded, #2 to 29317 commanded}
LEARN(X,Y) ; Tell PMAC to learn these positions
X1.345 Y2.9317 ; This is the line that PMAC adds to PROG 1 {move motors to new
; position, e.g. #1 to 16752 cmd., #2 to 34726 cmd}
LEARN ; Tell PMAC to learn positions
A0 B0 C0 U0 V0 W0 X1.6752 Y3.4726 Z0
; PMAC adds positions for all axes to PROG 1
See Also:
Learning a Motion Program (Writing a Motion Program)
On-line command PMATCH

LIST
Function: List the contents of the currently opened buffer.
Scope: Global
Syntax: LIST
This command causes Turbo PMAC to report the contents of the currently opened buffer (PLC, PROG, or
ROT) to the host. If no buffer is open, or if the buffer that is open has been opened from another port,
Turbo PMAC will report an error (ERR003 if I6=1 or 3). Note that what is reported will not include any
OPEN, CLEAR, or CLOSE statements (since these are not program commands).
An unopened buffer can be listed by specifying the buffer name in the list command (e.g. LIST PROG
1). See further LIST commands, below.
Example:
OPEN PROG 1 ; Open buffer for entry
LIST ; Request listing of open buffer
LINEAR ; Turbo PMAC reports contents of open buffer
F10
X20 Y20
X0 Y0
RETURN
CLOSE ; Close buffer
LIST ; Request listing of open buffer
<BELL>ERR003 ; Turbo PMAC reports error because
; no open buffer
See Also:
On-line commands OPEN, CLOSE, LIST PLC, LIST PROGRAM
LIST BLCOMP
Function: List contents of addressed motor's backlash compensation table
Syntax: LIST BLCOMP
This command causes Turbo PMAC to report to the host the contents of the backlash compensation table
belonging to the addressed motor. The values are reported in decimal ASCII form, multiple values to a
line, with individual values separated by spaces.
The LIST BLCOMP DEF command should be used to report the header information for this table.
If there is no table for the addressed motor, Turbo PMAC will reject the command (reporting ERR003 if
I6=1 or 3).
Example:
LIST BLCOMP ; Request contents of backlash comp table
9 17 -3 6 35 87 65 24 18 -9 -16 -34 ; PMAC responds
-7 12 -3 -8 32 44 16 0 -20 -5 0 ; Continued response
See Also:
Backlash Compensation Tables (Setting Up a Motor)
On-line commands DEFINE BLCOMP, DELETE BLCOMP, LIST BLCOMP DEF

LIST BLCOMP DEF
Function: List definition of addressed motor's backlash compensation table
Syntax: LIST BLCOMP DEF
This command causes Turbo PMAC to report to the host the definition of the backlash compensation
table that belongs to the addressed motor. The definition reported consists of the two items established in
the DEFINE BLCOMP command that set up the motor:
1. The number of entries in the table;
2. The span of the table in counts of the motor.
I6=1 or 3).
Example:
LIST BLCOMP DEF ; Request def of addressed motor backlash compensation table
100,100000 ; Turbo PMAC responds; 100 entries in table, span is 100,000 counts
See Also:
Backlash Compensation Tables (Setting Up a Motor)
On-line commands DEFINE BLCOMP, DELETE BLCOMP, LIST BLCOMP
LIST COMP
Function: List contents of addressed motor's compensation table
Syntax: LIST COMP
This command causes Turbo PMAC to report to the host the contents of the compensation table
The LIST COMP DEF command should be used to report the header information for this table.
I6=1 or 3).
Note:
The compensation table belonging to this motor may not affect this motor's
position or be affected by it.
Example:
LIST COMP ; Request contents of compensation table
9 17 -3 6 35 87 65 24 18 -9 -16 -34 ; PMAC responds
See Also:
Leadscrew Compensation Tables (Setting Up a Motor)
On-line commands DEFINE COMP, DELETE COMP, LIST COMP DEF
LIST COMP DEF
Function: List definition of addressed motor's compensation table
Syntax: LIST COMP DEF
This command causes Turbo PMAC to report to the host the definition of the compensation table that
belongs to the addressed motor.
The definition reported consists of the four items established in the DEFINE COMP command that set up
the motor (even if some of those items were not specified explicitly):
1. The number of entries in the table (number of rows and number of columns for a two-dimensional
table)
2. The number of the motor whose position provides the source data for the table (both source motors
for a two-dimensional table)
3. The number of the motor whose position is modified by the table
4. The span of the table in counts of the source motor (in both dimensions for a two-dimensional table)
I6=1 or 3).
Note:
The compensation table belonging to this motor may not affect this motors
position or be affected by it.
Example:
LIST COMP DEF ; Request definition of compensation table
100,#2,#2,100000 ; Turbo PMAC responds; 100 entries in table, Motor 2 is
; source and target, span is 100,000 counts
#3 LIST COMP DEF ; Request definition of comp table belonging to Motor 3
10,20,#4,#5,#6,50000,100000 ; Turbo PMAC responds A 2D 10x20 table, span of
; 50Kx100K counts #4 & #5 as source, #6 as target
See Also:
Leadscrew Compensation Tables (Setting Up a Motor)
On-line commands DEFINE COMP, DELETE COMP, LIST COMP
LIST FORWARD
Function: Report contents of forward-kinematic program buffer.
Syntax: LIST FORWARD
LIS FWD
This command causes Turbo PMAC to report the contents of the forward-kinematic program buffer for
the addressed coordinate system to the host. The contents are reported in ASCII text form. If I9 is 0 or 2,
the contents are reported in short form (e.g. ENDW). If I9 is 1 or 3, the contents are reported in long form
(e.g. ENDWHILE).
If the forward kinematic program requested by this command does not exist in Turbo PMAC, Turbo
PMAC will reject this command (reporting an ERR003 if I6 is 1 or 3).
Forward kinematic programs can be protected by password. If there is a password for the Turbo PMAC,
and the password has not been given, Turbo PMAC will reject this command (reporting an ERR002 if I6
is 1 or 3).
See Also:
I-variable Isx50
On-line commands LIST INVERSE, OPEN FORWARD, OPEN INVERSE
LIST GATHER
Function: Report contents of the data gathering buffer.
Scope: Global
Syntax: LIST GATHER [{start}] [,{length}]
LIS GAT [{start}] [,{length}]
where:
the optional {start} parameter is an integer constant specifying the distance from the start of the
buffer (in words of memory) to begin the listing (0 is the default);
the optional {length} parameter (after a comma) is an integer constant specifying the number of
words of the buffer to be sent to the host (to the end of the buffer is the default)
This command causes Turbo PMAC to report the contents of the data gathering buffer to the host. The
data is reported as 48-bit long words in hexadecimal format (12 characters per word) separated by spaces,
16 long words per line.
If neither {start} nor {length} is specified, the entire contents of the buffer will be reported. If
{start} is specified, the reporting will begin {start} words from the beginning of the buffer. If
{length} is specified, the reporting will continue for {length} words from the starting point. The
starting point is referenced to the beginning memory location of the buffer. If gathering has rolled over
the buffer, as it can with I5000 = 1 or 3, the reported contents may not come in the same order as they
were gathered.
Example:
LIST GATHER ; reports the whole buffer
LIST GATHER 256 ; skips the first 256 long words
LIST GATHER 0,32 ; reports the first 32 words
LIST GATHER ,32 ; does the same as above
LIST GATHER 64,128 ; skips the first 64 words, reports the next 128
See Also:
I-variables I5049, I5050 and I5051, I5001-I5048.
On-line commands GATHER, ENDGATHER, DEFINE GATHER
LIST INVERSE
Function: Report contents of inverse-kinematic program buffer.
Syntax: LIST INVERSE
LIS INV
This command causes Turbo PMAC to report the contents of the inverse-kinematic program buffer for the
addressed coordinate system to the host.
The contents are reported in ASCII text form. If I9 is 0 or 2, the contents are reported in short form (e.g.
ENDW). If I9 is 1 or 3, the contents are reported in long form (e.g. ENDWHILE).
If the inverse kinematic program requested by this command does not exist in Turbo PMAC, Turbo
PMAC will reject this command (reporting an ERR003 if I6 is 1 or 3).
Inverse kinematic programs can be protected by password. If there is a password for the Turbo PMAC,
is 1 or 3).
See Also:
I-variable Isx50
On-line commands LIST FORWARD, OPEN FORWARD, OPEN INVERSE
LIST LDS
Function: List Linking Addresses of Ladder Functions
Scope: Global
Syntax: LIST LDS
This command causes Turbo PMAC to list the addresses of the internal routines that the special ladder-
logic PLC cross-compiler needs to properly compile and link programs. This command is used
automatically by the cross-compiler; a user only needs it directly for special debugging.
See Also:
On-line commands LIST LINK
LIST LINK
Function: List Linking Addresses of Internal Turbo PMAC Routines
Scope: Global
Syntax: LIST LINK
This command causes Turbo PMAC to list the addresses of the internal routines that the PLC cross-
compiler needs to properly compile and link its programs. This command is used automatically by the
PLC cross-compiler in the Executive program.
For the standalone DOS cross-compiler, the ASCII characters of Turbo PMAC's response to this
command must be contained in a file named LISTLINK.TXT in the same directory and subdirectory as
the cross-compiler. Each separate version of Turbo PMAC's firmware potentially has different addresses
for these routines, so a new LISTLINK.TXT file must be created any time the Turbo PMAC firmware is
updated, even for a minor change such as from V2.01A to V2.01B.
Example:
LIST LINK ; Request linking addresses
004532 004A97 005619 005F21 0062FE 0063A4
; Turbo PMAC responds
See Also:
Compiled PLCs (Writing a PLC Program)
LIST PC
Function: List Program at Program Counter
Syntax: LIST PC[,[{constant}]]
where:
{constant} is a positive integer representing the number of words in the program to be listed
This command causes Turbo PMAC to list the program lines that it is (are) about to calculate in the
addressed coordinate system, with the first line preceded by the program number and each line preceded
by the address offset. LIST PC just lists the next line to be calculated. LIST PC, lists from the next
line to be calculated to the end of the program.
LIST PC,{constant} lists the specified address range size starting at the next line to be calculated.
To see the current line of execution, use the LIST PE command.
Because Turbo PMAC calculates ahead in a continuous sequence of moves, the LIST PC (Program
Calculation) command will in general return a program line further down in the program than LIST PE
will.
If the coordinate system is not pointing to any motion program, Turbo PMAC will return an error
(ERR003 if I6=1 or 3). Initially the pointing must be done with the B{constant} command.
Example:
LIST PC ; List next line to be calculated
P1:22:X10Y20 ; Turbo PMAC responds
LIST PC,4 ; List next 4 words of program to be calculated
24:X15Y30
LIST PC, ; List rest of program
24:X15Y30
26:M1=0
28:RETURN
See Also:
On-line commands B{constant}, LIST, PC, LIST PE, PE
LIST PE
Function: List Program at Program Execution
Syntax: LIST PE[,[{constant}]]
where:
{constant} is a positive integer representing the number of words in the program to be listed
This command causes Turbo PMAC to list the program lines starting with the line containing the move
that it is currently executing in the addressed coordinate system, with the first line preceded by the
program number, and each line preceded by the address offset.
Because Turbo PMAC calculates ahead in a continuous sequence of moves, the LIST PC (Program
Calculation) command will in general return a program line further down in the program than LIST PE will.
LIST PE returns only the currently executing line. LIST PE, returns from the currently executing line
to the end of the program. LIST PE,{constant} returns the specified number of words in the
program, starting at the currently executing line.
Example:
LIST PE ; List presently executing line
LIST PE,4 ; List 4 program words, starting with executing line
37:X12Y32
LIST PE, ; List rest of program, starting with executing line
37:X12Y32
39:X0 Y10
41:RETURN
See Also:
On-line commands B{constant}, LIST, LIST PC, PC, PE
LIST PLC
Function: List the contents of the specified PLC program.
Scope: Global
Syntax: LIST PLC{constant} [,[{start}]] [,[{length}]]
where:
{constant} is an integer from 0 to 31 representing the number of the PLC program
buffer (in words of memory) to begin the listing (the execution point is the default);
This command causes Turbo PMAC to report the contents of the specified uncompiled PLC program
buffer to the host. The contents are reported in ASCII text form. If I9 is 0 or 2, the contents are reported
in short form (e.g. ENDW). If I9 is 1 or 3, the contents are reported in long form (e.g. ENDWHILE).
{length} is specified, the reporting will continue for {length} words from the starting point.
If the first comma is present, but no start point is specified, the listing will start from the next line to be
executed in the PLC program. Because Turbo PMAC can execute this command only between PLC
scans, this line will be the first to execute in the next scan. If the second comma is present, but no length
is specified, the listing will continue to the end of the program.
If either {start}, {length}, or both, or just the comma, is included in the command, the listing of
the program will include the buffer address offsets with each line.
PLCs 0-15 can be protected by password. If the PLC is protected by password, and the proper password
has not been given, Turbo PMAC will reject this command (reporting an ERR002 if I6=1 or 3).
Example:
LIST PLC 5
P1=0
WHILE (P1<1000)
P1=P1+1
ENDWHILE
RETURN
LIST PLC 5,0
0:P1=0
1:WHILE(P1<1000)
3:P1=P1+1
6:ENDWHILE
7:RETURN
LIST PLC 5,,1
1:WHILE(P1<1000)
LIST PLC 5,,
1:WHILE(P1<1000)
3:P1=P1+1
6:ENDWHILE
7:RETURN
See Also:
PLC Program Features
I-variables I3, I4, I9
On-line commands LIST, LIST PROG, PASSWORD={string}
Program Command Specification
LIST PROGRAM
Function: List the contents of the specified motion program.
Scope: Global
Syntax: LIST PROGRAM {constant} [{start}] [,{length}]
LIST PROG {constant} [{start}] [,{length}]
where:
{constant} is an integer from 1 to 32767 specifying the number of the motion program
This command causes Turbo PMAC to report the contents of the specified fixed motion program buffer
(PROG) to the host. The contents are reported in ASCII text form. If I9 is 0 or 2, the contents are
reported in short form (e.g. LIN). If I9 is 1 or 3, the contents are reported in long form (e.g. LINEAR).
If neither {start} nor {length} is specified, the entire contents of the buffer will be reported.
If {start} is specified, the reporting will begin {start} words from the beginning of the buffer.
If {length} is specified, the reporting will continue for {length} words from the starting point.
the program will include the buffer address offsets with each line. Having a listing with these offsets can
be useful in conjunction with later use of the PC (Program-Counter) and LIST PC commands. If the
motion program requested by this command does not exist in Turbo PMAC, Turbo PMAC will reject this
command (reporting an ERR003 if I6=1 or 3).
PROGs 1000-32767 can be protected by password. If the PROG is protected by password, and the proper
password has not been given, Turbo PMAC will reject this command (reporting an ERR002 if I6=1 or 3).
Example:
LIST PROG 9 ; Request listing of all of motion program 9
LINEAR ; Turbo PMAC responds
F10
X10Y10
X0Y0
RETURN
LIST PROG 9, ; Request listing of program w/ address offsets
0:LINEAR
1:F10
2:X10Y10 ; Note that a 2-axis command takes 2 addresses
4:X0Y0
6:RETURN
LIST PROG 9,4 ; Request listing starting at address 4
4:X0Y0
6:RETURN
LIST PROG 9,2,4 ; Request listing starting at 2, 4 words long
2:X10Y10
4:X0Y0
LIST PROG 9,,2 ; Request listing starting at top, 2 words long
0:LINEAR
1:F10
See Also:
Writing a Motion Program
On-line commands LIST, PC, LIST PC., PASSWORD={string}.
LIST ROTARY
Function: List contents of addressed coordinate systems rotary program buffer
Syntax: LIST ROTARY [{start}] [,{length}]
LIST ROT [{start}] [,{length}]
where:
This command causes Turbo PMAC to report the contents of the rotary motion program buffer for the
addressed coordinate system to the host. The contents are reported in ASCII text form. If I9 is 0 or 2, the
contents are reported in short form (e.g. LIN). If I9 is 1 or 3, the contents are reported in long form (e.g.
LINEAR).
{length} is specified, the reporting will continue for {length} words from the starting point.
the program will include the buffer address offsets with each line. Having a listing with these offsets can
be useful in conjunction with later use of the PC (Program-Counter) and LIST PC commands.
If the loading of the rotary buffer has caused the buffer to wrap around and re-use the beginning of the
buffer, the listing will start relative to this new top of the buffer (even if there are previously loaded, and
still unexecuted, lines at the bottom of the buffer.
See Also:
On-line commands LIST, PC, LIST PE,
LIST TCOMP
Function: List contents of addressed motor's torque compensation table
Syntax: LIST TCOMP
This command causes Turbo PMAC to report to the host the contents of the torque compensation table
The LIST TCOMP DEF command should be used to report the header information for this table.
I6=1 or 3).
Example:
LIST TCOMP ; Request contents of torque comp table
9 17 -3 6 35 87 65 24 18 -9 -16 -34 ; PMAC responds
See Also:
Torque Compensation Tables (Setting Up a Motor)
On-line commands DEFINE TCOMP, DELETE TCOMP, LIST TCOMP DEF
LIST TCOMP DEF
Function: List definition of addressed motor's torque compensation table
Syntax: LIST TCOMP DEF
This command causes Turbo PMAC to report to the host the definition of the torque compensation table
that belongs to the addressed motor. The definition reported consists of the two items established in the
DEFINE TCOMP command that set up the motor:
1. The number of entries in the table;
2. The span of the table in counts of the motor.
I6=1 or 3).
Example:
LIST TCOMP DEF ; Request def of addressed motor torque comp table
100,100000 ; Turbo PMAC responds; 100 entries in table, span is 100,000 counts
See Also:
Torque Compensation Tables (Setting Up a Motor)
On-line commands DEFINE TCOMP, DELETE TCOMP, LIST TCOMP
LOCK{constant},P{constant}
Function: Check/set process locking bit
Scope: Global
Syntax: LOCK{constant},P{constant}
where:
the first {constant} is an integer from 0 to 7 representing the number of the locking bit
the second {constant} is an integer from 0 to 8191 specifying the number of the P-variable used
to report the status of the locking bit
The LOCK command permits the user to check and possibly take possession of one of the eight process
locking bits in Turbo PMAC. These locking bits can prevent conflicts between tasks of different
priorities attempting to manipulate the same register. On-line commands and PLCs 1 31 are background
tasks; motion programs and PLC 0 are higher-priority foreground tasks.
When the LOCK command is invoked, the P-variable specified in the command takes the value of the
locking bit immediately before the command is invoked. It takes a value of 0 if the locking bit was not
set before the command (meaning the process is available for this task); it takes a value of 1 if the locking
bit was set before the command (meaning the process is not available for this task).
The locking bit itself is always set to 1 at the end of a LOCK command. It will stay at 1 until cleared by
an UNLOCK command.
The status of locking bits 0 7 is reported as bits 4 11, respectively, of I4904.
If a motion program buffer or a PLC program buffer is open when this command is issued, this command
will be entered into that buffer as a program command for future execution; it will not be treated as an on-
line command.
Example:
LOCK4,P10 ; Check status of locking bit 4
P10 ; Ask for result
1 ; Turbo PMAC reports that process 4 is locked
LOCK4,P10 ; Try again
P10 ; Ask for result
0 ; Turbo PMAC reports that process 4 is available
M1=M1^1 ; Invert Machine Output 1
UNLOCK4 ; Release process 4 for other tasks
M{constant}
Function: Report the current M-variable values.
Scope: Global
Syntax: M{constant}[..{constant}]
where:
{constant} is an integer from 0 to 8191 representing the number of the M-variable;
the optional second {constant} must be at least as great as the first {constant} -- it represents
M{constant},{constant},{constant}
where:
the first {constant} is an integer from 0 to 8190 representing the number of the first M-variable;
the second {constant} is an integer from 1 to 8191 representing the number M-variables whose
M-variable whose value is to be reported;
This command causes Turbo PMAC to report the current value of the specified M-variable, or range or
set of M-Variables. It does not cause Turbo PMAC to report the definition (address) of the M-Variables;
that is done with the M{constant}-> command.
Note:
If a motion program buffer (including a rotary buffer) is open when this command
is sent to Turbo PMAC it will be entered into the buffer for later execution, to be
interpreted as an M-code subroutine call.
Example:
M0 ; Host asks for value
3548976 ; Turbo PMAC's response
M165
5.75
M1..3
1
0
1
M103,4,100 ; Request for values of M103, M203, M303, M403
29726
-38657
47
See Also:
M-Variables (Computational Features)
On-line commands M{data}={expression}, M{constant}->
Program commands M{data}, M{data}={expression}
Function: Assign value to M-variables.
Scope: Global
Syntax: M{data}={expression}
where:
representing the M-variable number;
{expression} contains the value to be given to the specified M-variable
M{constant}..{constant}={constant}
where:
the second {constant} is an integer from 1 to 8191 representing the number of the last M-
variable; it must be at least as great as the first {constant}
the final {constant} contains the value to be given to the specified range of M-variables
M{constant},{constant},{constant}={constant}
where:
the second {constant} is an integer from 1 to 8191 representing the number M-variables whose
value is to be set;
M-variable whose value is to be set;
the final {constant} contains the value to be given to the specified set of M-variables
This command assigns the value on the right side of the equals sign to the specified M-variables. It does
not assign a definition (address) to the M-variables; that is done with the M{constant}-
>{definition} command.
Example:
M1=1
M9=M9 & $20
M102=-16384
M1..8=0
M1,16,2=1 ; Sets M1, M3, M5 , M31 to 1
See Also:
On-line commands M{constant}, M{constant}->{definition}
Program commands M{data}, M{data}={expression}
M{constant}->
Function: Report current M-variable definitions
Scope: Global
Syntax: M{constant}[..{constant}]->
where:
This command causes Turbo PMAC to report the definition (address) of the specified M-variable or range
of M-variables. It does not cause Turbo PMAC to report the value of the M-variables; that is done with
the M{constant} command.
When I9 is 0 or 2, only the definition itself (e.g. Y:$078802,0) is returned. When I9 is 1or 3, the entire
definition statement (e.g. M11->Y:$078802,0) is returned.
Example:
M1-> ; Host requests definition
Y:$FFC2,8 ; Turbo PMAC's response
M101..103->
X:$C001,24,S
Y:$C003,8,16,S
X:$C003,24,S
See Also:
On-line commands M{constant}, M{constant}->{definition},
Program command M{constant}={expression}
M{constant}->*
Function: Self-Referenced M-Variable Definition
Scope: Global
Syntax: M{constant}[..{constant}]->*
where:
the number of the end of the range.
This command causes Turbo PMAC to reference the specified M-variable or range of M-variables to its
own definition word. To use an M-variable as a flag, status bit, counter, or other simple variable, there is
no need to find an open area of memory, because it is possible to use some of the definition space to hold
the value. Simply define this form of the M-variable and this M-variable can be used much as a P-
variable would be, except it only takes integer values in the range -2
35
to 2
35
-1. Note, however, that the
use of these self-referenced M-variables is less efficient for computation than using P or Q-variables.
When the definition is made, the value is set automatically to 0.
This command is also useful to erase an existing M-variable definition.
Example:
M100->*
M20..39->*
M0..8191->*. ; This erases all existing M-variable definitions
; It is a good idea to use this before loading new ones
See Also:
On-line commands M{constant}, M{constant}->,
.......... M{constant}->{definition}, M{constant}={expression}
M{constant}->D:{address}
Function: Long Fixed-Point M-Variable Definition
Scope: Global
Syntax: M{constant}[..{constant}]->D[:]{address}
where:
{address} is an integer constant from $000000 to $FFFFFF (0 to 16,777,215 if specified in
decimal).
This command causes Turbo PMAC to define the specified M-variable or range of M-variables to a 48-bit
double word (both X and Y memory; X more significant) at the specified location in Turbo PMACs
address space. The data is interpreted as a fixed-point signed (two's complement) integer.
The definition consists of the letter D, an optional colon (:), and the word address.
Memory locations for which this format is useful are labeled with D: in the memory map.
Example:
M161->D:$000088 ; Motor 1 desired position register specified in hex
M161->D134 ; Motor 1 desired position register specified in decimal
M162->D$8B ; Motor 1 actual position register specified in hex
See Also:
On-line commands M{constant}, M{constant}->, M{constant}={expression}
M{constant}->DP:{address}
Function: Dual-Ported RAM Fixed-Point M-Variable Definition
Scope: Global
Syntax: M{constant}[..{constant}]->DP[:]{address}
where:
decimal).
This command causes Turbo PMAC to define the specified M-variable or range of M-variables to point to
32 bits of data in the low 16 bits of both X and Y memory at the specified location in Turbo PMACs
address space. The data is interpreted as a fixed-point signed (twos complement) integer.
The definition consists of the letters DP, an optional colon (:), and the word address.
This format is useful only for dual-ported RAM locations $050000 to $05FFFF (Option 2 is required).
With this format, the host can read or write to the corresponding location with a standard 32-bit integer
data format. The data in the X word is the most significant word, which means on the host side the most
significant word is in the higher of two consecutive addresses (standard Intel format).
Example:
M150->DP:$052000
M250->DP$052001
See Also:
Dual-Ported RAM (Writing a Host Communications Program)
.......... M{constant}->F:{address}, M{constant}={expression}
M{constant}->F:{address}
Function: Dual-Ported RAM Floating-Point M-Variable Definition
Scope: Global
Syntax: M{constant}[..{constant}]->F[:]{address}
where:
decimal).
32 bits of data in the low 16 bits of both X and Y memory at the specified location in Turbo PMACs
address space. The data is interpreted as a floating-point value with the IEEE single-precision (32-bit)
format.
The definition consists of the letter F, an optional colon (:), and the word address.
This format is mainly useful only for dual-ported RAM locations $050000 to $05FFFF (Option 2
required). With this format, the host can read or write to the corresponding location with the standard
IEEE 32-bit floating-point data format.
The IEEE 32-bit floating point format has the sign bit in bit 31 (MSB); the biased exponent in bits 30 to
23 (the exponent is this value minus 127), and the fraction in bits 22 to 0 (there is an implied 1 added to
the fraction in the mantissa). The words are arranged in the standard Intel format.
Example:
M155->F:$054001
M255->F$05402
See Also:
Dual-Ported RAM (Writing a Host Communications Program)
.......... M{constant}->DP:{address}, M{constant}={expression}
M{constant}->L:{address}
Function: Long Word Floating-Point M-Variable Definition
Scope: Global
Syntax: M{constant}[..{constant}]->L[:]{address}
where:
decimal).
a long word (48 bits) of data both X and Y memory at the specified location in Turbo PMAC's address
space. The data is interpreted as a floating-point value with Turbo PMACs own 48-bit floating-point
format.
The definition consists of the letter L, an optional colon (:), and the word address.
Memory locations for which this format is useful are labeled with 'L:' in the memory map.
Example:
M5147->L:$002047
M5148->L$02048
M5148->L8264
See Also:
.......... M{constant}->D:{address}, M{constant}={expression}
M{constant}->TWB:{address}
Function: Binary Thumbwheel-Multiplexer Definition
Scope: Global
Syntax: M{constant}[..{constant}]->TWB[:]{multiplex address},
{offset},{size},{format}
where:
{multiplex address} is an integer constant in the range 0 to 255, representing the byte address
in the multiplexing scheme on the thumbwheel port of the least significant bit to be used in the M-
variables;
{offset} is an integer constant from 0 to 7, representing which bit of this byte is the least
significant bit to be used in the M-variable;
{size} is an integer constant from 1 to 32, representing the number of consecutive bits to be used in
the M-variables;
{format} (optional) is either U for unsigned, or S for signed (two's complement). If no format is
specified, U (unsigned) is assumed.
This command causes Turbo PMAC to define the specified M-variable or range of M-variables to a
consecutive of input bits multiplexed on the thumbwheel port with Accessory 18 or compatible hardware,
including the Advantage 500 NC control panel.
Example:
M0->TWB:0,0,1
M1->TWB:0,1,1
M10->TWB:3,4,4,U
M745->TWB:4,0,16,S
M872->TWB:0,4,1
See Also:
M{constant}->TWD:{address}
Thumbwheel Multiplexer Board (Acc-18) Manual
M{constant}->TWD:{address}
Function: BCD Thumbwheel-Multiplexer M-Variable Definition
Scope: Global
Syntax: M{constant}[..{constant}]->TWD[:]{multiplex address},
{offset},{size}[.{dp}],{format}
where:
{multiplex address} is an integer constant in the range 0 to 255, representing the address in
the multiplexing scheme on the thumbwheel port of the most significant digit (lowest address) to be
used in the M-variables;
{offset} is 0 or 4, representing whether the most significant digit is in the low nibble (left digit of
pair) or high nibble (right digit of pair) of the pair of digits at {multiplex address},
respectively;
{size} is an integer constant from 1 to 12, representing the number of digits to be used in the M-
variables;
{dp} (optional) is an integer constant from 0 to 8, representing the number of these digits to be
interpreted as being to the right of the decimal point;
{format} (optional) is either U for unsigned, or S for signed. If it is signed, the least significant
bit of the most significant digit is taken as the sign bit (the rest of the most significant digit is
ignored). If no format is specified, U (unsigned) is assumed.
a set of binary-coded-decimal digits multiplexed on the thumbwheel port with Accessory 18 or
compatible hardware.
Thumbwheel-multiplexer M-variables are read-only, floating-point variables. Once defined, they are to
be used in expressions, and queried. Each time one is used in an expression, the proper addresses on the
multiplexer boards are read.
Example:
M100->TWD:4,0,8.3,U means the most significant digit is at multiplex address 4, low nibble (left
digit); there are eight digits, three of which are fractional; and it is always interpreted as a positive value.
This corresponds to eight thumbwheel digits along the bottom row of the lowest-addressed thumbwheel
board, with the decimal point three digits in from the right.
M99->TWD:0,0,1,U means that a single digit is used, at multiplex address 0, low nibble (left digit).
This corresponds to the upper left thumbwheel on the lowest-addressed thumbwheel board.
See Also:
.......... M{constant}->TWB:{address}
Thumbwheel Multiplexer Board (Acc-18) Manual
M{constant}->TWR:{address}
Function: Resolver Thumbwheel-Multiplexer M-Variable Definition
Scope: Global
Syntax: M{constant}[..{constant}]->TWR[:]{multiplex address},
{offset}
where:
{multiplex address} is an integer constant, divisible by 2, in the range 0 to 254, representing
the address in the multiplexing scheme of the Acc-8D Option 7 resolver-to-digital converter board on
the thumbwheel multiplexer port, as determined by the DIP switch settings on the board
{offset} is an integer constant from 0 to 7, representing the location of the device at the specified
multiplexer address, as determined by in the buffer on the Acc-8D Option 7 and the actual pins to
which the device was wired.
a 12-bit word from a resolver-to-digital (R/D) converter or similar device serially multiplexed on the
thumbwheel port on an Acc-8D Option 7 or compatible board.
The address on the multiplex port specified here must match the address set by the DIP switches on board
the Acc-8D Option 7. The Acc-8D Option 7 manual contains a table listing all of the possibilities.
One of the DIP switches on the Acc-8D Option 7 board determines whether the R/D converters on board
have offset values of 0 to 3 or 4 to 7. The {offset} specifier must match this DIP switch setting and
the number of the R/D device on the board.
This is a read-only M-variable format. Use of this variable in an on-line query command or a program
statement will cause Turbo PMAC to clock in 12 bits of unsigned data (range 0 to 4095) from the
specified device through the multiplexer port.
Note:
It is not necessary to use an M-variable to access an R/D converter for actual servo
or phasing feedback purposes. I-variables (Ixx10, Ixx81, Ixx98, Ixx99) are used
for that purpose. However, even if this is the only use of the R/D converter,
usually it is desirable to assign M-variables to the R/D converters for set-up and
diagnostic purposes.
Example:
M100->TWR:0,0
M99->TWR:4,5
See Also:
M{constant}->TWS:{address}
Resolver-to-Digital Converter Board (Acc-8D Opt-7) Manual
M{constant}->TWS:{address}
Function: Serial Thumbwheel-Multiplexer M-Variable Definition
Scope: Global
Syntax: M{constant}[..{constant}]->TWS[:]{multiplex address}
where:
the optional second{constant} must be at least as great as the first {constant} it represents
{multiplex address} is an integer constant, divisible by 4, in the range 0 to 124, representing
the address in the multiplexing scheme of the first of four bytes in the 32-bit input or output word.
Adding 1 to the {multiplex address} designates it as a read-only variable and adding 2
designates it as a write-only variable.
a 32-bit word of input or output serially multiplexed on the thumbwheel port on an Accessory 34x board.
Note:
The individual bits of the thumbwheel port on an Acc-34x board cannot be directly
assigned to an M-variable. Only 32-bit words (ports) of input or output can be
accessed.
The base address of the Acc-34x on the multiplexer port is set by a DIP switch bank on the board. The
base address can take a value from 0 to 248, evenly divisible by 8.
The address of the 32-bit input port on the Acc-34x board is equal to the base address plus 1. (If the base
address is 16, the address of the input port is 17.)
The address of the 32-bit output port on the Acc-34x board is equal to the base address plus 6. (If the
base address is32, the address of the output port is 38.)
The address of the optional supplemental input port available on some Acc-34x boards is equal to the
base address plus 3. (If the base address is 128, the address of the supplemental input port is 131.)
The address on the multiplex port specified here must match the address set by the DIP switch on board
the Acc-34x. The Acc-34x manual contains a table listing all of the possibilities.
Because the individual bits of the thumbwheel port cannot be accessed directly on an Accessory 34x
board and because of the relatively long time it takes to clock the data in or out of Turbo PMAC (A 32-bit
Read or a 32-bit Write to an individual port takes approximately 16 microseconds of time in the Turbo
PMAC's background time slot), it is best to keep an image of each M-variable of this type in internal
memory. The image variable would preferably be a 32-bit or 48-bit fixed point M-variable, but it could
also be a 48-bit floating point P or Q variable.
The best procedure for using TWS M-variables in a program is as follows. The input word (TWS M-
variable) should be copied into its image variable at the beginning of a sequence of operations. The
operations can then be done on the image variable without requiring Turbo PMAC to actually read or
write to the I/O port for each operation. The output word is first assembled into its image variable, then
copied to the actual output word once at the end of a sequence of operations. This procedure will allow
the most efficient and flexible use of TWS M-variables.
Note:
This type of variable can only be used in background tasks (on-line commands,
plus PLCs and PLCCs 1-31). They cannot be used in foreground tasks (motion
programs and PLC and PLCC 0).
Example:
For an Acc-34x board with base address 0 on the multiplexer port (all DIP switches ON): the the M-
variable for the input port would be:
M80->TWS:1 ;Input port at {base+1}
The definition for the output port would be:
M81->TWS:6 ;Output port at {base+6}
See Also:
M{constant}->TWR:{address}
Serial I/O Multiplexer Board (Acc-34x) Manuals
M{constant}->X/Y:{address}
Function: Short Word M-Variable Definition
Scope: Global
Syntax: M{constant}[..{constant}]->
X[:]{address},{offset}[,{width}[,{format}]]
M{constant}[..{constant}]->
Y[:]{address},{offset}[,{width}[,{format}]]
where:
decimal).
{offset} is an integer constant from 0 to 23, representing the starting (least significant) bit of the
word to be used in the M-variables, or 24 to specify the use of all 24 bits;
{width} (optional) is an integer constant from the set {1, 4, 8, 12, 16, 20, 24}, representing the
number of bits from the word to be used in the M-variables; if {width} is not specified, a value of 1
is assumed;
{format} (optional) is a letter from the set [U, S, D, C], specifying how Turbo PMAC is to
interpret this value: (U=Unsigned integer, S=Signed integer, D=Binary-coded Decimal,
C=Complementary binary-coded decimal); if {format} is not specified, U is assumed.
a location in one of the two halves (X or Y) of Turbo PMACs data memory. In this form, the variable
can have a width of 1 to 24 bits and can be decoded several different ways, so the bit offset, bit width, and
decoding format must be specified (the bit width and decoding format do have defaults.
The definition consists of the letter X or Y, an optional colon (:), the word address, the starting bit
number (offset), an optional bit width number, and an option format-specifying letter.
Legal values for bit width and bit offset are inter-related. The table below shows the possible values of
{width}, and the corresponding legal values of {offset} for each setting of {width}.
{width} {offset}
1 0 -- 23
4 0,4,8,12,16,20
8 0,4,8,12,16
12 0,4,8,12
16 0,4,8
20 0,4
24 0
The format is irrelevant for 1-bit M-variables, and should not be included for them. If no format is
specified, U is assumed.
Examples:
Machine Output 1
M1->Y:$078802,8,1 ; 1-bit (full spec.)
M1->Y$078802,8 ; 1-bit (short spec.)
Encoder 1 Capture/Compare Register
M103->X:$078003,0,24,U ; 24-bit (full spec.)
M103->X$078003,24 ; 24-bit (short spec.)
DAC 1 Output Register
M102->Y:$078003,8,16,S ; 16-bit value
M102->Y491523,8,16,S ; same, decimal address
See Also:
.......... M{constant}->D:{address}, M{constant}={expression}
MACROASCII{master #} [replaced]
Function: Set port in MACRO pass-through mode
Scope: Global (MACRO Ring Master only)
Syntax: MACROASCII{master #}
Note:
This command has been replaced starting in V1.936 firmware by the
MACROMSTASCII command.
MACROAUX{node #},{param #}
Function: Report MACRO Type 0 auxiliary parameter value from slave node
Scope: Global
Syntax: MACROAUX{node #},{param #}
MX{node #},{param #}
where:
{node #} is a constant in the range 0 to 63 representing the number of the node on the Turbo
PMAC matching the slave node to be accessed, where the node number specification is:
{node #} = 0 15 specifies MACRO IC 0 nodes 0 15, which correspond to slave nodes 0
15 of the same master number as MACRO IC 0;
{node #} = 16 31 specifies MACRO IC 1 (Ultralites with Option 1A only) nodes 0 15,
which correspond to slave nodes 0 15 of the same master number as MACRO IC 1;
{node #} = 32 47 specifies MACRO IC 2 (Ultralites with Option 1B only) nodes 0 15,
{node #} = 48 63 specifies MACRO IC 3 (Ultralites with Option 1C only) nodes 0 15,
{param #} is an integer constant from 0 to 65535 specifying the auxiliary parameter number
for this node (2 to 253 required for a write operation)
This command causes PMAC to query the MACRO slave station at the specified node number using the
MACRO Type 0 master-to-slave auxiliary protocol, and report back the value of the specified slave
station parameter to the host computer.
Only one auxiliary access (read or write) of a single node can be done on one command line.
The auxiliary register function for the specified node number must have been enabled by setting the
appropriate bit of I70, I72, I74, or I76 to 1. The Type 0 protocol for this node must have been selected by
setting the appropriate bit of I71, I73, I75, or I77 to 0.
If the slave node returns an error message or the slave node does not respond within 32 servo cycles,
Turbo PMAC will report ERR008. Bit 5 of global status register X:$000006 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.
Note:
The Delta Tau MACRO Station products use the Type 1 protocol and so do not use
this command.
Example:
MACROAUX1,24 ; Request value of Node 1 Parameter 24
2000 ; Turbo PMAC reports value
See Also:
On-line commands MACROAUXREAD, MACROAUXWRITE
PLC Program commands MACROAUXREAD, MACROAUXWRITE
MACROAUX{node #},{param #}={constant}
Function: Set MACRO Type 0 auxiliary parameter value in slave node
Scope: Global
Syntax: MACROAUX{node #},{param #}={constant}
MX{node #},{param #}={constant}
where:
{param #} is an integer constant from 0 to 65535 specifying the auxiliary parameter number for
this node (2 to 253 required for a write operation)
{constant} is an integer constant from -32768 to +32767 representing the value to be written to
the specified parameter
This command causes Turbo PMAC to write the specified constant value to the variable of the MACRO
slave station at the specified node number using the MACRO Type 0 master-to-slave auxiliary protocol.
MACRO auxiliary communications error. Register X:$0031EE holds the error value. It is set to $010000
Note:
Delta Tau MACRO Station products use the Type 1 protocol, and so do not use
this command.
Example:
MACROAUX1,24=2000 ; Set Node 1 Parameter 24 to 2000
See Also:
MACROAUXREAD
Function: Read (copy) Type 0 MACRO auxiliary parameter value from slave node
Scope: Global
Syntax: MACROAUXREAD{node #},{param #},{variable}
MXR{node #},{param #},{variable}
where:
this node
{variable} is the name of the Turbo PMAC variable (I, P, Q, or M) into which the parameter
value is to be copied
This command causes Turbo PMAC to copy the value of the specified variable of the MACRO slave
station matching the specified node number on the Turbo PMAC to the specified Turbo PMAC variable,
using the MACRO Type 0 master-to-slave auxiliary protocol.
Note:
The Delta Tau MACRO Station products use the Type 1 protocol and so do not use
this command.
Example:
MACROAUXREAD1,24,P1 ; Read Node 1 Parameter 24 into P1
MXR5,128,M100 ; Read Node 5 Parameter 128 into M100
See Also:
On-line commands MACROAUX, MACROAUXWRITE
MACROAUXWRITE
Function: Write (copy) Type 0 MACRO auxiliary parameter value to slave node
Scope: Global
Syntax: MACROAUXWRITE{node #},{param #},{variable}
MXW{node #},{param #},{variable}
where:
{param #} is an integer constant from 2 to 253 specifying the auxiliary parameter number for this
node
{variable} is the name of the Turbo PMAC variable (I, P, Q, or M) from which the parameter
This command causes Turbo PMAC to copy the value of the specified variable on Turbo PMAC to the
specified variable of the MACRO slave station matching the specified node number on the Turbo PMAC,
Note:
Delta Tau MACRO Station products use the Type 1 protocol and so do not use
this command.
Example:
MACROAUXWRITE1,24,P1 ; Write value of P1 to Node 1 Parameter 24
MXW5,128,M100 ; Write value of M100 to Node 5 Parameter 128
See Also:
On-line commands MACROAUX, MACROAUXREAD
MACROMST{master#},{master variable}
Function: Report Type 1 MACRO master variable value
Scope: Global
Syntax: MACROMST{master #},{master variable}
MM{node #},{master variable}
where:
{master #} is a constant (1-15) representing the number of the remote master whose variable is to
be read;
{master variable} is the name of the variable on the remote master station whose value is to
be reported
This command causes the Turbo PMAC to query another master station on the ring for a variable value
using the MACRO Type 1 master-to-master auxiliary communications protocol, and report back the value
of the specified variable to the host computer.
In order for the Turbo PMAC to be able to execute this command, the following conditions must be true:
MACRO IC 0 on this Turbo PMAC must be set up as the synchronizing ring master (I6840 = $xx30);
MACRO IC 0 on this Turbo PMAC must be set up as Master 0 on the ring (I6841 = $0xxxxx);
MACRO IC 0 node 14 must be in broadcast mode (I6840 bit 14 = 1);
MACRO IC 0 node 14 auxiliary register copy function must be disabled (I70 bit 14 = 0);
MACRO IC 0 node 14 must not be used for any other function.
In order for another Turbo PMAC to be able to respond to the communications that this command creates
on the MACRO ring (to be the remote master), the following conditions must be true:
MACRO IC 0 on the Turbo PMAC must be set up as a master, but not the synchronizing ring master
(I6480 = $xx90);
MACRO IC 0 on the Turbo PMAC must be set up with a non-zero master number on the ring (I6841
= $nxxxxx, where n > 0);
MACRO IC 0 node 14 must normally be disabled (I6841 bit 14 = 1);
If the remote master returns an error message or it does not respond within I79 servo cycles, Turbo
PMAC will report ERR008. Bit 5 of global status register X:$000006 is set to report such a MACRO
auxiliary communications error. Register X:$0031EE 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.
Examples:
MM4,I10 ; Causes remote master 4 to report value of variable I10
3713707 ; Turbo PMAC reports this value back to host
MM1,P1 ; Causes remote master 1 to report value of variable P1
3.14159 ; Turbo PMAC reports this value back to host
MACROMST{master#},{master variable}={constant}
Function: Set Type 1 MACRO master auxiliary parameter value
Scope: Global
Syntax: MACROMST{master #},{master variable}={constant}
MM{node #},{master variable}={constant}
where:
be read;
be set
{constant} is a number representing the value to be written to the specified variable on the remote
master station
This command causes the Turbo PMAC to set a variable value on another master station on the ring using
the MACRO Type 1 master-to-master auxiliary communications protocol.
(I6480 = $xx90);
MACRO IC 0 node 14 normally must be disabled (I6841 bit 14 = 1);
by the slave node.
Examples:
MM4,I10=3713707 ; Causes remote master 4 to set value of variable I10 to 3,713,707
MM1,P1=3.14159 ; Causes remote master 1 to set value of variable P1 to 3.14159
MACROMSTASCII{master #}
Syntax: MACROMSTASCII{master #}
MACMA{master #}
where:
{master #} is a constant in the range 1 to 15 representing the master number of the Turbo PMAC
to whom the communications will be passed
This command causes Turbo PMAC to put the port on which it receives this command in a MACRO
master-to-master pass-through mode. In this mode, commands received over this port are not acted on by
this Turbo PMAC. Instead, they are passed on over the MACRO ring to the Turbo PMAC with the
specified master number. Responses are received from the other Turbo PMAC over the MACRO ring
and passed back to the host computer over this port.
This mode of communications, which uses the Type 1 auxiliary communications protocol, requires
V1.936 or newer firmware on all Turbo PMACs on the ring. It permits the host computer to
communicate with remote Turbo PMACs as if they were directly connected to the host. Non-Turbo
PMACs on the ring will not respond to commands passed over the ring in this protocol.
If used to set up broadcast to multiple masters on the ring (MACROMSTACII0), no handshaking between
boards is possible on broadcast commands. In this mode, it is strongly suggested that only commands of
6 ASCII characters or less (including the terminating <CR> character) be used. This mode is intended
mainly to start or stop programs together on multiple cards.
This command can only be given to a Turbo PMAC that is the synchronizing ring master (ring controller)
set up for Type 1 auxiliary communications with Node 14 in broadcast mode. This requires that:
I79 > 0 (enable master-to-master, recommended I79 = 32)
I6840 = $4030 (ring controller with Node 14 in broadcast mode)*
I6841 bit 14 set to 1 (enable Node 14 communications)*
These values be saved, and the card reset, before this mode can be enabled
* These I-variables are used if MACRO IC 0 is used for this communications, the most common
configuration. If MACRO IC 1 is used, I6890 and I6891 must take these values; for MACRO IC 2, I6940
and I6941; for MACRO IC 3, I6990 and I6991.
On this Turbo PMAC, the commands will be sent out over the MACRO ring through the MACRO IC (0
3) whose number is specified by I84. The base address of MACRO IC n is specified by variable I2n.
Only one communications port of this ring controller Turbo PMAC may be in pass-through mode at any
time. The other ports are not in pass-through mode and may be used simultaneously for communications
with the ring controller Turbo PMAC itself.
Turbo PMACs on the ring to which these commands are passed through must be set as masters but not
ring controllers, with Node 14 enabled but not in broadcast mode. On these boards:
I6480 = $10 (master, but not ring controller; Node 14 not in broadcast mode)
I6841 bit 14 = 1 (Node 14 enabled)
These values be saved, and the card reset, before this mode can be enabled.
This port is taken out of MACRO pass-through mode if it is given the <CTRL-T> command. To change
which other master to which the commands are passed through, first take the port out of pass-through
mode with a <CTRL-T>, then enable the pass-through to another master. If another MACROMSTASCII
command is sent while the port is in pass-through mode, this command will be passed through and
rejected by the other master, returning an ERR008.
In pass-through mode, command errors are always reported in the form <BELL>ERRnnn<CR>,
See Also:
On-line commands <CTRL-T>, MACROSTASCII{station #}
MACROMSTREAD
Function: Read (copy) Type 1 MACRO master auxiliary parameter value
Scope: Global
Syntax: MACROMSTREAD{master #},{master variable},
{ring-master variable}
MMR{master #},{master variable},{ring-master variable}
where:
be read;
be reported
{ring-master variable} is the name of the variable on the Turbo PMAC executing the
command into which the value of the remote master variable is to be copied
This command causes Turbo PMAC to copy the value of the specified variable on the remote master
station into the specified variable on the Turbo PMAC executing the command, using the MACRO Type
1 master-to-master auxiliary protocol.
(I6480 = $xx90);
by the slave node.
If this command is issued to a Turbo PMAC while a PLC buffer is open, it will be stored in the buffer as a
PLC command, not executed as an on-line command.
Examples:
MMR4,I10,P10 ; Copies value of remote master 4 variable I10 into Turbo PMAC variable P10
MMR1,P1,P1 ; Copies value of remote master 1 variable P1 into Turbo PMAC variable P1
MACROMSTWRITE
Function: Write (copy) Type 1 MACRO master auxiliary parameter value
Scope: Global
Syntax: MACROMSTWRITE{master #},{master variable},
MMW{master #},{master variable},{ring-master variable}
where:
be read;
be set;
command from which the value of the remote master variable is to be copied.
station from the specified variable on the Turbo PMAC executing the command, using the MACRO Type
on the MACRO ring (to be the remote master) the following conditions must be true:
(I6480 = $xx90);
by the slave node.
If this command is issued to a Turbo PMAC while a PLC buffer is open, it will be stored in the buffer as a
PLC command, not executed as an on-line command.
Examples:
MMW4,I10,P10 ; Copies value of Turbo PMAC variable P10 into remote master 4 variable I10
MMW1,P1,P1 ; Copies value of Turbo PMAC variable P1 into remote master 1 variable P1
MACROSLV{command} {node#}
Function: Send command to Type 1 MACRO slave
Scope: Global
Syntax: MACROSLAVE{command}{node #}
MS{command}{node #}
where:
{command} is one of the following text strings:
$$$ normal station reset
$$$*** station reset and re-initialize
CLRF station fault clear for
CONFIG report station configuration value
DATE report station firmware date
SAVE save station setup
VER report station firmware version
This command causes Turbo PMAC to issue the specified command to a MACRO slave station using the
Type 1 auxiliary master-to-slave protocol. {node #} can be the number of any active node on the slave
station. If {node #} is set to the highest node number for the MACRO IC (15, 31, 47, or 63), the action
automatically applies to all slave stations commanded from that MACRO IC.
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 users
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.
The MACRO IC used must be set up as a master or the synchronizing ring master
(I6840/6890/6940/6990 = $xx90 or $xx30);
If the slave node returns an error message or it does not respond within I78 servo cycles, Turbo PMAC
will report ERR008. Bit 5 of global status register X:$000006 is set to report such a MACRO auxiliary
communications error. Register X:$0031EE 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.
Examples:
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
03/27/97 ; 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:
{slave variable} is the name of the variable on the slave station whose value is to be reported
This command causes Turbo PMAC to query the MACRO slave station at the specified node number
using the MACRO Type 1 master-to-slave auxiliary protocol, and report back the value of the specified
slave station variable to the host computer. If the variable is not node-specific, {node #} can represent
the number of any active node on the slave station.
(I6840/6890/6940/6990 = $xx90 or $xx30);
slave node.
Examples:
MS0,MI910 ; Causes slave to report value of Node 0 variable MI910
7 ; PMAC reports this value back to host
MS1,MI997 ; Causes slave to report value global variable MI997
6258 ; PMAC reports this value back to host
MACROSLV{node#},{slave variable}={constant}
Function: Set Type 1 MACRO auxiliary parameter value
Scope: Global
Syntax: MACROSLAVE{node #},{slave variable}={constant}
MS{node #},{slave variable}={constant}
where:
{slave variable} is the name of the MI-variable or C-command on the slave station whose
value is to be set;
{constant} is a number representing the value to be written to the specified MI-variable
This command causes Turbo PMAC to write the specified constant value to the variable of the MACRO
slave station at the specified node number using the MACRO Type 1 master-to-slave auxiliary protocol.
If the variable is not node-specific, {node #} can represent the number of any active node on the slave
station.
(I6840/6890/6940/6990 = $xx90 or $xx30);
slave node.
Examples:
MS0,MI910=7 ; Causes slave to set value of Node 0 variable MI910 to 7
MS1,MI997=6528 ; Causes slave to set value global variable MI997 to 6528
MS8,C2=0 ; Causes slave at node 8 to reset
MACROSLVREAD
Function: Read (copy) Type 1 MACRO auxiliary parameter value
Scope: Global
Syntax: MACROSLVREAD{node #},{slave variable},{PMAC variable}
MSR{node #},{slave variable},{PMAC variable}
where:
{slave variable} is the name of the variable on the slave station whose value is to be reported
{PMAC variable} is the name of the variable on the Turbo PMAC into which the value of the
slave station variable is to be copied
using the MACRO Type 1 master-to-slave auxiliary protocol. If the slave station variable is not node-
specific, {node #} can represent the number of any active node on the slave station.
The variable on the Turbo PMAC can be any of the I, P, Q, or M-variable on the card.
If this command is issued to the Turbo PMAC while a PLC buffer is open, it will be stored in the buffer
as a PLC command, not executed as an on-line command.
(I6840/6890/6940/6990 = $xx90 or $xx30);
slave node.
Examples:
MSR0,MI910,P1 ; Copies value of slave Node 0 variable MI910 into PMAC variable P1
MSR1,MI997,M10 ; Copies value of slave Node 1 variable MI997 into PMAC variable M10
MACROSLVWRITE
Function: Write (copy) Type 1 MACRO auxiliary parameter value
Scope: Global
Syntax: MACROSLVWRITE{node #},{slave variable},{PMAC variable}
MSW{node #},{slave variable},{PMAC variable}
where:
value is to be set;
{PMAC variable} is the name of the variable on the PMAC from which the value of the slave
station variable is to be copied
using the MACRO Type 1 master-to-slave auxiliary protocol. If the slave station variable is not node-
specific, {node #} can represent the number of any active node on the slave station.
The variable on the Turbo PMAC can be any of the I, P, Q, or M-variables on the card.
If this command is issued to the Turbo PMAC while a PLC buffer is open, it will be stored in the buffer
as a PLC command, not executed as an on-line command.
(I6840/6890/6940/6990 = $xx90 or $xx30);
slave node.
Examples:
MSW0,MI910,P35 ; Copies value of PMAC P35 into MACRO station node 0 variable MI910
MSW4,C4,P0 ; Causes MACRO station with active node 4 to execute Command #4, saving its
; setup variable values to non-volatile memory (P0 is a dummy variable here)
MACROSTASCII {station #}
Syntax: MACROSTASCII{master #}
MACSTA{master #}
where:
{station #} is a constant in the range 0 to 255 representing the order number of the station on the
ring to whom the communications will be passed. If a 0 is used, subsequent commands will be
broadcast to all masters on the ring. If a 255 is used, subsequent commands will be sent to the next
unordered (station number 0) station on the ring.
This command causes Turbo PMAC to put the port on which it receives this command in a MACRO
master-to-station pass-through mode. In this mode, commands received over this port are not acted on by
this Turbo PMAC. Instead, they are passed on over the MACRO ring to the master or slave station on the
ring with the specified station-order number. Responses are received from the other station over the
MACRO ring and passed back to the host computer over this port.
The main purpose of this mode of communications is to be able to go around the MACRO ring, station by
station, and communicate with each station, even if the normal ring addressing is not set up, not set up
properly, or unknown to the system. This mode of communications, which uses the Type 1 auxiliary
communications protocol, requires V1.936 or newer firmware on all Turbo PMACs on the ring, and
V1.1114 or newer firmware on all MACRO Stations on the ring. Non-Turbo PMACs on the ring will not
respond to commands passed over the ring in this protocol.
A MACROSTASCII255 command will set up communications with the first unordered station (station
order number of 0) on the ring. Query commands can detect information about this station, then a station
order number assigned to this station with the STN={constant} or I85={constant} command.
(Typically, ring-order numbers are given sequentially to stations along the ring, but this is not required.)
Once a station order number is assigned to a station, it will no longer respond to commands given in
MACROSTASCII255 mode, and the next unordered (STN=0) station will respond to these commands
instead.
A MACROSTASCII0 command will broadcast subsequent commands to all stations on the ring. In this
mode, a STN=0 or I85=0 command will unorder all stations on the ring so that they can be isolated one
by one using the above technique. In this mode, no handshaking between boards is possible on broadcast
commands. In this mode, it is strongly suggested that only commands of 6 ASCII characters or less
(including the terminating <CR> character) be used. This mode is intended mainly to re-initialize the
ordering on the ring.
This command can only be given to a Turbo PMAC that is the synchronizing ring master (ring controller)
set up for Type 1 auxiliary communications with Node 14 in broadcast mode. This requires that:
I79 > 0 (enable master-to-master, recommended I79 = 32)
I6840 = $4030 (ring controller with Node 14 in broadcast mode)*
I6841 bit 14 set to 1 (enable Node 14 communications)*
These values be saved, and the card reset, before this mode can be enabled
* These I-variables are used if MACRO IC 0 is used for this communications, the most common
configuration. If MACRO IC 1 is used, I6890 and I6891 must take these values; for MACRO IC 2, I6940
and I6941; for MACRO IC 3, I6990 and I6991.
On this Turbo PMAC, the commands will be sent out over the MACRO ring through the MACRO IC (0
3) whose number is specified by I84. The base address of MACRO IC n is specified by variable I2n.
Only one communications port of this ring controller Turbo PMAC may be in pass-through mode at
any time. The other ports are not in pass-through mode and may be used simultaneously for
communications with the ring controller Turbo PMAC itself.
This port is taken out of MACRO pass-through mode if it is given the <CTRL-T> command. If another
MACROSTASCII command is sent while the port is in pass-through mode, this command will be passed
through and rejected by the other station, returning an ERR008.
In pass-through mode, command errors are always reported in the form <BELL>ERRnnn<CR>,
See Also:
On-line commands <CTRL-T>, MACROMSTASCII{station #}
MFLUSH
Function: Clear pending synchronous M-variable assignments
Syntax: MFLUSH
This command permits the user to clear synchronous M-variable assignment commands that have been
put on the stack for intended execution with a subsequent move (without executing the commands). As
an on-line command, it is useful for making sure pending outputs are not executed after a program has
been stopped.
Examples:
Q ; Stop execution of a program
MFLUSH ; Clear M-variable stack
B1R ; Start another program; formerly pending M-variables will not execute
See Also:
Program commands M{data}=={expression},
M{data}&={expression},
M{data}|={expression},
M{data}^={expression}
MOVETIME
Function: Report time left in presently executing move
Syntax: MOVETIME
MVTM
The MOVETIME command causes Turbo PMAC to report the time left in the currently executing move in
the addressed coordinate system, scaled in milliseconds.
This time remaining function is not active if the addressed coordinate system is executing moves in the
special lookahead buffer.
NOFRAX
Function: Remove all axes from list of vector feedrate axes
Syntax: NOFRAX
This command causes Turbo PMAC to remove all axes from the list of vector feedrate axes for the
addressed coordinate system. In this mode, any feedrate-specified move in the coordinate system will
yield a vector distance of 0, forcing the use of the Isx86 alternate feedrate. This can be useful to create a
dry run of a motion program, overriding the feedrates specified in the motion-program F commands.
Axes can be restored to the vector feedrate list with the FRAX command.
See Also:
I-variables Isx86, Isx89, Isx90, Isx98
On-line command FRAX
Program commands F, FRAX, NOFRAX
NORMAL
Function: Report circle-plane unit normal vector
Syntax: NORMAL
NRM
This command causes Turbo PMAC to report the unit normal vector for the addressed coordinate system.
This normal vector defines the plane for circular interpolation and cutter radius compensation.
Turbo PMAC reports the vector by displaying its I, J, and K components, parallel to the X, Y, and Z axes,
respectively. If a component is zero, it will not be reported. The vector sum of the components is 1.0
because this is a vector of unit magnitude.
The default normal vector is K-1.0, which specifies the XY plane. This can be modified by the motion
program NORMAL I{data} J{data} K{data} statement. Note that the vector magnitude of the
commanded normal vector does not need to be equal to 1.0 Turbo PMAC will store a scaled version of
it.
Syntax:
NORMAL
K-1
NORMAL
I0.7071 J0.7071
O{constant}
Function: Open loop output
Syntax: O{constant}
where:
{constant} is a floating-point value representing the magnitude of the output as a percentage of
Ixx69 for the motor, with a range of +/-100
This command causes Turbo PMAC to put the motor in open-loop mode and force an output of the
specified magnitude, expressed as a percentage of the maximum output parameter for the motor (Ixx69).
This command is commonly used for set-up and diagnostic purposes (for instance, a positive O command
must cause position to count in the positive direction, or closed-loop control cannot be established), but it
can also be used in actual applications.
If the motor is not Turbo PMAC-commutated, this command will create a DC output voltage on the
single DAC for the motor. If the motor is commutated by Turbo PMAC, the commutation algorithm is
still active, and the specified magnitude of output is apportioned between the two DAC outputs or the
three PWM outputs for the motor according to the instantaneous commutation phase angle.
If the value specified is outside the range +/-100, the output will saturate at +/-100% of Ixx69.
Closed-loop control for the motor can be re-established with the J/ command. It is a good idea to stop
the motor first with an O0 command if it has been moving in open-loop mode.
To do a variable O-command, define an M-variable to the filter result register (X:$0000AE, etc.,
suggested M-variable Mxx79), command an O0 to the motor to put it in open-loop mode, then assign a
variable value to the M-variable. This technique will even work on Turbo PMAC-commutated motors.
Example:
O50 ; Open-loop output 50% of Ixx69 for addressed motor
#2O33.333 ; Open-loop output 1/3 of Ixx69 for Motor 2
O0 ; Open-loop output of zero magnitude
J/ ; Re-establish closed-loop control
See Also:
On-line commands J/, K
Memory-map registers X:$0000BF, X:$00013F, etc.
Suggested M-variable definitions Mxx68.
OPEN BINARY ROTARY
Function: Open all existing rotary buffers for binary DPRAM entry
Syntax: OPEN BINARY ROTARY
OPEN BIN ROT
This command causes Turbo PMAC to open all existing rotary motion program buffers for entry of
binary-formatted program lines through the DPRAM.
In order to be able to send binary-formatted program lines to a coordinate systems rotary buffer, three
steps must first have been performed:
1. Room must have been reserved for the coordinate systems rotary buffer in internal PMAC memory
since the last power-up/reset with the DEFINE ROTARY command.
2. Room must have been reserved for data transfer for the coordinate system in the DPRAM by setting
up pointers in the DPRAM (usually done by PCOMM32 subroutines).
3. The buffers must have been enabled for entry with the OPEN BIN ROT command.
No other program buffers (PLC, fixed motion program, or rotary buffers with ASCII input) may be open
when this command is sent (Turbo PMAC will report ERR007 if I6 = 1 or 3). It is a good idea always to
preced an OPEN command with a CLOSE command to make sure no other buffers have been left open.
The actual downloading of binary-formatted program lines is almost always done with PCOMM32
software routines.
ASCII text commands sent through any port to the Turbo PMAC while the binary rotary program buffers
are open are treated as on-line commands. ASCII text commands sent at this time that can only be
interpreted as buffered program commands will be rejected (Turbo PMAC will report ERR005 if I6 is 1
or 3).
The CLOSE command issued on this same port will close all open binary rotary buffers.
This function is controlled by variable I57 on non-Turbo PMACs.
OPEN FORWARD
Function: Open a forward-kinematic program buffer for entry
Scope: Port, coordinate-system specific
Syntax: OPEN FORWARD
OPEN FWD
This command causes Turbo PMAC to open the forward-kinematic program buffer for the addressed
coordinate system for entry or editing through this port. Subsequent program commands valid for these
programs sent from this port will be entered into this buffer. Kinematic programs can accept all
commands that are valid for PLC programs except ADDRESS, CMD, and SEND commands. When entry
of the program is finished, the CLOSE command should be used to prevent further lines from being put in
this buffer.
If the kinematic-enable variable Isx50 for the coordinate system is set to 1, Turbo PMAC will
automatically execute the forward-kinematic program for the coordinate system any time an R (run), S
(step), or PMATCH command is given to the coordinate system. Before running the program PMAC will
place the commanded position value (in counts) for each Motor xx in the coordinate system into global
variable Pxx.
After the program is run, Turbo PMAC will take the values in Q1 Q9 for the coordinate system and use
them as the starting positions for the A, B, C, U, V, W, X, Y, and Z axes, respectively (in engineering
units).
No other program buffers (PLC, fixed or rotary motion) may be open when this command is sent (Turbo
PMAC will report ERR007 if I6=1 or 3). It is a good idea always to precede an OPEN command with a
CLOSE command to make sure no other buffers have been left open.
No motion programs may be running in any coordinate system when this command is sent (Turbo PMAC
will report ERR001 if I6=1 or 3). As long as a forward kinematic program buffer is open, no motion
program may be run in any coordinate system (Turbo PMAC will report ERR015 if I6=1 or 3).
Forward kinematic programs can be protected by password. If there is a password for the Turbo PMAC,
is 1 or 3).
See Also:
I-variable Isx50
On-line commands LIST FORWARD, LIST INVERSE, OPEN INVERSE
OPEN INVERSE
Function: Open an inverse-kinematic program buffer for entry
Scope: Port, coordinate-system specific
Syntax: OPEN INVERSE
OPEN INV
This command causes Turbo PMAC to open the inverse-kinematic program buffer for the addressed
coordinate system for entry or editing through this port. Subsequent program commands valid for these
programs sent on this port will be entered into this buffer. Kinematic programs can accept all commands
that are valid for PLC programs except ADDRESS, CMD, and SEND commands. When entry of the
program is finished, the CLOSE command should be used to prevent further lines from being put in this
buffer.
If the kinematic-enable variable Isx50 for the coordinate system is set to 1, Turbo PMAC will
automatically execute the inverse-kinematic program for the coordinate system any time axis positions
are calculated during motion program execution. This is either the end of the programmed move for non-
segmented moves, or the end of each move segment for segmented LINEAR and CIRCLE-mode moves
with Isx13 greater than 0.
Before each instance of running the inverse-kinematic program, Turbo PMAC will automatically place
the commanded position values (in engineering units) for the A, B, C, U, V, W, X, Y, and Z axes into Q1
Q9, respectively, for the coordinate system. After the program is run, for each Motor xx in the
coordinate system whose axis definition statement is #xx->I, Turbo PMAC automatically places the
value of Pxx into the target position register for the motor. If executing a PVT-mode move, Turbo PMAC
will also place the commanded velocity value (in engineering units) for the axes into Q11 Q19 before,
and place the value of P1xx into the motor target velocity register after.
will report ERR001 if I6=1 or 3). As long as a forward kinematic program buffer is open, no motion
program may be run in any coordinate system (Turbo PMAC will report ERR015 if I6=1 or 3).
Inverse kinematic programs can be protected by password. If there is a password for the Turbo PMAC,
is 1 or 3).
See Also:
I-variable Isx50
On-line commands LIST FORWARD, LIST INVERSE, OPEN FORWARD
OPEN PLC
Function: Open a PLC program buffer for entry
Syntax: OPEN PLC {constant}
where:
{constant} is an integer from 0 to 31 representing the PLC program to be opened
This command causes Turbo PMAC to open the specified PLC program buffer for entry and editing on
this port. This permits subsequent program lines that are valid for a PLC to be entered into this buffer
from this port only. When entry of the program is finished, the CLOSE command should be sent on this
port to prevent further lines from being put in the buffer.
CLOSE or CLOSE ALL command to make sure no other buffers have been left open.
PLCs 0-15 can be protected by password. If the PLC is protected by password, and the proper password
has not been given, Turbo PMAC will reject this command (reporting an ERR002 if I6=1 or 3).
Opening a PLC program buffer automatically disables that PLC program. Other PLC programs and
motion programs will keep executing. Closing the PLC program buffer after entry does not re-enable the
program. To re-enable the program, the ENABLE PLC command must be used, or Turbo PMAC must be
reset (with a saved value of I5 permitting this PLC program to execute).
Example:
CLOSE ; Make sure other buffers are closed
DELETE GATHER ; Make sure memory is free
OPEN PLC 7 ; Open buffer for entry, disabling program
IF (M11=1) ; Enter new version of program...
CLOSE ; Close buffer at end of program
ENABLE PLC 7 ; Re-enable program
See Also:
PLC Program Features
I-variable I5
On-line commands CLOSE, DELETE GATHER, ENABLE PLC
OPEN PROGRAM
Function: Open a fixed motion program buffer for entry
Syntax: OPEN PROGRAM {constant}
OPEN PROG {constant}
where:
{constant} is an integer from 1 to 32767 representing the motion program to be opened
This command causes Turbo PMAC to open the specified fixed (non-rotary) motion program buffer for
entry or editing on this port. Subsequent program commands valid for motion programs sent from this
port will be entered into this buffer. When entry of the program is finished, the CLOSE or CLOSE ALL
command should be used to prevent further lines from being put in the buffer.
will report ERR001 if I6=1 or 3). As long as a fixed motion program buffer is open, no motion program
may be run in any coordinate system (Turbo PMAC will report ERR015 if I6=1 or 3).
PROGs 1000-32767 can be protected by password. If the PROG is protected by password, and the proper
password has not been given, Turbo PMAC will reject this command (reporting an ERR002 if I6=1 or 3).
After any fixed motion program buffer has been opened, each coordinate system must be commanded to
point to a motion program with the B{constant} command before it can run a motion command
(otherwise Turbo PMAC will report ERR015 if I6=1 or 3)
Example:
CLOSE ; Make sure other buffers are closed
DELETE GATHER ; Make sure memory is free
OPEN PROG 255 ; Open buffer for entry, disabling program
X10 Y20 F5 ; Enter new version of program...
...
CLOSE ; Close buffer at end of program
&1B255R ; Point to this program and run it
See Also:
On-line commands CLEAR, CLOSE, DELETE GATHER
OPEN ROTARY
Function: Open all existing rotary motion program buffers for text entry
Syntax: OPEN ROTARY
OPEN ROT
This command causes Turbo PMAC to open all existing rotary motion program buffers (created with the
DEFINE ROTARY command) for entry with ASCII text program lines from this port. Subsequent
program commands valid for rotary motion programs sent on this port are entered into the rotary program
buffer of the coordinate system addressed at the time of that command.
No other program buffers (PLC, or fixed motion programs) may be open when this command is sent
(Turbo PMAC will report ERR007 if I6=1 or 3). It is a good idea always to precede an OPEN command
with a CLOSE or CLOSE ALL command to make sure no other buffers have been left open.
Note:
The B0 command that points the coordinate system to the rotary buffer cannot be
given while the rotary buffers are open, because Turbo PMAC will interpret the
command as a B-axis move command.
Example:
&2 DEFINE ROT 100 ; Create C.S. 2 rotary buffer
&1 DEFINE ROT 100 ; Create C.S. 1 rotary buffer
&1 B0 &2 B0 ; Point both C.S.s to rotary buffers
OPEN ROT ; Open buffers for entry
&1 X10 Y10 F5 ; Write to C.S. 1's buffer
&2 X30 Y30 F10 ; Write to C.S. 2's buffer
&1R &2R ; Start executing both buffers
See Also:
Rotary Motion Programs (Writing a Motion Program)
On-line commands CLOSE, DEFINE ROT, B{constant}, R
P
Function: Report motor position
Syntax: P
This command causes Turbo PMAC to report the present actual position for the addressed motor to the
host as a decimal ASCII string, scaled in counts, rounded to the nearest 1/32 of a count.
Turbo PMAC reports the value of the actual position register plus the position bias register plus the
compensation correction register, and if bit 1 of Ixx06 is 1 (handwheel offset mode), minus the master
position register.
Example:
P ; Request the position of the addressed motor
#1P ; Request position of Motor 1
#3P ; Request position of Motor 3
2.03125 ; Turbo PMAC responds
#2P#4P ; Request positions of Motors 2 and 4
9998 ; Turbo PMAC responds with Motor 2 position first
10002 ; Turbo PMAC responds with Motor 4 position next
See Also:
On-line commands <CTRL-P>, F, V
Suggested M-variable definitions Mxx62, Mxx64, Mxx67, Mxx69
P{constant}
Function: Report the current P-variable values.
Scope: Global
Syntax: P{constant}[..{constant}]
where:
{constant} is an integer from 0 to 8191 representing the number of the P-variable;
the optional second{constant} must be at least as great as the first {constant} it represents
P{constant},{constant},{constant}
where:
the first {constant} is an integer from 0 to 8190 representing the number of the first P-variable;
the second {constant} is an integer from 1 to 8191 representing the number P-variables whose
P-variable whose value is to be reported;
This command causes Turbo PMAC to report the current value of the specified P-variable, or range or set
of P-variables.
Example:
P1 ; Host asks for value
P1005
3.444444444
P100..102
17.5
-373
0.0005
P100,3,100 ; Request for value of P100, P200, P300
33.7
92.13
8.05
See Also:
P-Variables (Computational Features)
On-line commands I{constant}, M{constant}, Q{constant}, P{data}={expression}
Function: Assign a value to a P-variable.
Scope: Global
Syntax: P{data}={expression}
where:
representing the P-variable number;
{expression} contains the value to be given to the specified P-variable
P{constant}..{constant}={constant}
where:
the second {constant} is an integer from 1 to 8191 representing the number of the last P-variable;
the final {constant} contains the value to be given to the specified range of P-variables
P{constant},{constant},{constant}={constant}
where:
the second {constant} is an integer from 1 to 8191 representing the number P-variables whose
value is to be set;
P-variable whose value is to be set;
the final {constant} contains the value to be given to the specified set of P-variables
This command causes Turbo PMAC to set the specified P-variable or range of P-variables equal to the
value on the right side of the equals sign.
Example:
P1=1
P75=P32+P10
P100..199=0
P10=$2000
P832=SIN(3.14159*Q10)
P(10*Q5)=72
P101,16,100=50 ; Set P101, P201, P301, P1601 to 50
See Also:
P-Variables (Computational Features)
On-line commands I{data}={expression}, M{data}={expression},
Q{data}={expression}, P{constant}
Program command P{data}={expression}
PASSWORD={string}
Function: Enter/Set Program Password
Scope: Global
Syntax: PASSWORD={string}
where:
{string} is a series of non-control ASCII characters (values from 32 decimal to 255 decimal).
The password string is case sensitive.
This command permits the user to enter the cards password, or once entered properly, to change it.
Without a properly entered password, Turbo PMAC will not open or list the contents of any motion
program numbered 1000 or greater, or of PLC programs 0-15. If asked to do so, it will return an error
(ERR002 reported if I6 is set to 1 or 3).
The default password is the null password (which means no password is needed to list the programs).
This is how the card is shipped from the factory, and also after a $$$*** re-initialization command.
When there is a null password, it is automatically considered that the correct password has been entered
on power-up/reset.
If the correct password has been entered (which is always the case for the null password), Turbo PMAC
interprets the PASSWORD={string} command as changing the password, and it can be changed to
anything else. When the password is changed, it has been matched automatically and the host computer
has access to the protected programs.
Note:
The password does not require quote marks. If using quote marks when the
password string is entered for the first time, use them every time this password
string is matched.
If the correct password has not been entered since the latest power-up/reset, Turbo PMAC interprets the
PASSWORD={string} command as an attempt to match the existing password. If the command
matches the existing password correctly, Turbo PMAC accepts it as a valid command, and the host
computer has access to the protected programs until the Turbo PMAC is reset or has its power cycled.
If the command does not match the existing password correctly, Turbo PMAC returns an error (reporting
ERR002 if I6=1 or 3), and the host computer does not have access to the protected programs. The host
computer is free to attempt to match the existing password.
There is no way to read the current password. If the password is forgotten and access to the protected
programs is required, the card must be re-initialized with the $$$*** command, which clears all program
buffers as well as the password. Then the programs must be reloaded, and a new password entered.
Example:
{Starting from power-up/reset with a null password}
LIST PLC 1 ; Request listing of protected program
P1=P1+1 ; PMAC responds because there is no password
RETURN
PASSWORD=Bush ; This sets the password to "Bush"
P1=P1+1 ; PMAC responds because password has been
RETURN ; matched by changing it.
$$$ ; Reset the card
ERR002 ; PMAC rejects because password not entered
PASSWORD=Reagan ; Attempt to enter password
ERR002 ; PMAC rejects as incorrect password
PASSWORD=BUSH ; Attempt to enter password
ERR002 ; PMAC rejects as incorrect (wrong case)
PASSWORD=Bush ; Attempt to enter password; PMAC accepts as correct password
P1=P1+1 ; PMAC responds because password matched
RETURN
PASSWORD=Clinton ; This changes password to Clinton
P1=P1+1 ; PMAC responds because password has been
RETURN ; matched by changing it.
$$$ ; Reset the card
PASSWORD=Clinton ; Attempt to enter password
; PMAC accepts as correct password
P1=P1+1 ; PMAC responds because password matched
RETURN
See Also:
On-line commands LIST, LIST PC, LIST PE, OPEN
PAUSE PLC
Function: Pause specified PLC programs.
Scope: Global
Syntax: PAUSE PLC {constant}[,{constant}...]
PAU PLC {constant}[,{constant}...]
PAUSE PLC {constant}[..{constant}]
PLC {constant}[..{constant}]
where:
This command causes Turbo PMAC to stop execution of the specified uncompiled PLC program or
programs, with the capability to restart execution at this point (not necessarily at the top) with a RESUME
PLC command. Execution can also be restarted at the top of the program with the ENABLE PLC
command.
The on-line PAUSE PLC command can only suspend execution of a PLC program at the end of a scan,
which is either the end of the program, or at an ENDWHILE statement in the program.
PLC programs are specified by number, and may be specified in a command singularly, in a list
(separated by commas), or in a range of consecutively numbered programs.
Example:
PAUSE PLC 1
PAU PLC 5
PAU PLC 3,4,7
PAUSE PLC 0..31
See Also:
I-variable I5
On-line commands DISABLE PLC, ENABLE PLC, OPEN PLC, RESUME PLC, LIST PLC,
<CONTROL-D>.
Program commands DISABLE PLC, ENABLE PLC, PAUSE PLC, RESUME PLC
PC
Function: Report Program Counter
Syntax: PC
This command causes Turbo PMAC to report the motion program number and address offset of the line
in that program that it will next calculate (in the addressed coordinate system). It will also report the
program number and address offset of any lines it must RETURN to if it is inside a GOSUB or CALL jump
(up to 15 deep).
The number reported after the colon is not a line number; as an address offset, it is the number of words
of memory from the top of the program. The LIST PROGRAM command, when used with comma
delimiters, shows the program or section of the program with address offsets for each line. The LIST
PC command can show lines of the program with address offsets from the point of calculation.
Because Turbo PMAC calculates ahead in a continuous sequence of moves, the PC (Program Calculation)
command will in general return a program line further down in the program than PE will.
Example:
PC
P1:0 ; Ready to execute at the top of PROG 1
PC
P76:22 ; Ready to execute at 22nd word of PROG 76
LIST PC
P76:22:X10Y20 ; Program line at 22nd word of PROG 76
PC
P1001:35>P3.12 ; Execution will return to PROG 3, address 12
See Also:
On-line commands B{constant}, LIST, LIST PC, LIST PE, LIST PROGRAM, PE
PE
Function: Report Program Execution Pointer
Syntax: PE
This command causes Turbo PMAC to report the motion program number and address offset of the
currently executing programmed move in the addressed coordinate system. This is similar to the PC
command, which reports the program number and address offset of the next move to be calculated. Since
Turbo PMAC is calculating ahead in a continuous sequence of moves, PC will in general report a move
line several moves ahead of PE.
Example:
PE
P1:2
PE
P1:5
See Also:
On-line commands B{constant}, LIST, LIST PC, LIST PE, PC
PMATCH
Function: Re-match Axis Positions to Motor Positions
Syntax: PMATCH
This command causes Turbo PMAC to recalculate the axis starting positions for the coordinate system to
match the current motor commanded positions (by inverting the axis definition statement equations and
solving for the axis position).
This function is executed automatically by Turbo PMAC each time an R (run) or S (step) command is
given, to make sure the first move is executed properly.
The PMATCH command does not need to be executed under normal circumstances. However, if
something has changed the relationship between motor and axis in the middle of a motion program, this
command should be issued usually with CMD PMATCH surrounded by DWELLs from within the
motion program before the next move command in the program.
These changes include changing the Ixx06 position following mode between normal and offset mode,
bringing a new axis into the coordinate system, and changing an axis definition in the coordinate system.
If an axis move is then attempted without the use of the PMATCH command, Turbo PMAC will use the
wrong axis starting point in its calculations, resulting in a jump at the beginning of the move.
If more than one motor is defined to a given axis (as in a gantry system), the commanded position of the
lower-numbered motor is used in the Turbo PMAC calculations.
Example:
OPEN PROG 10 CLEAR
...
CMD"&1#4->100C" ; Bring C-axis into coordinate system
DWELL20
CMD"PMATCH" ; Issue PMATCH so C-axis has proper start position
DWELL20
C90
...
See Also:
Further Position Processing (Setting Up a Motor)
I-variable Ixx06
PR
Function: Report Rotary Program Remaining
Syntax: PR
This command causes Turbo PMAC to report the number of program lines that have been entered in the
rotary buffer for the addressed coordinate system but have not yet been executed (program remaining).
This command can be useful for finding out if it is time to send new lines to the buffer. The value
returned is accurate only if the rotary program buffer is open.
Example:
B0 ; Point to rotary buffer
OPEN ROT ; Open rotary buffer
X10F10 ; Enter first line
X20 ; Enter second line
X30 ; Enter third line
X40 ; Enter fourth line
PR ; Ask for program remaining
4 ; Turbo PMAC responds that four lines remain
R ; Start running the program
PR ; Ask for program remaining
2 ; Turbo PMAC responds that two lines remain
See Also:
BREQ interrupt (Using Interrupts -- Writing a Host Communications Program)
I-variables I16, I17
Q
Function: Quit Program at End of Move
Syntax: Q
This causes the currently addressed coordinate system to cease execution of the program either at the end
of the currently executing move, or at the end of the last move that has been calculated.
If the coordinate system is in segmentation mode (Isx13 > 0) without buffered lookahead (Isx20 = 0),
execution will stop at the end of the currently executing move, even if the next move has already been
calculated. In this mode, if axes are jogged away, they must be returned to the quit point with the J=
command before program execution is resumed. Otherwise, Turbo PMAC will reject the resumption
command, reporting ERR017 if I6 = 1 or 3.
If the coordinate system is executing with buffered lookahead (Isx13 > 0, Isx20 > 0), no more moves will
be added to the lookahead buffer, but all moves in the lookahead buffer will be executed.
If the coordinate system is not in segmentation mode (Isx13 = 0), execution will stop either at the end of
the currently executing move, or if one more move has already been calculated, at the end of that move.
The program counter is set to the next line in the program, so execution may be resumed at that point with
an R or S command.
Example:
B10R ; Point to beginning of PROG 10 and run
Q ; Quit execution
R ; Resume execution
Q ; Quit execution again
S ; Resume execution for a single move
See Also:
Stopping Commands (Making an Application Safe)
Control-Panel Port STEP/ Input (Connecting Turbo PMAC to the Machine)
On-line commands <CTRL-Q>, A, H, K, /
Q{constant}
Function: Report Q-Variable Value
Syntax: Q{constant}[..{constant}]
where:
{constant} is an integer from 0 to 8191 representing the number of the Q-variable;
Q{constant},{constant},{constant}
where:
the first {constant} is an integer from 0 to 8190 representing the number of the first Q-variable;
the second {constant} is an integer from 1 to 8191 representing the number Q-variables whose
Q-variable whose value is to be reported;
This command causes Turbo PMAC to report back the present value of the specified Q-variable, or range
or set of Q-variables for the addressed coordinate system.
Example:
Q10
35
Q255
-3.4578
Q101..103
0
98.5
-0.333333333
See Also:
Q-Variables (Computational Features)
On-line commands I{constant}, M{constant}, P{constant}, Q{data}={expression}
Function: Q-Variable Value Assignment
Syntax: Q{data}={expression}
where:
representing the Q-variable number;
{expression} contains the value to be given to the specified Q-variable
Q{constant}..{constant}={constant}
where:
the second {constant} is an integer from 1 to 8191 representing the number of the last Q-variable;
the final {constant} contains the value to be given to the specified range of Q-variables
Q{constant},{constant},{constant}={constant}
where:
the second {constant} is an integer from 1 to 8191 representing the number Q-variables whose
value is to be set;
Q-variable whose value is to be set;
the final {constant} contains the value to be given to the specified set of Q-variables
This command causes Turbo PMAC to assign the value of the expression to the specified Q-variable or
range of Q-variables for the addressed coordinate system.
Example:
Q100=2.5
Q20= Q18*SIN(Q19)
Q(P1+P2)=2.71828
Q(200+Q1)=P1*LN(7.5)
Q1..10=0
Q20,5,10=7.5 ; Sets Q20, Q40, Q60, Q80, & Q100 to 7.5
See Also:
Q-Variables (Computational Features)
On-line commands I{data}={expression}, M{data}={expression},
P{data}={expression}, Q{constant}
Program command Q{data}={expression}
R
Function: Run Motion Program
Syntax: R
This command causes the addressed Turbo PMAC coordinate system to start continuous execution of the
motion program addressed by the coordinate systems program counter from the location of the program
counter. Alternately, it will restore operation after a \ or H command has been issued (even if a program
was or is not running). Addressing of the program counter is done initially using the B{constant}
command.
The coordinate system must be in a proper condition in order for Turbo PMAC to accept this command.
Otherwise Turbo PMAC will reject this command with an error; if I6 is 1 or 3, it will report the error
number. The following conditions can cause Turbo PMAC to reject this command (also listed are the
remedies):
Both limits set for a motor in coordinate system (ERR010); clear limits
Another move in progress (ERR011); stop move (e.g. with J/)
Open-loop motor in coordinate system (ERR012); close loop with J/ or A
Unactivated motor in coordinate system (ERR013); change Ixx00 to 1 or remove motor from
coordinate system
No motors in the coordinate system (ERR014); put at least 1 motor in C.S.
Fixed motion program buffer open (ERR015); close buffer and point to program
No program pointed to (ERR015); point to program with B command
Program structured improperly (ERR016); correct program structure
Motors not at same position as stopped with H or Q command (ERR017); move back to stopped
position with J=
Example:
&1B1R ; C.S.1 point to PROG 1 and run
&2B200.06 ; C.S.2 point to N6000 of PROG 200 and run
Q ; Quit this program
R ; Resume running from point where stopped
H ; Do a feed hold on this program
R ; Resume running from point where stopped
See Also:
Control Panel Port START/ Input (Connecting Turbo PMAC to the Machine)
Running a Motion Program (Writing a Motion Program)
I-variable I6
On-line commands <CTRL-R>, A, H, Q, S
R[H]{address}
Function: Report the contents of specified memory address[es]
Scope: Global
Syntax: R[H]{address} [,{constant}[,{constant}]]
where:
{address} consists of a letter X, Y, or L; an optional colon (:); and an integer value from $000000
to $FFFFFF (0 to 16,777,215); specifying the starting Turbo PMAC memory or I/O address to be
read;
{constant} (optional) is an integer from 1 to 65,535 specifying the number of consecutive
memory addresses to be read; if this is not specified, Turbo PMAC assumes a value of 1;
the second optional {constant} is an integer from 1 to 16 specifying the number of values to be
reported on a single line; if this is not specified, Turbo PMAC will fit as many as it can on one line.
This command causes Turbo PMAC to report the contents of the specified memory word address or range
of addresses to the host (it is essentially a PEEK command). The command can specify either short (24-
bit) words in Turbo PMACs X-memory, short (24-bit) words in Turbo PMACs Y-memory, or long (48-
bit) words covering both X and Y memory (X-word more significant). This choice is controlled by the
use of the X, Y, or L address prefix in the command, respectively.
If the letter H is used after the R in the command, Turbo PMAC reports back the register contents in
unsigned hexadecimal form, with six digits for a short word, and 12 digits for a long word. If the letter H
is not used, Turbo PMAC reports the register contents in signed decimal form.
Example:
RHX:$078000 ; Request contents of X-reg $078000 (491520) in hex
8F4017 ; Turbo PMAC responds in unsigned hex
RHX:491520 ; Request contents of X-reg 491520 ($078000) in hex
8F4017 ; Turbo PMAC responds in unsigned hex (note no '$')
RX:$078000 ; Request contents of same register in decimal
-7389161 ; Turbo PMAC responds in signed decimal
RX:491520 ; Request contents of same register in decimal
-7389161 ; Turbo PMAC responds in signed decimal
RX0 ; Request contents of servo cycle counter in decimal
2953211 ; Turbo PMAC responds in signed decimal
RL$000088 ; Request contents of #1 cmd. pos. reg in decimal
3072000 ; Turbo PMAC responds (=1000 counts)
RHY:$3501,4 ; Request contents of first four lines of conversion table
078000 078004 078008 07800C ; Turbo PMAC responds
RHY:$3501,4,1 ; Request contents of first four lines of conversion table
078000 ; Turbo PMAC responds, one address per line
078004
078008
07800C
See Also:
Turbo PMAC Memory Mapping (Computational Features)
On-line command W{address}
Memory and I/O Map Description.
RESUME PLC
Function: Resume execution of specified PLC programs.
Scope: Global
Syntax: RESUME PLC {constant}[,{constant}...]
RES PLC {constant}[,{constant}...]
RESUME PLC {constant}[..{constant}]
RES PLC {constant}[..{constant}]
where:
This command causes Turbo PMAC to resume execution of the specified uncompiled PLC program or
programs at the point where execution was suspended with the PAUSE PLC command. This can either
be at the top of the program, or at a point inside the program.
The RESUME PLC command cannot be used to restart execution of a PLC program that has been stopped
with a DISABLE PLC command. However, after a PLC has been stopped with a DISABLE PLC
command, if a PAUSE PLC command is then given for that PLC, then a RESUME PLC command can
be given to start operation at the point at which it has been stopped.
Note:
RESUME PLC 0..31 will restart all PLCs that have been paused, but not any
that have been disabled.
The line of the PLC at which execution will be resumed can be read with the LIST PLC,,1 command
PLC programs are specified by number, and may be used singularly in this command, in a list (separated
by commas), or in a range of consecutively numbered programs.
I-variable I5 must be in the proper state to allow the PLC programs specified in this command to execute.
Example:
RESUME PLC 1
RES PLC 2,7
RESUME PLC 3,21
RESUME PLC 0..31
Note:
If the RESUME command refers to multiple PLCs, only those PLCs that have been
stopped with the PAUSE command will be resumed.
See Also:
I-variable I5
On-line commands DISABLE PLC, ENABLE PLC, OPEN PLC, PAUSE PLC, LIST PLC,
<CONTROL-D>.
Program commands DISABLE PLC, ENABLE PLC, PAUSE PLC, RESUME PLC
S
Function: Execute One Move (Step) of Motion Program
Syntax: S
This command causes the addressed Turbo PMAC coordinate system to start single-step execution of the
motion program addressed by the coordinate systems program counter from the location of the program
counter. Addressing of the program counter is done initially using the B{constant} command.
At the default Isx53 value of zero, a STEP command causes program execution through the next move or
DWELL command in the program, even if this takes multiple program lines.
When Isx53 is set to 1, a STEP command causes program execution of only a single program line, even if
there is no move or DWELL command on that line. If there is more than one DWELL or DELAY command
on a program line, a single STEP command will only execute one of the DWELL or DELAY commands.
Regardless of the setting of Isx53, if program execution on a STEP command encounters a
BLOCKSTART statement in the program, execution will continue until a BLOCKSTOP statement is
encountered.
If the coordinate system is already executing a motion program when this command is sent, the command
puts the program in single-step mode, so execution will stop at the end of the latest calculated move. In
this case, its action is the equivalent of the Q command.
The coordinate system must be in a proper condition in order for Turbo PMAC to accept this command.
Otherwise Turbo PMAC will reject this command with an error; if I6 is 1 or 3, it will report the error
number. The same conditions that cause Turbo PMAC to reject an R command will cause it to reject an S
command; refer to those conditions under the R command specification.
Example:
&3B20S ; C.S.3 point to beginning of PROG 20 and step
P1 ; Ask for value of P1
S ; Do next step in program
P1 ; Ask for value of P1 again
-3472563 ; Turbo PMAC responds --probable problem
See Also:
Control Panel Port STEP/ Input (Connecting Turbo PMAC to the Machine)
Running a Motion Program (Writing a Motion Program)
I-variable I6, Isx53
On-line commands <CTRL-S>, A, H, Q, R, /, \
Program commands {axis}{data}, BLOCKSTART, BLOCKSTOP, DWELL, DELAY
SAVE
Function: Copy setup parameters to non-volatile memory.
Scope: Global
Syntax: SAVE
This command causes Turbo PMAC to copy setup information from active memory to non-volatile
memory, so this information can be retained through power-down or reset.
All user setup information, including programs, buffers, and definitions, is copied to flash memory with
the SAVE command. This information is copied back from flash to active memory during a normal
power-up/reset operation. This means that anything changed in Turbo PMACs active memory that is not
saved to flash memory will be lost in a power-on/reset cycle.
The retrieval of information from non-volatile memory on power-up/reset can be inhibited by a jumper on
E51 for a Turbo PMAC, or on E3 for a Turbo PMAC2.
Note:
Turbo PMAC does not provide the acknowledging handshake character to the
SAVE command until it has finished the saving operation, about one to two
seconds. The host program should be prepared to wait much longer for this
character than is necessary on most commands. Usually for this reason, it is not a
good idea to include the SAVE command as part of a dump download of a large
file.
Note:
During execution of the SAVE command, Turbo PMAC will execute no other
background tasks, including user PLCs and automatic safety checks, such as
following error and overtravel limits. Make sure the system is not depending on
these tasks for safety when the SAVE command is issued.
Example:
I130=60000 ; Set Motor 1 proportional gain
SAVE ; Save to non-volatile memory
I130=80000 ; Set new value
$$$ ; Reset card
60000 ; Turbo PMAC responds with saved value
See Also:
On-line commands $$$, $$$***
Jumpers E51 (PMAC), E3 (PMAC2).
SETPHASE
Function: Set commutation phase position value
Scope: Global
Syntax: SETPHASE {constant} [,{constant}]
SETPHASE {constant}..{constant}
[,{constant}..{constant}]
where:
{constant} is an integer from 1 to 32 representing a motor number
The SETPHASE command causes Turbo PMAC to immediately copy the value of Ixx75 for the specified
motor or motors into the active phase position register for that motor or motors. Typically, this command
is used to correct the phasing of a motor at a known angle (such as the index pulse of the encoder) after an
initial rough phasing (such as from Hall commutation registers).
To determine the value of Ixx75 to be used, first force an unloaded motor to the zero position in its
phasing cycle. Next, manually set the phase position register (suggested M-variable Mxx71) to zero.
Finally, move the motor to the known position, usually with a homing search move to the index pulse or
other trigger. Read the phase position register at this point and set Ixx75 to this value. For more details,
see the Ixx75 description and the Commutation section of the Users Manual.
line command.
Examples:
SETPHASE1
SETPHASE1,2,3
SETPHASE1..3,5..7
SID
Function: Report serial electronic identification number
Scope: Global
Syntax: SID
This command causes Turbo PMAC to report the electronic identification number from the Option 18A
ID-number module, or the Option 18B ID-number & clock/calendar module.
The identification number is reported as a hexadecimal 16-digit ASCII string, representing a 64-bit value.
The first two hex digits represent the 8-bit checksum value for the module; these should match the
checksum digits engraved on the case of the module. The last two hex digits represent the module class;
these should match the class digits engraved on the case of the module (currently 01 for Option 18A, and
04 for Option 18B). The middle 12 hex digits represent the unique number for each module and board.
If no ID-number module is present, Turbo PMAC will return a 0.
The electronic identification number has no relationship to the serial number that is engraved on the
circuit board.
This command is identical to the IDNUMBER command.
Example:
IDNUMBER
374A256E9014D101
SIZE
Function: Report the amount of unused buffer memory in Turbo PMAC.
Scope: Global
Syntax: SIZE
This command causes Turbo PMAC to report to the host the amount of unused long words of memory
available for buffers. If no program buffer (motion, PLC or rotary buffer) is open, this value is reported
as a positive number. If a buffer is currently open, the value is reported as a negative number.
Example:
DEFINE GATHER ; Reserve all remaining memory for gathering
SIZE ; Ask for amount of open memory
0 ; PMAC reports none available
DELETE GATHER ; Free up memory from gathering buffer
25232 ; PMAC reports number of words available
OPEN PROG 10 ; Open a motion program buffer
-25232 ; The negative sign shows a buffer is open
See Also:
I-Variable I18
On-line commands DELETE GATHER
STN
Function: Report MACRO station order number
Scope: Global
Syntax: STN
This command causes Turbo PMAC to return its station order number, intended to represent the order of
the Turbo PMAC in the MACRO ring. This value is stored in variable I85, and can take a value of 0 to
254. When the Turbo PMAC has a station order number of 1 to 254, and receives a
MACROSTASCII{constant} command whose {constant} value matches the station order
number, it will respond to the command.
This station order number is set with the STN={constant} or the I85={constant} command. If
no station order number has been assigned to the Turbo PMAC, it will return a value of 0 to this
command. The first device in the ring with a station order number of 0 will respond to a
MACROSTASCII255 command.
See Also:
I-variable I85
Commands STN={constant}, MACROSTASCII
STN={constant}
Function: Set MACRO station order number
Scope: Global
Syntax: STN={constant}
where:
{constant} is a value in the range 0 to 254 representing the order of the Turbo PMAC in the
MACRO ring
This command causes Turbo PMAC to set its station order number, intended to be the order of the Turbo
PMAC in the MACRO ring. When the Turbo PMAC has a station order number of 1 to 254, and receives
a MACROSTASCII{constant} command whose {constant} value matches the station order
number, it will respond to the command. The first device in the ring with a station order number of 0 (no
order established) will respond to a MACROSTASCII255 command.
See Also:
I-variable I85
Commands STN, MACROSTASCII
TIME
Function: Report present time
Scope: Global
Syntax: TIME
This command causes Turbo PMAC to report the current time of day. The time is reported in the
international 24-hour clock format:
{hh}:{mm}:{ss}
where:
The time must originally have been set with the TIME={time} command for the time reported here to
be valid. If the Option 18B non-volatile clock/calendar IC is present, this IC will retain and advance the
time information even while no external power is applied. On power-up or reset of the Turbo PMAC, the
present date and time are copied from the module into active memory, and the time information is then
advanced in active memory. The TIME command reports from active memory.
If the Option 18B is not present, Turbo PMAC will default to Jan. 1, 2000, at 00:00:00, on power-
up/reset, and date and time will advance in active memory from this point. The actual date may be loaded
into active memory after power-up/reset, and the date and time will advance from this point.
Examples:
TIME
00:01:42 ; 0 hours, 1 minute, 42 seconds
TIME
13:47:22 ; 13 hours, 47 minutes, 22 seconds (1:47:22 pm)
TIME={time}
Function: Set the present time
Scope: Global
Syntax: TIME={hh}:{mm}[:{ss}]
where:
This command sets the current time in Turbo PMACs active (volatile) memory. The time is entered in
the international 24-hour clock format, as hour/minute/second.
Entering of the seconds is optional; if the seconds are not entered, Turbo PMAC will use 0 seconds. Date
and time automatically advance in Turbo PMACs active memory, and the present time can be queried at
any time with the TIME command.
This time information is not retained through a power-down or board reset unless the Option 18B non-
volatile clock/calendar IC is present and the active date and time information has been copied into the
non-volatile IC with the UPDATE command.
The present date can be set with the TODAY={date} command.
Examples:
TIME=08:30 ; Set time to 8:30:00 am
TIME=17:45:24 ; Set time to 5:45:24 pm
TODAY
Function: Report present date
Scope: Global
Syntax: TODAY
This command causes Turbo PMAC to report the current date. The date is reported in the North
American format:
{day} {mm}/{dd}/{yyyy}
where:
{day} is the 3-letter abbreviation for the day of the week
The date must originally have been set with the TODAY={date} command for an accurate date to be
reported here. If the Option 18B non-volatile clock/calendar IC is present, this IC will retain and advance
the date information even while no external power is applied. On power-up or reset of the Turbo PMAC,
the present date and time are copied into active memory, and then they advance automatically in the
active memory. The TODAY command reports from active memory.
If the Option 18B is not present, Turbo PMAC will default to Jan. 1, 2000, at 00:00:00, on power-
up/reset, and date and time will advance in active memory from this point. The actual date may be loaded
into active memory after power-up/reset, and the date and time will advance from this point.
Note:
The 4-digit representation of the year eliminates possible Year 2000 problems in
user code processing the date information.
Examples:
TODAY
WED 09/09/1998
TODAY
FRI 04/22/2000
TODAY={date}
Function: Set the present date
Scope: Global
Syntax: TODAY={mm}/{dd}/{yyyy}
where:
This command sets the current date in Turbo PMACs active (volatile) memory. The date is entered in
the North American style, as month/day/year. Date and time advance automatically in Turbo PMACs
active memory, and the present date can be queried at any time with the TODAY command.
Note:
The 4-digit representation of the year eliminates possible Year 2000 problems in
user code processing the date information.
This date information is not retained through a power-down or board reset unless the Option 18B non-
volatile clock/calendar IC is present and the active date and time information have been copied into the
non-volatile IC with the UPDATE command.
The present time can be set with the TIME={time} command.
Examples:
TODAY=10/30/1998 ; Set date to October 30, 1998
TODAY=01/02/1999 ; Set date to January 2, 1999
TODAY=05/09/2001 ; Set date to May 9, 2001
TYPE
Function: Report type of Turbo PMAC
Scope: Global
Syntax: TYPE
This command causes Turbo PMAC to return a string reporting the configuration of the card. It will
report the configuration as a text string in the format:
{Turbo PMAC type},{Clock Multiplier}
where:
{Turbo PMAC type} can take the following values:
TURBO1 Turbo PMAC (1)
TURBO2 Turbo PMAC2 (non-Ultralite)
TURBOU Turbo PMAC2 Ultralite (MACRO only)
{Clock multiplier} is reported in the format
Xn
where n is the multiplication of crystal frequency to CPU frequency.
Since the crystal frequency is always 20 MHz, an X4 value reports 80 MHz operation. The reported
clock multiplier value shows at what frequency the CPU is actually operating, as controlled by I52, not
necessarily the maximum frequency rating of the CPU hardware.
Examples:
TYPE
TURBO1, X4
TYPE
TURBO2, X4
TYPE
TURBOU, X5
See Also:
On-line commands VERSION, DATE
UNDEFINE
Function: Erase Coordinate System Definition
Syntax: UNDEFINE
UNDEF
This command causes Turbo PMAC to erase all of the axis definition statements in the addressed
coordinate system. It does not affect the axis definition statements in any other coordinate systems. It
can be useful to use before making new axis definitions.
To erase the axis definition statement of a single motor only, use the #{constant}->0 command; to
erase all the axis definition statements in every coordinate system, use the UNDEFINE ALL command.
Example:
&1 ; Address C.S.1
#1-> ; Ask for axis definition of Motor 1
10000X ; Turbo PMAC responds
#2-> ; Ask for axis definition of Motor 2
10000Y ; Turbo PMAC responds
UNDEFINE ; Erase axis definitions
&2 ; Address C.S.2
#1->10000X ; Redefine Motor 1 as X-axis in C.S.2
#2->10000Y ; Redefine Motor 2 as Y-axis in C.S.2
See Also:
On-line commands #{constant}->, #{constant}->0, UNDEFINE ALL
UNDEFINE ALL
Function: Erase coordinate definitions in all coordinate systems
Scope: Global
Syntax: UNDEFINE ALL
UNDEF ALL
This command causes all of the axis definition statements in all coordinate systems to be cleared. It is a
useful way of starting over on a reload of Turbo PMAC's coordinate system definitions.
Example:
&1#1-> ; Request axis definition of Motor 1 in C.S. 1
UNDEFINE ALL ; Erase all axis definitions
0 ; Turbo PMAC responds that there is no definition
0 ; Turbo PMAC responds that there is no definition
See Also:
On-line commands #{constant}->0, #{constant}->, UNDEFINE.
UNLOCK{constant}
Function: Clear process locking bit
Scope: Global
Syntax: UNLOCK{constant}
where:
{constant} is an integer from 0 to 7 representing the number of the locking bit
The UNLOCK command permits the user to clear one of the eight process locking bits in Turbo PMAC,
releasing the process for other tasks. These locking bits can prevent conflicts between tasks of different
priorities attempting to manipulate the same register. On-line commands and PLCs 1 31 are background
The user can check the status of a locking bit with the LOCK command.
The status of locking bits 0 7 is reported as bits 4 11, respectively, of I4904.
line command.
UPDATE
Function: Copy present date and time to non-volatile storage
Scope: Global
Syntax: UPDATE
This command causes Turbo PMAC to copy the present date and time information from active volatile
memory to the Option 18B non-volatile clock and calendar IC. Date and time information that has been
entered into active memory is not retained through a power-down or board reset unless the UPDATE
command has been used once to put this information in the non-volatile IC as well.
If there is no Option 18B non-volatile clock and calendar IC present on the Turbo PMAC, this command is
rejected with an error, with the Turbo PMAC reporting an ERR003 if I6 is set to 1 or 3.
Example:
TODAY=06/15/1998 ; Set present date in active memory
UPDATE ; Copy to non-volatile IC
$$$ ; Reset Turbo PMAC
TODAY ; Request present date
06/15/1998 ; Turbo PMAC reports date
TODAY=11/23/2000 ; Set new present date
$$$ ; Reset board (without updating)
TODAY ; Request present date
06/15/1998 ; Turbo PMAC reports last UPDATEd date
V
Function: Report motor velocity
Syntax: V
This command causes Turbo PMAC to report the velocities of the addressed motor to the host. The
velocity units are typically scaled in encoder counts per servo cycle, rounded to the nearest tenth.
To scale these values into counts/msec, multiply the response by 8,388,608/I10 (servo cycles/msec).
This command returns filtered velocity values, with the filter time constant controlled by global variables
I60 and I61. It does not report the raw velocity register calculated by the servo loop each servo cycle.
Example:
V ; Request actual velocity of addressed motor
21.9 ; Turbo PMAC responds with 21.9 cts/cycle
; (*8,388,608/3,713,707 = 49.5 cts/msec)
#6V ; Request velocity of Motor 6
#5V#2V ; Request velocities of Motors 5 and 2
0 ; Turbo PMAC responds with Motor 5 first
7.6 ; Turbo PMAC responds with Motor 2 second
See Also:
I-variables I10, Ixx09, Ixx60
On-line commands <CTRL-V>, F, P
VERSION
Function: Report PROM firmware version number
Scope: Global
Syntax: VERSION
VER
This command causes Turbo PMAC to report the firmware version it is using.
When a Turbo PMAC is in bootstrap mode (powering up with bootstrap jumper on) for re-load of the
operational firmware, Turbo PMAC will report the version of the bootstrap firmware, not the operational
firmware. Otherwise, it will report the operational firmware version.
Example:
VERSION ; Ask Turbo PMAC for firmware version
1.934 ; Turbo PMAC responds
See Also:
On-line command DATE, EAVERSION, TYPE
VID
Function: Report vendor identification number
Scope: Global
Syntax: VID
This command causes Turbo PMAC to return the vendor ID number. For a Delta Tau product such as the
Turbo PMAC, the vendor ID number is 1. This command is part of a multi-vendor identification
architecture for the MACRO ring.
See Also:
Commands CID, IDNUMBER, SID, VID
W{address}
Function: Write values to a specified address(es).
Scope: Global
Syntax: W{address},{value} [,{value}...]
where:
{address} consists of a letter X, Y, or L; an option colon (:); and an integer value from , $000000
to $FFFFFF (0 to 16,777,215); specifying the starting Turbo PMAC memory or I/O address to be
read;
{constant} is an integer, specified in decimal or hexadecimal, specifying the value to be written
to the specified address;
further {constants} specify integer values to be written into subsequent consecutive higher
addresses
This command causes Turbo PMAC to write the specified {constant} value to the specified memory
word address, or if a series of {constant} values is specified, to write them to consecutive memory
locations starting at the specified address (it is essentially a memory POKE command). The command
can specify either short (24-bit) words in Turbo PMACs X-memory, short (24-bit) words in Turbo
PMAC's Y-memory, or long (48-bit) words covering both X and Y memory (X-word more significant).
This choice is controlled by the use of the X, Y, or L address prefix in the command, respectively.
Example:
WY:$078002,4194304 ; This should put 5V on DAC2
; (provided I200=0 so servo does not overwrite)
WY$003501,$078000,$078004,$078008,$07800C
; This writes the first four entries to the
; encoder conversion table
See Also:
On-line command R[H]{address}
Memory and I/O Map.
Z
Function: Make commanded axis positions zero.
Syntax: Z
This command causes Turbo PMAC to re-label the current commanded axis positions for all axes in the
coordinate system as zero. It does not cause any movement; it merely re-names the current position.
This command is simply a short way of executing {axis}=0 for all axes in the coordinate system.
PSET X0 Y0 (etc.) is the equivalent motion program command.
This does not set the motor position registers to zero; it changes motor position bias registers to reflect the
new offset between motor zero positions and axis zero positions. However, the motor reported positions
will reflect the new bias, and report positions of zero (+/- the following error)
Example:
<CTRL-P> ; Ask for reported motor positions
2001 5002 3000 0 0 0 0 0 ; Turbo PMAC reports positions
Z ; Zero axis positions
<CTRL-P> ; Ask for reported motor positions again
1 2 -1 0 0 0 0 0 ; Turbo PMAC responds
See Also:
On-line commands {axis}={constant}
Memory map registers D:$0000CC, D:$00014C, etc.
Suggested M-variable definitions Mxx64.

432 Turbo PMAC Program Command Specification
TURBO PMAC PROGRAM COMMAND SPECIFICATION
{axis}{data}[{axis}{data}]
Function: Position-Only Move Specification
Type: Motion program (PROG and ROT)
Syntax: {axis}{data}[{axis}{data}...]
where:
{axis} is the character specifying which axis (X, Y, Z, A, B, C, U, V, W);
{data} is a constant (no parentheses) or an expression (in parentheses) representing the end position
or distance;
[{axis}{data}...] is the optional specification of simultaneous movement for more axes.
This is the basic Turbo PMAC move specification statement. It consists of one or more groupings of an
axis label and its associated value. The value for an axis is scaled (units determined by the axis definition
statement); it represents a position if the axis is in absolute (ABS) mode, or a distance if the axis is in
incremental (INC) mode. The order in which the axes are specified does not matter.
This command tells the axes where to move; it does not tell them how to move there. Other program
commands and parameters define how; these must be set up ahead of time.
The type of motion a given motion command causes are dependent on the mode of motion and the state of
the system at the beginning of the move.
Examples:
X1000
X(P1+P2)
Y(Q100+500) Z35 C(P100)
X1000 Y1000
A(P1) B(P2) C(P3)
X(Q1*SIN(Q2/Q3)) U500
See Also:
Axis Definition Statements (Setting Up a Coordinate System)
Motion program commands LINEAR, CIRCLEn, RAPID, SPLINE1, PVT
Motion program commands TA, TS, TM, F, ABS, INC
{axis}{data}:{data} [{axis}{data}:{data}]
Function: Position and Velocity Move Specification
Syntax: {axis}{data}:{data} [{axis}{data}:{data}...]
where:
or distance;
:{data} represents the ending velocity
[{axis}{data}:{data}...] is the optional specification of simultaneous movement for more
axes.
In the case of PVT (position, velocity, time) motion mode, both the ending position and velocity are
specified for each segment of each axis. The command consists of one or more groupings of axis labels
with two data items separated by a colon character.

Turbo PMAC Program Command Specification 433
The first data item for each axis is the scaled ending position or distance (depending on whether the axis
is in absolute (ABS) or incremental (INC) mode; position scaling is determined by the axis definition
statement), and the second data item (after the colon) is the ending velocity.
The velocity units are the scaled position units as established by the axis definition statements divided by
the time units as set by Isx90 for Coordinate System x. The velocity here is a signed quantity, not just a
magnitude. See the examples in the PVT mode description of the Writing a Motion Program section.
The time for the segment is the argument for the most recently executed PVT or TM command.
In PVT mode, if no velocity is given for the segment, Turbo PMAC assumes an ending velocity of zero
for the segment.
Examples:
X1000:50
Y500:-32 Z737.2:68.93
A(P1+P2):(P3) B(SIN(Q1)):0
See Also:
PVT Mode Moves (Writing a Motion Program)
Axis Definition Statements (Setting Up a Coordinate System)
Motion program commands PVT, TM
{axis}{data}^{data}[{axis}{data}^{data}...]
Function: Move Until Trigger
Type: Motion program
Syntax: {axis}{data}^{data}[{axis}{data}^{data}...]
where:
the first {data} is a constant (no parentheses) or expression (in parentheses) representing the end
position or distance in the absence of a trigger;
the second {data} (after the ^ arrow) is a constant (no parentheses) or expression (in parentheses)
representing the distance from the trigger position;
[{axis}{data}^{data}...] is the optional specification of simultaneous movement for more
axes
In the RAPID move mode, this move specification permits a move-until-trigger function. The first part of
the move description for an axis before the ^ sign specifies where to move in the absence of a trigger.
It is a position if the axis is in absolute mode; it is a distance if the axis is in incremental mode. In both
cases the units are the scaled axis user units. If no trigger is found before this destination is reached, the
move is a standard RAPID move.
The second part of the move description for an axis after the ^ sign specifies the distance from the
trigger position to end the post-trigger move if a trigger is found. The distance is expressed in the scaled
axis user units.
Each motor assigned to an axis specified in the command executes a separate move-until-trigger. All the
assigned motors will start together, but each can have its own trigger condition. If a common trigger is
required, the trigger signal must be wired into all motor interfaces. Each motor can finish at a separate
time; the next line in the program will not start to execute until all motors have finished their moves. No
blending into the next move is possible.
The trigger for a motor can be either a hardware input trigger if bit 1 of Ixx97 is 0, or the motor warning
following error status bit if bit 1 of Ixx97 is 1 (bit 0 of Ixx97 should also be set to 1 in this case). If a
hardware input trigger is used, I-variables I7mn2 and I7mn3 (e.g. I7012 and I7013) for the flag channel
specified by Ixx25 determine which edges of which flags cause the trigger. If the warning following error
bit is used for torque-limited triggering, then Ixx12 sets the size of the warning following error.
The speed of the move, both before the trigger and after, is set by Ixx22 if Ixx90=0 or by Ixx16 if
Ixx90=1. The acceleration is set by Ixx19 to Ixx21.
On the same line, some axes may be specified for normal untriggered RAPID moves that will execute
starting simultaneously.
If the move ends for a motor without a trigger being found, the trigger move status bit (bit 7 of the
second motor status word returned on a ? command) is left set after the end of the move. If the trigger
has been found, this bit is cleared to 0 at the end of the move.
Example:
X1000^0
X10^-0.01 Y5.43^0.05
A(P1)^(P2) B10^200 C(P3)^0 X10
See Also:
Move-Until-Trigger (Writing a Motion Program)
Torque-Limited Triggering (Setting Up a Motor)
RAPID-mode moves (Writing a Motion Program)
{axis}{data}[{axis}{data}] {vector}{data} [{vector}{data}]
Function: Circular Arc Move Specification
Syntax: {axis}{data} [{axis}{data}...] {vector}{data}
[{vector}{data}...]
where:
{axis} is a character specifying which axis (X, Y, Z, A, B, C, U, V, W);
or distance;
[{axis}{data}...] is the optional specification of simultaneous movement for more axes;
{vector} is a character (I, J, or K) specifying a vector component (parallel to the X, Y, or Z axis,
respectively) to the center of the arc; or the character R specifying the magnitude of the vector;
{data} specifies the magnitude of the vector component;
[{vector}{data}...] is the optional specification of more vector components.
For a blended circular mode move, both the move endpoint and the vector to the arc center are specified.
The endpoint is specified just as in a LINEAR mode move, either by position (referenced to the
coordinate system origin), or distance (referenced to the starting position).
The center of the arc for a circular move must also be specified in the move command. Usually this is
done by defining the vector to the center. This vector can either be referenced to the starting point of the
move (incremental radial vector mode the default, or if an INC (R) command has been given), or it
can be referenced to the coordinate system origin (absolute radial vector mode if an ABS (R)
command has been given).
Alternatively, just the magnitude of the vector to the center can be specified with R{data} on the
command line. If this is the case, Turbo PMAC will calculate the location of the center itself. If the value
specified by {data} is positive, Turbo PMAC will compute the short arc path to the destination (<=
180
o
); if it is negative, Turbo PMAC will compute the long arc path (>= 180
o
). It is not possible to
specify a full circle in one command with the R vector specifier.
The plane for the circular arc must have been defined by the NORMAL command (the default -- NORMAL
K-1 -- defines the XY plane). This command can only define planes in XYZ-space, which means that
only the X, Y, and Z axes can be used for circular interpolation. Other axes specified in the same move
command will be interpolated linearly to finish in the same time.
The direction of the arc to the destination point clockwise or counterclockwise is controlled by
whether the card is in CIRCLE1 (clockwise) or CIRCLE2 (counterclockwise) mode. The sense of
clockwise in the plane is determined by the direction of the NORMAL vector to the plane.
If the destination point is a different distance from the center point than is the starting point, the radius is
changed smoothly through the course of the move, creating a spiral. This is useful in compensating for any
round off errors in the specifications. However, if the distance from either the starting point or the
destination point to the center point is zero, and error condition will be generated and the program will stop.
If the vector from the starting point to the center point does not lie in the circular interpolation plane, the
projection of that vector into the plane is used. If the destination point does not lie in the same circular
interpolation plane as the starting point, a helical move is done to the destination point.
If the destination point (or its projection into the circular interpolation plane containing the starting point)
is the same as the starting point, a full 360
o
arc is made in the specified direction (provided that IJK
vector specification is used). In this case, only the vector needs to be specified in the move command,
because for any axis whose destination is not specified, the destination point is automatically taken to be
the same as the starting point.
If no vector, and no radial magnitude, is specified in the move command, a linear move will be done to
the destination point, even if the program is in circular mode.
Note:
Turbo PMAC performs arc moves by segmenting the arc and performing the best
cubic fit on each segment. I-variable Isx13 determines the time for each segment.
Isx 13 must be set greater than zero to put the coordinate system into this
segmentation mode in order for arc moves to be done. If Isx13 is set to zero,
circular arc moves will be done in linear fashion.
Examples:
X5000 Y3000 I1000 J1000
X(P101) Z(P102) I(P201) K(P202)
X10 I5
X10 Y20 C5 I5 J5
Y5 Z3 R2
J10 ; Specifies a full circle of 10 unit radius
See Also:
I-variables Isx13, Isx87, Isx88, Isx89, Isx90
Program commands NORMAL, ABS, INC, CIRCLE1, CIRCLE2, TA, TS, TM, F

A{data}
Function: A-Axis Move
Type: Motion program (PROG or ROT)
Syntax: A{data}
where:
{data} is a floating-point constant or expression representing the position or distance in user units
for the A-axis
This command causes a move of the A-axis. (See {axis}{data} descriptions, above.) If it follows a
subroutine call (explicit or with PRELUDE) on a program line, it can be used instead to pass its value to
the subroutine through use of the READ command.
Examples:
A10
A(P23)
A25 B10 Z35
A(20*SIN(Q5))
CALL50 A-10
See Also:
Program commands {axis}{data}, B, C, U, V, W, X, Y, Z, CALL, PRELUDE, READ
ABS
Function: Absolute Move Mode
Syntax: ABS [({axis}[,{axis}...])]
where:
{axis} is a character (X,Y,Z,A,B,C,U,V,W) representing the axis to be specified, or the character R
to specify radial vector mode
Note:
The ABS command without arguments causes all subsequent positions in motion commands for all axes
in the coordinate system running the motion program to be treated as absolute positions. This is known as
absolute mode and it is the power-on default condition.
An ABS statement with arguments causes the specified axes in the coordinate system running the program
to be in absolute mode, and all others stay the way they were before.
will be specified in absolute form (i.e. as a vector from the origin, not from the move start point). An
ABS command without any arguments does not affect this vector specification. The default radial vector
If no motion program buffer is open when this command is sent to Turbo PMAC, it will be executed as an
on-line coordinate system command.
Examples:
ABS(X,Y)
ABS
ABS(V)
ABS(R)
See Also:
On-line commands ABS, INC
Program commands {axis}{data}, {axis}{data}{vector}{data}, INC
ADDRESS
Function: Motor/Coordinate System Modal Addressing
Type: PLC programs 1 to 31 only
Syntax: ADDRESS [#{constant}][&{constant}]
ADR [#{constant}][&{constant}]
where:
{constant} following the # character is an integer constant from 1 to 32 representing the motor
number to be addressed;
{constant} following the & character is an integer constant from 1 to 16 representing the
coordinate system number to be addressed
This statement, when executed, sets the motor and/or coordinate system that will be addressed by this
particular PLC program when it COMMANDs motor- or coordinate-system-specific commands with no
addressing in those commands. The addressed coordinate system also controls which set of Q-variables is
accessed, even for ATAN2 functions, which automatically use Q0.
This command does not affect host addressing, the addressing of other PLC programs, or the selection of
the control panel inputs. The addressing stays in effect until another ADDRESS statement supersedes it.
Default addressing at power-on/reset is #1 and &1.
In motion programs, there is no modal addressing for COMMAND statements; each COMMAND statement
must contain the motor or coordinate system specifier within its quotation marks. A motion program
operates on the Q-variables of the coordinate system executing the program automatically.
Examples:
ADDRESS &4
ADR #2
ADDRESS &2#2
ADR#1 ; Modally address Motor 1
CMD"J+" ; This will start Motor 1 jogging
CMD"#2J+" ; This will start Motor 2 jogging
CMD"J/" ; This will stop Motor 1
See Also:
Addressing Modes (Talking To Turbo PMAC)
Q-Variables (Program Computational Features)
Program commands ADDRESS#P, ADDRESS&P, COMMAND, Q{constant}={expression}
ADDRESS#P{constant}
Function: Select programs addressed motor
Syntax: ADDRESS#P{constant}
ADR#P{constant}
where:
{constant} is an integer from 0 to 8191 representing the P-variable number whose value
determines the motor to be addressed
This statement, when executed, selects the motor that will be addressed by this particular PLC program
when it issues motor-specific commands with subsequent COMMAND statements. The statement specifies
the number of a P-variable whose value determines which motor is addressed. For example, if variable
P7 had a value of 10, the statement ADDRESS#P7, when executed, would select Motor 10.
This statement permits the user to mathematically determine which motor will be addressed. The value of
the floating-point P-variable is rounded to the nearest integer, and if this integer value is out of the range 1
32, the remainder of the number when divided by 32 is used. For example, if the P-variable had a value
of 34.3, Motor 2 would be addressed (remainder of 34/32 is 2).
This statement does not affect subsequent COMMAND statements in this PLC that explicitly address a
motor. It does not affect COMMAND statements in any other PLC program. It does not affect any motor-
specific commands from a host computer issued over any of the communications ports
Examples:
P4=12 ; Set value of P4 to 12
ADDRESS#P4 ; Address Motor 12
COMMAND J+ ; Jog addressed motor (#12) in positive direction
COMMAND #11J- ; Jog motor 11 in negative direction
COMMAND J/ ; Stop jogging addressed motor (#12 still). Routine to home all odd-numbered motors
P100=1
WHILE (P100<32) ; Loop thru motors
ADDRESS#P100 ; Address motor using P100 value
COMMAND HM ; Start homing addressed motor
P100=P100+2 ; Increment to next odd-numbered motor
ENDWHILE
ADDRESS&P{constant}
Function: Select programs addressed coordinate system
Syntax: ADDRESS&P{constant}
ADR&P{constant}
where:
{constant} is an integer from 0 to 8191 representing the P-variable number whose value
determines the coordinate to be addressed
This statement, when executed, selects the coordinate system that will be addressed by this particular PLC
program when it issues coordinate-system-specific commands with subsequent COMMAND statements and
Q-variable assignments. The statement specifies the number of a P-variable whose value determines
which coordinate system is addressed. For example, if variable P4 had a value of 12, the statement
ADDRESS&P4, when executed, would select Motor 12.
This statement permits the user to mathematically determine which coordinate system will be addressed.
The value of the floating-point P-variable is rounded to the nearest integer, and if this integer value is out of
the range 1 16, the remainder of the number when divided by 16 is used. For example, if the P-variable
had a value of 19.2, Motor 3 would be addressed (remainder of 19/16 is 3).
This statement does not affect subsequent COMMAND statements in this PLC that explicitly address a
coordinate system. It does not affect COMMAND statements in any other PLC program. It does not affect
any coordinate-system-specific commands from a host computer issued over any of the communications
ports.
Examples:
P9=11 ; Set value of P9 to 11
ADDRESS&P9 ; Address C.S. 11
COMMAND R ; Run program in addressed C.S.
COMMAND &2S ; Single-step program in C.S. 2
Q10=3 ; Set value of Q10 in addressed C.S. (&11 still!)
Routine to hold first eight coordinate systems
P10=1
WHILE (P10<9) ; Loop thru motors
ADDRESS&P10 ; Address C.S. using P10 value
COMMAND H ; Feed hold addressed C.S.
P10=P10+1 ; Increment to next C.S.
ENDWHILE
ADIS{constant}
Function: Absolute displacement of X, Y, and Z axes
Syntax: ADIS{constant}
where:
{constant} is an integer constant representing the number of the first of three consecutive Q-
variables to be used in the displacement vector
This command loads the currently selected (with TSEL) transformation matrix for the coordinate system
with offset values contained in the three Q-variables starting with the specified one. This has the effect of
renaming the current commanded X, Y, and Z axis positions (from the latest programmed move) to the
values of these variables (X=Q{data}, Y=Q({data}+1), Z=Q({data}+2)).
This command does not cause any movement of any axes; it simply renames the present positions.
This command is almost equivalent to a PSET X(Q{data}) Y(Q({data}+1))
Z(Q({data}+2)) command, except that ADIS does not force a stop between moves, as PSET does.
Examples:
Q20=7.5
Q21=12.5
Q22=25
ADIS 20 ; This makes the current X position 7.5, Y 12.5, Z25
See Also:
Axis Matrix Transformations (Writing a Motion Program)
On-line command DEFINE TBUF
Program commands TSEL, AROT, IDIS, IROT, TINIT
AND ({condition})
Function: Conditional AND
Type: PLC program only
Syntax: AND ({condition})
where:
{condition} is a simple or compound condition
This statement forms part of an extended compound IF or WHILE condition to be evaluated in a PLC
program. It must immediately follow an IF, WHILE, AND, or OR statement. This AND is a Boolean operator
logically combining the full conditions on its line and the program line immediately above. It takes lower
precedence than AND or OR operators within a compound condition on a single line (the parentheses cause
those to be executed first), but it takes higher precedence than an OR operator that starts a line.
In motion programs, there can be compound conditions within one program line, but not across multiple
program lines, so this statement is not permitted in motion programs.
Note:
This logical AND command, which acts on conditions, should not be confused with
the bit-by-bit & (ampersand) operator that acts on values.
Examples:
IF (M11=1) ; This branch will start a motion program running
AND (M12=1) ; on a cycle where inputs M11 and M12 are 1 and
AND (M21=0) ; M21 is still zero. Note that M21 is immediately
CMD"R" ; set to one so the run command will not be given
M21=1 ; again in the next cycle.
ENDIF
See Also:
Writing a PLC Program
Conditions (Program Computational Features)
Program Commands IF, WHILE, OR
AROT{constant}
Function: Absolute rotation/scaling of X, Y, and Z axes
Syntax: AROT{constant}
where:
{constant} is an integer representing the number of the first of nine consecutive Q-variables to be
used in the rotation/scaling matrix
This command loads the currently selected (with TSEL) transformation matrix for the coordinate system
with rotation/scaling values contained in the nine Q-variables starting with the specified one. This has the
effect of renaming the current commanded X, Y, and Z axis positions (from the latest programmed move)
by multiplying the XYZ vector by this matrix.
The rotation and scaling is done relative to the base XYZ coordinate system, defined by the axis
definition statements. The math performed is:
[Xrot Yrot Zrot]
T
= [Rot Matrix] [Xbase Ybase Zbase]
T

This command does not cause any movement of axes; it simply renames the present positions.
Note:
When using this command to scale the coordinate system, do not use the radius
center specification for circle commands. The radius does not get scaled. Use the
I, J, K vector specification instead.
Examples:
Create a 3x3 matrix to rotate the XY plane by 30 degrees about the origin
Q40=COS(30) Q41=SIN(30) Q42=0
Q43=-SIN(30) Q44=COS(30) Q45=0
Q46=0 Q47=0 Q48=1
AROT 40 ; Implement the change
Create a 3x3 matrix to scale the XYZ space by a factor of 3
Q50=3 Q51=0 Q52=0
Q53=0 Q54=3 Q55=0
Q56=0 Q57=0 Q58=3
AROT 50 ; Implement the change
See Also:
Program commands TSEL, ADIS, IDIS, IROT, TINIT
B{data}
Function: B-Axis Move
Syntax: B{data}
where:
for the B-axis
This command causes a move of the B-axis. (See {axis}{data} description, above.) If it follows a
Examples:
B20
B(Q15)
A25 B10 Z35
B(20*COS(Q5))
CALL20 B-7.701
See Also:
Program commands {axis}{data}, B, C, U, V, W, X, Y, Z, CALL, PRELUDE, READ
Program commands {axis}{data}, A, C, U, V, W, X, Y, Z, CALL, READ
BLOCKSTART
Function: Mark Start of Stepping Block
Syntax: BLOCKSTART
BSTART
This statement allows for multiple moves to be done on a single STEP command. Execution on a STEP
command will proceed until the next BLOCKSTOP statement in the program (without BLOCKSTART,
only a single servo command is executed on a STEP command). Also, if Isx92=1 (move blending
disabled), all moves between BLOCKSTART and BLOCKSTOP will be blended together. This does not
affect how a program is executed from a RUN command if Isx92=0.
This structure is useful particularly for executing a single sequence of PVT mode moves, because the
individual segments do not end at zero velocity, making normal stepping very difficult.
Examples:
For the program segment:
BLOCKSTART
INC
X10:100
X20:100
X20:100
X10:0
BLOCKSTOP
All four move segments will be executed on a single S command.
See Also:
I-variable Isx92
On-line commands <CONTROL-S>, R, S.
Program commands BLOCKSTOP, STOP.
BLOCKSTOP
Function: Mark End of Stepping Block
Syntax: BLOCKSTOP
BSTOP
This statement marks the end of the block of statements, begun with a BLOCKSTART, to be done on a
single STEP command, or to be blended together even if Isx92=1 (move blending disabled). This does
not affect how a program is executed from a RUN command if Isx92=1.
Examples:
See example under BLOCKSTART, above.
See Also:
I-variable Isx92
On-line commands <CONTROL-S>, R, S.
Program commands BLOCKSTART, STOP.
C{data}
Function: C-Axis Move
Syntax: C{data}
where:
for the C-axis
This command causes a move of the C-axis. (See {axis}{data} description, above.) If it follows a
Examples:
C30
C(-P71)
B25 C10 Z35
C(20*ATAN(Q80))
CALL5000 C0.210
See Also:
Program commands {axis}{data}, A, B, U, V, W, X, Y, Z, CALL, PRELUDE, READ
Program commands {axis}{data}, A, B, U, V, W, X, Y, Z, CALL, READ
CALL
Function: Jump to Subprogram With Return
Syntax: CALL{data} [{letter}{data}...]
where:
the first {data} is a floating-point constant or expression from 1.00000 to 32767.99999, with the
integer part representing the motion program number to be called, and the fractional part representing
the line label (N or O) within the program to be called (the line label number is equal to the fractional
part multiplied by 100,000; every motion program has an implicit N0 at the top);
{letter} is any letter of the English alphabet, except N or O, representing the variable into which
the value following it will be placed (Q101 to Q126 for A to Z respectively);
following {data} is a floating-point constant or expression representing the value to be put into the
variable
This command allows the program to execute a subprogram and then return execution to the next line in
the program. A subprogram is entered into Turbo PMAC the same as a program, and is labeled as
PROGn (so one program can call another as a subprogram). The number n of the PROG heading is the
one to which the value after CALL refers: CALL7 would execute PROG7 and return. Commanding
execution of a non-existent subprogram will cause program execution to stop in an error condition.
The value immediately following CALL can take fractional values. If there is no fractional component,
the called program starts at the beginning. If there is a fractional component, the called program is
entered at a line label specified by the fractional component (if this label does not exist, Turbo PMAC
will generate an error and stop execution). Turbo PMAC works with five fractional digits to specify the
line label; if fewer are used, it fills out the rest with zeros automatically. For instance, CALL 35.1 is
interpreted as CALL 35.10000, which causes a jump to label N10000 of program 35. CALL
47.123 causes a jump to label N12300 of program 47.
If letters and data (e.g. X1000) follow the CALL{data}, these can be arguments to be passed to the
subprogram. If arguments are to be passed, the first line executed in the subroutine should be a READ
statement. This statement will take the values associated with the specified letters and place them in the
appropriate Q-variable. For instance, the data following A is placed in variable Q101 for the coordinate
system executing the program; that following B is placed in Q102; and so on, to the data following Z
being placed in Q126. The subprogram can then use these variables. If the subprogram calls another
subprogram with arguments, the same Q-variables are used. Refer to READ for more details.
If there is no READ statement in the subroutine, or if not all the letter values in the CALL line are read
(the READ statement stops as soon as it sees a letter in the calling line that is not in its list of letters to
read), the remaining letter commands are executed upon return from the subroutine according to their
normal function. For example, G01 X10 Y10 is equivalent to a CALL 1000.01 X10 Y10. To
implement the normal function for G01 (linear move mode), there would be the following subroutine in
PROG 1000:
N1000 LINEAR RETURN
Upon the return, X10 Y10 would be executed as a move according to the move mode in force, which is
LINEAR.
If the specified program and line label do not exist, the CALL command is ignored, and the program
continues as if it were not there.
Examples:
CALL500 ; to Prog 500 at the top (N0)
CALL500.1 ; to Prog 500 label N10000
CALL700 D10 E20 ; to Prog 700 passing D and E
See Also:
On-line command B{constant}
Program commands GOTO, GOSUB, READ, RETURN, G{data}, M{data}, T{data},
D{data}, N{constant}, O{constant}, PRELUDE
CC0
Function: Turn Off Cutter Radius Compensation
Syntax: CC0
This turns off the cutter radius compensation mode, reducing it gradually through the next move. This is
equivalent to the G40 command of the machine-tool standard RS-274 language.
Examples:
CCR0.5 ; 1/2 unit cutter radius
CC1 ; Cutter compensation on to the left
X10 Y10 ; Compensation introduced during this move
X10 Y20
X20 Y20
X20 Y10
X10 Y10
CC0 ; Cutter compensation off
X0 Y0 ; Compensation eliminated during this move
OPEN PROG 1000 ; G-Code Subprogram
...
N40000 CC0 RETURN ; To implement G40 directly in Turbo PMAC
See Also:
Cutter (Tool) Radius Compensation
Program commands CC1, CC2, CCR{data}.
CC1
Function: Turn On 2D Cutter Radius Compensation Left
Syntax: CC1
This turns on the cutter radius compensation mode, introducing the compensation gradually through the
next move. The cutter is offset to the left of the programmed tool path, looking in the direction of cutter
movement. The plane of the compensation is determined by the NORMAL command. This is equivalent
to the G41 command of the machine-tool standard RS-274 language.
Note:
The coordinate system must be in move segmentation mode (Isx13>0) in order to
perform cutter radius compensation. If Isx13=0 (no move segmentation), the
moves will be executed without compensation.
Examples:
CCR0.25 ; 1/4 unit cutter radius
CC1 ; Cutter compensation on to the left
X10 Y20
X20 Y20
X20 Y10
X10 Y10
...
See Also:
Cutter (Tool) Radius Compensation
Program commands CC2, CC0, CCR{data}, NORMAL
CC2
Function: Turn On 2D Cutter Radius Compensation Right
Syntax: CC2
This turns on the cutter radius compensation mode, introducing the compensation gradually through the
next move. The cutter is offset to the right of the programmed tool path, looking in the direction of cutter
movement. The plane of the compensation is determined by the NORMAL command. This is equivalent
to the G42 command of the machine-tool standard RS-274 language.
Note:
perform cutter radius compensation. If Isx13=0 (no move segmentation), the
moves will be executed without compensation.
Examples:
CCR1.5 ; 1-1/2 unit cutter radius
CC2 ; Cutter compensation on to the right
X10 Y20
X20 Y20
X20 Y10
X10 Y10
...
See Also:
Tool Radius Compensation
Program commands CC1, CC0, CCR, NORMAL
CC3
Function: Turn On 3D Cutter Radius Compensation
Syntax: CC3
This statement turns on three-dimensional cutter-radius compensation mode, introducing the
compensation gradually through the next move. Because the offset vectors are explicitly specified in 3D
compensation, there is no need to declare a left or right mode, as there is in 2D compensation.
When the CC3 statement is executed, both the tool-orientation and the surface-normal vector are
automatically set to the null vector. The tool-orientation vector can subsequently be modified by TX, TY,
and TZ values. A non-zero surface-normal vector must be declared with NX, NY, and NZ values before
any compensation will actually occur.
3D cutter-radius compensation remains active until the CC0 statement is executed.
See Also:
Three-Dimensional Compensation, Program commands CC0, CCR{data}, NX{data}, NY{data},
NZ{data}, TR{data}, TX{data}, TY{data}, TZ{data}
CCR{data}
Function: Set Cutter Compensation Radius (2D & 3D)
Syntax: CCR{data}
where:
{data} is a floating-point constant or expression representing the magnitude of the cutters end
radius
This statement sets the magnitude of the radius of the cutter for two-dimensional and three-dimensional
cutter-radius compensation, expressed in the user units of the X, Y, and Z axes. This function is often
part of the D tool data used in the machine-tool standard RS-274 (G) code.
In 2D compensation, an offset of this magnitude is made in the plane defined by the NORMAL vector,
perpendicular to the programmed path direction.
In 3D compensation, there are two radius values. The first is the radius of the cutters end, defined by this
CCR command. The second is the radius of the cutters shaft, defined by the TR command. In operation,
an offset is first made in the direction of the surface-normal vector of a magnitude defined by the CCR
cutter-end radius command. Then an offset is made of a magnitude equal to the TR tool radius minus the
CCR cutter-end radius. This offset is made in the plane of the surface-normal vector and the tool-
orientation vector, perpendicular to the tool-orientation vector.
The CCR cutter-end radius should be zero for a flat-end cutter; it should be equal to the TR tool-shaft
radius for a ball-end cutter; it should be somewhere in between for a partially rounded end. If the CCR
value is set greater than the TR value, the TR value is effectively increased to be equal to the CCR value
The value declared here affects the compensation of all subsequent moves until another value is declared.
See Also:
Cutter-Radius Compensation, Three-Dimensional Compensation
Program commands CC1, CC2, CC3, CC0, CCR{data}, NORMAL, NX{data}, NY{data},
NZ{data}, TR{data}, TX{data}, TY{data}, TZ{data}
CIRCLE1
Function: Set Blended Clockwise Circular Move Mode
Syntax: CIRCLE1
CIR1
This command puts the program into clockwise circular move mode. The plane for the circular
interpolation is defined by the most recent NORMAL command, which has also defined the sense of
clockwise and counterclockwise in the plane.
The program is taken out of this circular move mode by another move mode command: the other
CIRCLE mode, LINEAR, PVT, RAPID etc. Any circular move command must have either an R or an
IJK vector specification; otherwise it will be performed as a linear move even when in CIRCLE mode.
Note:
perform circular interpolation. If Isx13=0 (no move segmentation), the moves will
be linearly interpolated.
Examples:
LINEAR ; Linear interpolation mode
X10Y10 F2 ; Linear move
CIRCLE1 ; Clockwise circular interpolation mode
X20 Y20 I10 ; Arc of 10-unit radius
X25 Y15 J-5 ; Arc of 5-unit radius
LINEAR ; Go back to linear mode
X25 Y5 ; Linear move
See Also:
I-variable Isx13
Program commands NORMAL, CIRCLE2, LINEAR, PVT, RAPID, SPLINE1,
{axis}{data}{vector}{data}
CIRCLE2
Function: Set Blended Counterclockwise Circular Move Mode
Syntax: CIRCLE2
CIR2
The CIRCLE2 command puts the program into counterclockwise circular move mode. The plane for the
circular interpolation is defined by the most recent NORMAL command, which has also defined the sense
of clockwise and counterclockwise in the plane.
The program is taken out of this circular move mode by another move mode command: the other
CIRCLE mode, LINEAR, PVT, RAPID etc. Any circular move command must have either an R or an
IJK vector specification; otherwise it will be performed as a linear move even when in CIRCLE mode.
Note:
perform circular interpolation. If Isx13=0 (no move segmentation), the moves will
be linearly interpolated.
Examples:
LINEAR ; Linear interpolation mode
X10Y0 F2 ; Linear move
CIRCLE2 ; Counterclockwise circular interpolation mode
X20 Y10 J10 ; Arc of 10-unit radius
X15 Y15 I-5 ; Arc of 5-unit radius
CIRCLE1 ; Clockwise circle mode
X5 Y25 J10 ; Arc move of 10-unit radius
See Also:
I-variable Isx13
Program commands NORMAL, CIRCLE1, LINEAR, PVT, RAPID, SPLINE1,
{axis}{data}{vector}{data}
COMMANDx"{command}"
Function: Command issuance from internal program
Type: Motion program (PROG and ROT); PLC program
Syntax: COMMAND "{command}"
CMD "{command}"
COMMANDS "{command}"
CMDS "{command}"
COMMANDP "{command}"
CMDP "{command}"
COMMANDR "{command}"
CMDR "{command}"
COMMANDA "{command}"
CMDA"{command}"
This statement causes the program to issue a command to Turbo PMAC as if it came from the host
(except for addressing modes and response direction).
If there is a motor- or coordinate-system-specifier (#n or &n) within the quoted string, a motor- or
coordinate-system-specific command will be directed to that motor or coordinate system. If there is no
specifier, a motor- or coordinate-system-specific command will be directed to the first motor or
coordinate system. Any specifier within a COMMAND statement is not modal; it does not affect the host
addressing specifications or the modal addressing of any program, including its own.
Any data or error response for the command given inside the quote marks is directed to the port specified
by the letter at the end of COMMAND:
COMMAND provides no response to any port
COMMANDS provides a response to the main serial port
COMMANDP provides a response to the parallel bus port
COMMANDR provides a response to the DPRAM ASCII response buffer
COMMANDA provides a response to the Option 9T auxiliary serial port
If I62=0, Turbo PMAC issues a carriage-return (<CR>) character automatically at the end of any data
response to the command. If I62=1, Turbo PMAC does not issue a <CR> character at the end of the data
response; a SEND^M must be used to issue an <CR> in this case.
Each PLC program has its own addressing mode for both motors and coordinate systems, independent of
each other and independent of the host addressing modes. These are controlled by the PLC program
ADDRESS command. This modal addressing affects commands issued from within a PLC program that
do not have motor or coordinate-system specifiers. At power-up/reset, all PLC programs are addressing
Motor 1 and C.S.1.
There is no modal ADDRESS command in motion programs. Any motor-specific or coordinate-system-
specific command issued from within a motion program without a specifier is automatically addressed to
Motor 1 or C.S.1, respectively.
Commands issued from within a program are placed in the command queue, to be parsed and acted upon
at the appropriate time by Turbo PMACs command interpreter, which operates in background, between
other background tasks. If issued from a motion program, the command will not be interpreted before the
next move or dwell command in the motion program is calculated. If issued from a PLC program, the
command will not be interpreted before the end of the current scan of the PLC. This delay can make the
action appear to execute out of sequence.
Because of the queuing of commands and the fact that command interpretation is a lower priority than
command issuing, it is possible to overflow the queue. If there is no room for a new command, program
execution is temporarily halted until the new command can be placed on the queue.
Also, commands that generate a response to the host (including errors if I6 is not equal to 2) potentially
can fill up the response queue if there is no host or the host is not prepared to read the responses. This
will temporarily halt program execution until the response queue is emptied. In standalone applications,
it is a good idea to set I1 to 1, disabling the serial handshake, so any responses can be sent out the serial
port (the default response port) at any time, even if there is no host to receive it.
In a PLC program, it is a good idea to have at least one of the conditions that caused the command
issuance to occur set false immediately. This will prevent the same command from being issued again on
succeeding scans of the PLC, overflowing the command and/or response queues. Typically in a motion
program, the time between moves prevents this overflow unless there are a lot of commands and the
moves take a very short time.
Turbo PMAC will not issue an acknowledging character (<ACK> or <LF>) to a valid command issued
from an internal program. It will issue a <BELL> character for an invalid command issued from a
program unless I6 is set to 2. It is a good idea to have I6 not set to 2 in early development so that it will
be known when Turbo PMAC has rejected such a command. Setting I6 to 2 in the actual application can
prevent program hang-up from a full response queue, or from disturbing the normal host communications
protocol.
Many otherwise valid commands will be rejected when issued from a motion program. For instance, any
motor cannot jogged in the coordinate system executing the program because all these motors are
considered to be running in the program, even if the program is not requesting a move of the motors at
that time.
When issuing commands from a program, be sure to include all the necessary syntax (motor and/or
coordinate system specifiers) in the command statement or use the ADDRESS command. For example,
use CMD"#4HM" and CMD"&1A" instead of CMD"HM" and CMD"A". Otherwise, motor and coordinate
system commands will be sent to the most recently addressed motor and coordinate system which may
not always be intended.
Examples:
COMMAND"#1J+"
CMD"#4HM"
CMD"&1B5R"
CMDP"P1"
47.5
ADDRESS#3
COMMAND"J-"
IF(M40=1 AND M41=1)
CMD"&4R"
M41=0
ENDIF
See Also:
Addressing Modes, On-Line Commands (Talking t Turbo PMAC)
I-variables I1, I3, I6.
Program commands ADDRESS, COMMAND^{letter}
Writing A PLC Program
COMMANDx^{letter}
Function: Control-Character Command Issuance from Internal Program
Type: Motion program (PROG or ROT), PLC program
Syntax: COMMAND^{letter}
CMD^{letter}
COMMANDS^{letter}
CMDS^{letter}
COMMANDP^{letter}
CMDP^{letter}
COMMANDR^{letter}
CMDR^{letter}
COMMANDA^{letter}
CMDA^{letter}
where:
{letter} is a letter character from A to Z (upper or lowercase) representing the corresponding
control character
This statement causes the motion program to issue a control-character command as if it came from the
host, except for the direction of the response. All control-character commands are global, so there are no
addressing concerns.
Any data or error response for the control-character command is directed to the port specified by the letter
at the end of COMMAND:
COMMAND provides no response to any port
COMMANDS provides a response to the main serial port
COMMANDP provides a response to the parallel bus port
COMMANDR provides a response to the DPRAM ASCII response buffer
COMMANDA provides a response to the Option 9T auxiliary serial port
Note:
Do not put the up-arrow character and the letter in quotes (do not use
COMMANDx"Â") or Turbo PMAC will attempt to issue a command with the two
non-control characters, ^ and A in this example, instead of the control character.
Commands issued from within a program are placed in the command queue, to be parsed and acted upon
at the appropriate time by Turbo PMAC command interpreter, which operates in background, between
other background tasks. If issued from a motion program, the command will not be interpreted before the
next move or dwell command in the motion program is calculated. If issued from a PLC program, the
command will not be interpreted before the end of the current scan of the PLC. This delay can make the
action appear to execute out of sequence.
Because of the queuing of commands and the fact that command interpretation is a lower priority than
command issuing, it is possible to overflow the queue. If there is no room for a new command, program
execution is temporarily halted until the new command can be placed on the queue.
Also, commands that generate a response to the host (including errors if I6 is not equal to 2) potentially
can fill up the response queue if there is no host or the host is not prepared to read the responses. This
will temporarily halt program execution until the response queue is emptied. In standalone applications,
it is a good idea to set I1 to 1, disabling the serial handshake, so any responses can be sent out the serial
port (the default response port) at any time, even if there is no host to receive it.
In a PLC program, it is a good idea to have at least one of the conditions that caused the command
issuance to occur set false immediately. This will prevent the same command from being issued again on
succeeding scans of the PLC, overflowing the command and/or response queues. Typically in a motion
program, the time between moves prevents this overflow unless there are a lot of commands and the
moves take a very short time.
Turbo PMAC will not issue an acknowledging character (<ACK> or <LF>) to a valid command issued
from a program. It will issue a <BELL> character for an invalid command issued from a program unless
I6 is set to 2. It is a good idea to have I6 not set to 2 in early development so it is known when Turbo
PMAC has rejected such a command. Setting I6 to 2 in the actual application can prevent program hang-
up from a full response queue, or from disturbing the normal host communications protocol.
Examples:
CMD^D would disable all PLC programs (equivalent to issuing a <CONTROL-D> from the host).
CMD^K would kill (disable) all motors on Turbo PMAC
CMDÂ would stop all programs and moves on Turbo PMAC, also closing any loops that were open.
CMDS^P would cause Turbo PMAC to report the positions for 8 motors to the main serial port
See Also:
I-variables I1, I6
On-line commands <CONTROL-A> to <CONTROL-Z>
Program command COMMANDx"{command}"
D{data}
Function: Tool Data (D-Code)
Syntax: D{data}
where:
{data} is a floating-point constant or expression in the range 0.000 to 999.999, specifying the
program number and the line label to jump to
Turbo PMAC interprets this statement as a CALL 10n3.({data}*1000) command, where n is the
hundredsdigit of {data}, and {data} is the value of {data} without the hundreds digit (modulo
100 in mathematical terms). That is, this statement causes a jump (with return) to motion program 10n3,
and the specified line label. (Programs 10n3 are usually used to implement the tool data operations as the
system designer sees fit.) The value of {data} can be from 0.0 to 99.999, corresponding to line labels
N0 to N99999.
This structure permits the implementation of customizable D-Code routines for machine-tool style
applications by the writing of subroutines in motion programs 10n3. Arguments can be passed to these
subroutines by following the D-Code with one or more sets of {letter}{data}, as in CALL and
READ statements.
Most users will have D-codes only in the range 0-99, which permits the use of PROG 1003 only, and
allows {data} to equal {data} for direct specification of the line label.
Example:
D01 jumps to N1000 of PROG 1003
See Also:
Program commands CALL{data}, G{data}, M{data}, T{data}, RETURN
DELAY{data}
Function: Delay for Specified Time
Syntax: DELAY{data}
DLY{data}
where:
{data} is a floating-point constant or expression, specifying the delay time in milliseconds
This command causes Turbo PMAC to keep the command positions of all axes in the coordinate system
constant (no movement) for the time specified in {data}.
There are three differences between DELAY and DWELL. First, if DELAY comes after a blended move,
the TA deceleration time from the move occurs within the Delay time, not before it. Second, the actual
time for Delay does varies with a changing time base (current % value, from whatever source), whereas
DWELL always uses the fixed time base (%100). Third, Turbo PMAC precomputes upcoming moves
(and the lines preceding them) during a DELAY, but it does not do so during a DWELL.
A DELAY command is equivalent to a zero-distance move of the time specified in milliseconds. As for a
move, if the specified Delay time is less than the acceleration time currently in force (TA or 2*TS), the
delay will be for the acceleration time, not the specified Delay time.
Examples:
DELAY750
DELAY(Q1+100)
See Also:
I-variables I10, Isx87, Isx88
On-line command %{constant}
Program commands DWELL, TA, TS
DISABLE PLC {constant}[,{constant}...]
Function: Disable PLC Programs
Syntax: DISABLE PLC {constant}[,{constant}...]
DISABLE PLC {constant}[..{constant}]
DIS PLC {constant}[,{constant}...]
DIS PLC {constant}[..{constant}]
where:
each {constant} is an integer from 0 to 31 representing the PLC number
This command causes Turbo PMAC to disable (stop executing) the specified uncompiled PLC program
or programs. Execution can subsequently be resumed at the top of the program with the ENABLE PLC
command. To restart execution at the stopped point, execution should be stopped with the PAUSE PLC
command and restarted with the RESUME PLC command
Execution of a PLC program can only be disabled at the end of a scan, which is either the end of the
program, or after executing an ENDWHILE statement in the program. (A PLC program can be paused in
the middle of a scan, however.)
If no buffer is open when this command is sent to PMAC, it will be executed immediately as an on-line
command.
Examples:
DISABLE PLC 1
DISABLE PLC 4,5
DISABLE PLC 7..20
DIS PLC 3,8,11
DIS PLC 0..31
See Also:
I-variable I5
On-line commands ENABLE PLC, DISABLE PLC, ENABLE PLCC, DISABLE PLCC, PAUSE PLC,
RESUME PLC, <CONTROL-D>
Program command ENABLE PLC, DISABLE PLCC, ENABLE PLCC, PAUSE PLC, RESUME PLC
DISABLE PLCC {constant}[,{constant}...]
Function: Disable Compiled PLC Programs
Type: Motion program (PROG or ROT), PLC program (uncompiled or compiled),
except for PLC 0 and PLCC 0
Syntax: DISABLE PLCC {constant}[,{constant}...]
DISABLE PLCC {constant}[..{constant}]
DIS PLCC {constant}[,{constant}...]
DIS PLCC {constant}[..{constant}]
where:
each {constant} is an integer from 0 to 31 representing the compiled PLC number
This command disables the operation of the specified compiled PLC (PLCC) programs. The programs
are specified by number, and can be used singly, in a list separated by commas, or in a continuous range.
Note:
This command should not be used in a foreground PLC either uncompiled PLC 0
or compiled PLCC 0 as its operation cannot be guaranteed in these programs.
I-variable I5 is a separate master control of PLC program operation. Think of the two bits of I5 as two
master circuit breakers for a house, and the individual PLC and PLCC enable/disable bits as separate light
switches within the house. Both the master breaker and the switch must be on for the PLC to operate.
The breakers and the switches can be operated independently without affecting the setting of the others.
Examples:
DISABLE PLCC 1
DISABLE PLCC 4,5
DISABLE PLCC 7..20
DIS PLCC 3,8,11
DIS PLC 0..31
See Also:
I-variable I5
On-line commands ENABLE PLC, DISABLE PLC, ENABLE PLCC, DISABLE PLCC, <CONTROL-D>
Program command ENABLE PLC, DISABLE PLC, ENABLE PLCC
DISPLAY [{constant}] "{message}"
Function: Display Text to Display Port
Type: Motion program (PROG and ROT), PLC program
Syntax: DISPLAY [{constant}] "{message}"
DISP [{constant}] "{message}"
where:
{constant} is an integer value between 0 and 79 specifying the starting character number on the
display; if no value is specified, 0 is used
{message} is the ASCII text string to be displayed
This command causes Turbo PMAC to send the string contained in {message} to the display port for
the liquid-crystal or vacuum-fluorescent display (Acc-12 or equivalent).
The optional constant value specifies the starting point for the string on the display; it has a range of 0 to
79, where 0 is upper left, 39 is upper right, 40 is lower left, and 79 is lower right.
Examples:
DISPLAY 10"Hello World"
DISP "VALUE OF P1 IS"
DISP 15, 8.3, P1
See Also:
Display Port (Connecting Turbo PMAC to the Machine);
Accessory 12 (Basic Specifications)
Program commands DISPLAY {variable}, SENDx"{message}"
DISPLAY ... {variable}
Function: Formatted Display of Variable Value
Syntax: DISPLAY {constant}, {constant}.{constant}, {variable}
DISP {constant}, {constant}.{constant}, {variable}
where:
the first {constant} is an integer from 0 to 79 representing the starting location (character
number) on the display;
the second {constant} is an integer from 2 to 16 representing the total number of characters to be
used to display the value (integer digits, decimal point, and fractional digits);
the third {constant} is an integer from 0 to 9 (and at least two less than the second
{constant}) representing the number of fractional digits to be displayed;
{variable} is the name of the variable to be displayed.
This command causes Turbo PMAC to send a formatted string containing the value of the specified
variable to the display port. The value of any I, P, Q, or M variable may be displayed with this command.
The first constant value specifies the starting point for the string on the display; it has a range of 0 to 79,
where 0 is upper left, 39 is upper right, 40 is lower left, and 79 is lower right. The second constant
specifies the number of characters to be used in displaying the value; it has a range of 2 to 16. The third
constant specifies the number of places to the right of the decimal point; it has a range of 0 to 9, and must
be at least 2 less than the number of characters. The last thing specified in the statement is the name of
the variable -- I, P, Q, or M.
Examples:
DISPLAY 0, 8.0, P50
DISPLAY 24, 2.0, M1
DISPLAY 40, 12.4, Q100
See Also:
Display Port (Connecting Turbo PMAC to the Machine);
Accessory 12 (Basic Specifications)
Program commands DISPLAY"{message}", COMMAND"{command}"
DWELL
Function: Dwell for Specified Time
Syntax: DWELL{data}
DWE{data}
where:
{data} is a non-negative floating point constant or expression representing the dwell time in
milliseconds
This command causes the card to keep the commanded positions of all axes in the coordinate system
constant for the time specified in {data}. The maximum dwell time is 8,388,607 msec (about 2 hours
and 20 minutes). If a longer time is specified in the command, the actual dwell time will be limited to this
amount.
There are three differences between DWELL and the similar DELAY command. First, if the previous servo
command was a blended move, there will be a TA time deceleration to a stop before the dwell time starts.
Second, DWELL is not sensitive to a varying time base it always operates in real time (as defined by
I10). Third, Turbo PMAC does not pre-compute upcoming moves (and the program lines before them
during the DWELL; it waits until after it is done to start further calculations, which it performs in the time
specified by I11 or Ixx12.
Use of any DWELL command, even a DWELL0, while in external time base will cause a loss of
synchronicity with the master signal.
Examples:
DWELL250
DWELL(P1+P2)
DWE0
See Also:
Dwell and Delay (Writing a Motion Program)
I-variables I10, I11, I12.
Program command DELAY
ELSE
Function: Start False Condition Branch
Type: Motion program (PROG only), PLC program
Syntax: ELSE (Motion or PLC Program)
ELSE {action} (Motion Program only)
where:
{action} is a program command
This statement must be matched with an IF statement (ELSE requires a preceding IF, but IF does not
require a following ELSE). It follows the statements executed upon a true IF condition. It is followed
by the statements to be executed upon a false IF condition.
Note:
With nested IF branches, be careful to match the ELSE statements to the proper
IF statement. In a motion program, it is possible to have a single-line IF
statement (IF({condition}) {action}). An ELSE statement on the next
program line is matched to this IF statement automatically, even if wanting to
match a previous IF statement. Put a non-ELSE statement in between to make the
next ELSE statement match a previous IF statement.
ELSE lines can take two forms (only the first of which is valid in a PLC program):
With no statement following on that line, all subsequent statements down to the next ENDIF statement
will be executed provided that the preceding IF condition is false.
ELSE
{statement}
[{statement}
...]
ENDIF
With a statement or statements following on that line, the single statement will be executed provided that
the preceding IF condition is false. No ENDIF statement should be used in this case
ELSE {statement} [{statement}...]
Note:
(This single-line ELSE branch form is valid only in motion programs. If this is
tried in a PLC program, Turbo PMAC will put the statements on the next program
line and expect an ENDIF to close the branch. The logic will not be as expected.)
Examples:
This first example has multi-line true and false branches. It could be used in either a motion program or a
PLC program.
IF (M11=1)
P1=17
P2=13
ELSE
P1=13
P2=17
ENDIF
This second example has a multi-line true branch, and a single-line false branch. This structure could
only be used in a motion program.
IF (M11=0)
X(P1)
DWELL 1000
ELSE DWELL 500
This example has a single-line true branch, and a multi-line false branch. This structure could be used
only in a motion program.
IF (SIN(P1)>0.5) Y(1000*SIN(P1))
ELSE
P1=P1+5
Y(1100*SIN(P1))
ENDIF
This example has single-line true and false branches. This structure could be used only in a motion
program.
IF (P1 !< 5) X10
ELSE X-10
See Also:
Program commands IF, ENDIF.
ENABLE PLC
Function: Enable PLC Buffers
Syntax: ENABLE PLC {constant}[,{constant}...]
ENABLE PLC {constant}[..{constant}]
ENA PLC {constant}[,{constant}...]
ENA PLC {constant}[..{constant}]
where:
This command causes Turbo PMAC to enable (start executing) the specified uncompiled PLC program or
programs at the top of the program. Execution of the PLC program may have been stopped with the
DISABLE PLC, PAUSE PLC, or OPEN PLC command.
If no buffer is open when this command is sent to PMAC, it will be executed immediately as an on-line
command.
Examples:
ENABLE PLC 0
ENABLE PLC 1,2,5
ENABLE PLC 1..16
ENA PLC 7
See Also:
I-variable I5
On-line commands ENABLE PLC, DISABLE PLC, <CONTROL-D>
Program command DISABLE PLC, PAUSE PLC, RESUME PLC
ENABLE PLCC
Function: Enable Compiled PLC Programs
Type: Motion program (PROG and ROT), PLC program (uncompiled and compiled)
Syntax: ENABLE PLCC {constant}[,{constant}...]
ENABLE PLCC {constant}[..{constant}]
ENA PLCC {constant}[,{constant}...]
ENA PLCC {constant}[..{constant}]
where:
each {constant} is an integer from 0 to 31 representing the compiled PLC number
This command enables the operation of the specified compiled PLC (PLCC) buffers, provided I5 is set
properly to allow their operation. The programs are specified by number and can be used singly, in a list
separated by commas, or in a continuous range.
I-variable I5 is a separate master control of PLC program operation. Think of the two bits of I5 as two
master circuit breakers for a house, and the individual PLC and PLCC enable/disable bits as separate light
switches within the house. Both the master breaker and the switch must be on for the PLC to operate.
The breakers and the switches can be operated independently without affecting the setting of the others.
Examples:
ENABLE PLCC 0
ENABLE PLCC 1,2,5
ENABLE PLCC 1..16
ENA PLCC 7
See Also:
I-variable I5
On-line commands ENABLE PLC, DISABLE PLC, ENABLE PLCC, DISABLE PLCC, <CONTROL-
D>
Program command ENABLE PLC, DISABLE PLC, DISABLE PLCC
ENDIF
Function: Mark End of Conditional Block
Syntax: ENDIF
ENDI
This statement marks the end of a conditional block of statements begun by an IF statement. It can close
out the true branch, following the IF statement, in which case there is no false branch, or it can close out
the false branch, following the ELSE statement.
When nesting conditions, it is important to match this ENDIF with the proper IF or ELSE statement. In
a PLC program, every IF or IF/ELSE pair must take an ENDIF, so the ENDIF always matches the
most recent IF statement that does not already have a matching ENDIF. In a motion program an IF or
ELSE statement with action on the same line does not require an ENDIF, so the ENDIF would be
matched with a previous IF statement.
Examples:
IF (P1>0)
X1000
ENDIF
IF (P5=7)
X1000
ELSE
X2000
ENDIF
See Also:
Logical Structures (Writing a Motion Program)
Conditional Statements (Writing a PLC Program)
Program commands IF, ELSE
ENDWHILE
Function: Mark End of Conditional Loop
Syntax: ENDWHILE
ENDW
This statement marks the end of a conditional loop of statements begun by a WHILE statement. WHILE
loops can be nested, so an ENDWHILE statement matches the most recent WHILE statement not already
matched by a previous ENDWHILE statement.
In a motion program a WHILE statement with an action on the same line does not require a matching
ENDWHILE.
In the execution of a PLC program, when an ENDWHILE statement is encountered, that scan of the PLC
is ended, and Turbo PMAC goes onto other tasks (communications, other PLCs). The next scan of this
PLC will start at the matching WHILE statement.
In the execution of a motion program, if Turbo PMAC finds two jumps backward (toward the top) in the
program while looking for the next move command, Turbo PMAC will pause execution of the program
and not try to blend the moves together. It will go on to other tasks and resume execution of the motion
program on a later scan. Two statements can cause such a jump back: ENDWHILE and GOTO (RETURN
does not count).
The pertinent result is that Turbo PMAC will not blend moves when it hits two ENDWHILE statements
(or the same ENDWHILE twice) between execution of move commands.
Examples:
WHILE (Q10<10)
Q10=Q10+1
ENDWHILE
See Also:
Program commands WHILE, ENDIF
F{data}
Function: Set Move Feedrate (Velocity)
Syntax: F{data}
where:
{data} is a positive floating-point constant or expression representing the vector velocity in user
length units per user time units
This statement sets the commanded velocity for upcoming LINEAR and CIRCLE mode blended moves.
It will be ignored in other types of moves (SPLINE, PVT, and RAPID). It overrides any previous TM or
F statement, and is overridden by any following TM or F statement.
The units of velocity specified in an F command are scaled position units (as set by the axis definition
statements) per time unit (defined by the Isx90 Feedrate Time Unit I-variable for the coordinate system).
The velocity specified here is the vector velocity of all of the vector-feedrate axes of the coordinate
system. That is, the move time is calculated as the vector distance of the feedrate axes (square root of the
sum of the squares of the individual axes), divided by the feedrate value specified here. Any non-feedrate
axes commanded to move on the same move-command line will move at the speed necessary to finish in
this same amount of time.
Axes are designated as vector-feedrate axes with the FRAX command. If no FRAX command is used, the
default feedrate axes are the X, Y, and Z axes. Any axis involved in circular interpolation is
automatically a feedrate axis, regardless of whether it was specified in the latest FRAX command. In
multi-axis systems, feedrate specification of moves is useful only for systems with Cartesian geometries,
for which these moves give a constant velocity in the plane or in 3D space, regardless of movement
direction.
There are several cases in which Turbo PMAC will not use the feedrate commanded with the F statement:
If the specified feedrate causes a move time of over 2
23
msec (about 2 hours 20 minutes) to be
calculated, the move will be executed in 2
23
msec, at a higher speed than what was programmed.
If the feedrate programmed with the F statement exceeds the Isx98 maximum feedrate parameter for
the coordinate system, the Isx98 value will be used instead.
If the feedrate programmed with the F statement causes any motor in the coordinate system to exceed
its Ixx16 velocity limit (when active), all axes will be slowed so that no motor exceeds its limit.
If the vector distance of a feedrate-specified move is so short that the computed move time (vector
distance divided by feedrate) would be less than the acceleration time currently in force (TA or 2*TS
or the time set by the Ixx17 limit when active), the move will take the full acceleration time instead,
and the axes will move more slowly than specified by the F command. If the acceleration time is 0,
the minimum permitted move time is 0.5 msec.
If vector-feedrate axes and non-feedrate axes are commanded together on the same program line, and
the time for any non-feedrate axis, computed as the axis distance divided by the alternate feedrate
parameter Isx86, is greater than the move time calculated for the vector-feedrate axes, then Turbo
PMAC will use this longer time for the move, resulting in a lower vector feedrate.
If only non-feedrate axes are commanded to move in a feedrate-specified move, Turbo PMAC will
compute the move time as the longest distance commanded for any axis divided by the Isx86 alternate
feedrate parameter. If Isx86 is set to zero, it will compute the move time as the longest distance
divided by the programmed feedrate. Use of the Isx86 parameter for all moves can be forced by
using the NOFRAX command, which makes all axes non-feedrate axes.
If the % override value for the coordinate system is at other than %100 when the move is executed,
the move will not execute at the specified speed. The actual speed varies in direct proportion to the %
value.
Examples:
F100
F31.25
F(Q10)
F(SIN(P8*P9))
See Also:
I-variables Isx86, Isx87, Isx88, Isx89, Isx90, Isx98
On-line commands #{constant}->{axis definition}, FRAX
Program commands FRAX, LINEAR, NOFRAX, CIRCLE, TM, TA, TS
FRAX
Function: Specify Feedrate Axes
Syntax: FRAX [({axis}[,{axis}...])]
where:
{axis} is a character (X, Y, Z, A, B, C, U, V, W) specifying which axis is to be used in the vector
feedrate calculations.
This command specifies which axes are to be involved in the vector-feedrate (velocity) calculations for
upcoming feedrate-specified (F) moves. Turbo PMAC calculates the time for these moves as the vector
distance (square root of the sum of the squares of the axis distances) of all the feedrate axes divided by the
feedrate. Any non-feedrate axes commanded on the same line will complete in the same amount of time,
moving at whatever speed is necessary to cover the distance in that time.
Vector feedrate has obvious geometrical meaning only in a Cartesian system, for which it results in
constant tool speed regardless of direction, but it is possible to specify for non-Cartesian systems and for
more than three axes.
Note:
In a feedrate-specified move, if the move time for any non-feedrate axis, computed
as axis distance divided by Isx86, is greater than the move time for the feedrate
axes, computed as the vector distance divided by the feedrate, Turbo PMAC will
use the move time for the non-feedrate axis instead.
The FRAX command without arguments causes all axes in the coordinate system to be feedrate axes in
subsequent move commands. The FRAX command with arguments causes the specified axes to be
feedrate axes, and all axes not specified to be non-feedrate axes, in subsequent move commands.
Examples:
For a three-axis cartesian system scaled in millimeters:
FRAX(X,Y)
INC
X30 Y40 Z10 F100
Vector distance is SQRT(30
2
+ 40
2
) = 50 mm. At a speed of 100 mm/sec, move time (unblended) is 0.5
sec. X-axis speed is 30/0.5 = 60 mm/sec; Y-axis speed is 40/0.5 = 80 mm/sec; Z-axis speed is 10/0.5 =
20 mm/sec.
Z20
Vector distance is SQRT(0
2
+0
2
) = 0 mm. With Isx86 = 50 (mm/sec), Z-axis speed is 50 mm/sec, move
time (unblended) is 0.4 sec.
FRAX(X,Y,Z)
INC
X-30 Y-40 Z120 F65
Vector distance is SQRT(-30
2
+ -40
2
+120
2
) = 130 mm. Move time is 130/65 = 2.0 sec. X-axis speed is
30/2.0 = 15 mm/sec; Y-axis speed is 40/2.0 = 20 mm/sec; Z-axis speed is 120/2.0 = 60 mm/sec.
See Also:
I-variables Isx86 Isx87, Isx88, Isx89, Isx90
On-line command FRAX, NOFRAX
Program commands F, NOFRAX, LINEAR, CIRCLE, {axis}{data}.
G{data}
Function: Preparatory Code (G-Code)
Syntax: G{data}
where:
and the specified line label. (Usually, programs 10n0 are used to implement the preparatory codes as the
N0 to N99999.
This structure permits the implementation of customizable G-Code routines for machine-tool style
subroutines by following the G-Code with one or more sets of {letter}{data}, as in CALL and
READ statements.
Most users will have G-codes only in the range 0-99, which permits the use of PROG 1000 only and
Example:
G01 jumps to N1000 of PROG 1000
See Also:
Program commands CALL{data}, D{data}, M{data}, T{data}, RETURN
GOSUB
Function: Unconditional Jump With Return
Type: Motion program (PROG only)
Syntax: GOSUB{data}
where:
{data} is a constant or expression representing the line label to jump to
This command causes the motion program execution to jump to the line label (N or O) of the same motion
program specified in {data}, with a jump back to the commands immediately following the GOSUB
upon encountering the next RETURN command.
If {data} is a constant, the path to the subroutine will have been linked before program run time, so the
jump is very quick. If {data} is a variable expression, it must be evaluated at run time, and the
appropriate label then searched for. The search starts downward in the program to the end, then continues
(if necessary) from the top of the program down.
A variable GOSUB command permits the equivalent structure to the CASE statement found in many high-
level languages.
If the specified line label is not found, the GOSUB command will be ignored, and the program will
continue as if the command had not occurred.
The CALL command is similar, except that it can jump to another motion program.
Examples:
GOSUB300 jumps to N300 of this program, to jump back on RETURN
GOSUB8743 jumps to N8743 of this program, to jump back on RETURN
GOSUB(P17) jumps to the line label of this program whose number matches the current value of P17, to jump back
on RETURN
See Also:
Program commands CALL, GOTO, N, O, RETURN
GOTO
Function: Unconditional Jump without Return
Syntax: GOTO{data}
where:
{data} is an integer constant or expression with a value from 0 to 99,999.
This command causes the motion program execution to jump to the line label (N or O) specified in
{data}, with no jump back.
If {data} is a constant, the path to the label will have been linked before program run time, so the jump
is very quick. If {data} is a variable expression, it must be evaluated at run time, and the appropriate
label then searched for. The search starts downward in the program to the end, and then continues (if
necessary) from the top of the program down.
A variable GOTO command permits the equivalent structure to the CASE statement found in many high-
level languages (see Examples, below).
If the specified line label is not found, the program will stop, and the coordinate systems Run-Time-Error
bit will be set.
Note:
Modern philosophies of the proper structuring of computer code strongly
discourage the use of GOTO, because of its tendency to make code undecipherable.
Examples:
GOTO750
GOTO35000
GOTO1
GOTO(50+P1)
N51 P10=50*SIN(P11)
GOTO60
N52 P10=50*COS(P11)
GOTO60
N53 P10=50*TAN(P11)
N60 X(P10)
See Also:
Writing a Motion Program;
Program commands CALL, GOSUB, N, O.
HOME
Function: Programmed Homing
Syntax: HOME {constant} [,{constant}...]
HOME {constant}..{constant} [,{constant}..{constant}...]
HM {constant} [,{constant}...]
HM {constant}..{constant} [,{constant}..{constant}...]
where:
{constant} is an integer from 1 to 8 representing a motor number.
This causes the specified motors to go through their homing search cycles. Note that the motors must be
specified directly by number, not the matching axis letters. Specify which motors are to be homed. All
motors specified in a single HOME command (e.g. HOME1,2) will start their homing cycles
simultaneously; to home some motors sequentially, specify them in consecutive commands (e.g. HOME1
HOME2), even if on the same line.
Any previous moves will come to a stop before the home moves start. No other program statement will
be executed until all specified motors have finished homing. Homing direction, speed, acceleration, etc.
are determined by motor I-variables. If a motor is specified that is not in the coordinate system running
the program, the command or portion of the command will be ignored, but an error will not be generated.
The speed of the home search move is determined by Ixx23. If Ixx23=0 then the programmed home
command for that axis is ignored.
Note:
Unlike an on-line homing command, the motor numbers in a program homing
command are specified after the word HOME itself, not before. In addition, an on-
line homing command simply starts the homing search it does not give any
indication when the search is complete; but a program homing command
automatically recognizes the end of the search, and then continues on in the
program. A PLC program can only issue an on-line HOME command.
Examples:
HOME1 ;These are motion program commands
HM1,2,3
HOME1..3,5..7
HM1..8
#1HOME ;These are on-line commands
#1HM,#2HM,#3HM
See Also:
Homing-Search Moves (Basic Motor Moves)
On-line motor commands HOME, HOMEZ
Program command HOMEZ
HOMEZ
Function: Programmed Zero-Move Homing
Syntax: HOMEZ {constant} [,{constant}...]
HOMEZ {constant}..{constant} [,{constant}..{constant}...]
HMZ {constant} [,{constant}...]
HMZ {constant}..{constant} [,{constant}..{constant}...]
where:
{constant} is an integer from 1 to 8 representing a motor number.
This commands causes the specified motors to go through pseudo-homing search cycles. In this
operation, the present commanded position of the motor is made the zero position for the motor and the
new commanded position for the motor.
If there is following error and/or an axis definition offset at the time of the HOMEZ command, the reported
position after the command will be equal to the negative of the following error plus the axis definition
offset.
Note that the motors must be specified directly by number, not the matching axis letters. Specify which
motors are to be homed. All motors specified in a single HOMEZ command (e.g. HOMEZ1,2) will home
simultaneously.
Note:
Unlike an on-line homing command, the motor numbers in a program homing
command are specified after the word HOMEZ itself, not before.
Examples:
HOMEZ1 ;These are motion program commands
HMZ1,2,3
HOMEZ1..3,5..7
HMZ1..8
#1HOMEZ ;These are on-line commands
#1HMZ,#2HMZ,#3HMZ
See Also:
Homing-Search Moves (Basic Motor Moves)
On-line motor command HOME, HOMEZ
Program command HOME
I{data}
Function: I-Vector Specification for Circular Moves or Normal Vectors
Syntax: I{data}
where:
{data} is a floating-point constant or expression representing the magnitude of the I-component of
the vector in scaled user axis units.
In circular moves, this specifies the component of the vector to the arc center that is parallel to the X-axis.
The starting point of the vector is either the move start point (for INC (R) mode default) or the XYZ-
origin (for ABS (R) mode).
In a NORMAL command, this specifies the component of the normal vector to the plane of circular
interpolation and tool radius compensation that is parallel to the X-axis.
Examples:
X10 Y20 I5 J5
X(2*P1) I(P1)
I33.333 ; specifies a full circle whose center is 33.333 units in the
; positive X-direction from the start and end point
NORMAL I-1 ; specifies a vector normal to the YZ plane
See Also:
Circular Interpolation, Tool Radius Compensation (Writing a Motion Program)
On-line command I{constant}
Program Commands {axis}{data}{vector}{data}, ABS, INC, NORMAL, J, K,
Function: Set I-Variable Value
Type: Motion program (PROG and ROT), PLC Program
Syntax: I{data}={expression}
where:
representing the I-variable number;
{expression) represents the value to be assigned to the specified I-variable.
This command sets the value of the specified I-variable to that of the expression on the right side of the
equals sign. The assignment is done as the line is processed, which in a motion program is usually one or
two moves ahead of the move actually executing at the time (because of the need to calculate ahead in the
program).
Note:
To have the assignment of the I-variable value to be synchronous with the
beginning of the next move in the program, assign an M-variable to the register of
the I-variable and use a synchronous M-variable assignment statement
(M{data}=={expression}).
Examples:
I130=30000
I902=1
I131=P131+1000
See Also:
How Turbo PMAC Executes a Motion Program (Writing a Motion Program)
On-line command I{constant}={expression}
Program commands M{data}={expression), P{data}={expression},
Q{data}={expression}, M{data}=={expression}
IDIS{constant}
Function: Incremental displacement of X, Y, and Z axes
Syntax: IDIS{constant}
where:
{constant} is an integer representing the number of the first of three consecutive Q-variables to
be used in the displacement vector
This command adds to the offset values of the currently selected (with TSEL) transformation matrix for
the coordinate system the values contained in the three Q-variables starting with the specified one. This
has the effect of renaming the current commanded X, Y, and Z axis positions (from the latest
programmed move) by adding the values of these variables (Xnew=Xold+Q{constant},
Ynew=Yold+Q({constant}+1), Znew=Zold+Q({constant}+2)).
This command is similar to a PSET command, except that IDIS is incremental and does not force a stop
between moves, as PSET does.
Examples:
X0 Y0 Z0
Q20=7.5
Q21=12.5
Q22=20
IDIS 20 ; This makes the current position X7.5, Y12.5, Z20
IDIS 20 ; This makes the current position X15 Y25 Z40
See Also:
Program commands TSEL, ADIS, AROT, IROT, TINIT
IF ({condition})
Function: Conditional branch
Type: Motion and PLC program
Syntax: IF ({condition}) (Valid in fixed motion (PROG) or PLC program only)
IF ({condition}) {action} [{action}...](Valid in rotary or
fixed motion program only)
where:
{condition} consists of one or more sets of {expression} {comparator}
{expression}, joined by logical operators AND or OR.
This command allows conditional branching in the program.
With an action statement or statements following on that line, it will execute those statements provided
the condition is true (this syntax is valid in motion programs only). If the condition is false, it will not
execute those statements; it will only execute any statements on a false condition if the line immediately
following begins with ELSE. If the next line does not begin with ELSE, there is an implied ENDIF at the
end of the line.
Note:
When there is an ELSE statement on the motion-program line immediately
following an IF statement with actions on the same line, that ELSE statement is
automatically matched to this IF statement, not to any preceding IF statements
under which this IF statement may be nested.
With no statement following on that line, if the condition is true, Turbo PMAC will execute all
subsequent statements on following lines down to the next ENDIF or ELSE statement (this syntax is valid
in motion and PLC programs). If the condition is false, it will skip to the ENDIF or ELSE statement and
continue execution there.
In a rotary motion program, only the single-line version of the IF statement is permitted. No ELSE or
ENDIF statements are allowed.
In a PLC program, compound conditions can be extended onto multiple program lines with subsequent
AND and OR statements.
There is no limit on nesting of IF conditions and WHILE loops (other than total buffer size) in fixed
motion and PLC programs. No nesting is allowed in rotary motion programs.
Examples:
IF (P1>10) M1=1
IF (M11=0 AND M12!=0) M2=1 M3=1
IF (M1=0) P1=P1-1
ELSE P1=P1+1
IF (M11=0)
P1=1000*SIN(P5)
X(P1)
ENDIF
IF (P1<0 OR P2!<0)
AND (P50=1)
X(P1)
DWELL 1000
ELSE
X(P1*2)
DWELL 2000
ENDIF
See Also:
Program commands ELSE, ENDIF, WHILE, AND, OR
INC
Function: Incremental Move Mode
Syntax: INC [({axis}[,{axis}...])]
where:
{axis} is a letter specifying a motion axis (X, Y, Z, A, B, C, U, V, W), or the letter R specifying the
arc center radial vector.
The INC command without arguments causes all subsequent command positions in motion commands for
all axes in the coordinate system running the motion program to be treated as incremental distances from
the latest command point. This is known as incremental mode, as opposed to the default absolute mode.
An INC statement with arguments causes the specified axes to be in incremental mode, and all others stay
the way they were before.
will be specified in incremental form (i.e. as a vector from the move start point, not from the origin). An
INC command without any arguments does not affect this vector specification. The default radial vector
Examples:
INC(A,B,C)
INC
INC(U)
INC(R)
See Also:
On-line commands ABS, INC
Program commands {axis}{data}, {axis}{data}{vector}{data}, ABS.
IROT{constant}
Function: Incremental rotation/scaling of X, Y, and Z axes
Syntax: IROT{constant}
where:
{constant} is an integer representing the number of the first of nine consecutive Q-variables to be
used in the rotation/scaling matrix
This command multiplies the currently selected (with TSEL) transformation matrix for the coordinate
system by the rotation/scaling values contained in the nine Q-variables starting with the specified one.
This has the effect of renaming the current commanded X, Y, and Z axis positions (from the latest
programmed move) by multiplying the existing rotation/scaling matrix by the matrix containing these Q-
variables, adding angles of rotation and multiplying scale factors.
The rotation and scaling is done relative to the latest rotation and scaling of the XYZ coordinate system,
defined by the most recent AROT or IROT commands. The math performed is:
[New Rot Matrix] = [Old Rot Matrix] [Incremental Rot Matrix]
[Xrot Yrot Zrot]
T
= [New Rot Matrix] [Xbase Ybase Zbase]
T

Note:
When using this command to scale the coordinate system, do not use the radius
center specification for circle commands. The radius does not get scaled. Use the
I, J, K vector specification instead.
Examples:
Create a 3x3 matrix to rotate the XY plane by 30 degrees about the origin
Q40=COS(30) Q41=SIN(30) Q42=0
Q43=-SIN(30) Q44=COS(30) Q45=0
Q46=0 Q47=0 Q48=1
IROT 40 ; Implement change, rotating 30 degrees from current
IROT 40 ; This rotates a further 30 degrees
Create a 3x3 matrix to scale the XYZ space by a factor of 3
Q50=3 Q51=0 Q52=0
Q53=0 Q54=3 Q55=0
Q56=0 Q57=0 Q58=3
IROT 50 ; Implement the change, scaling up by a factor of 3
IROT 50 ; Scale up by a further factor of 3 (total of 9x)
See Also:
Program commands TSEL, ADIS, IDIS, AROT, TINIT
J{data}
Function: J-Vector Specification for Circular Moves
Syntax: J{data}
where:
{data} is a floating-point constant or expression representing the magnitude of the J-component of
In circular moves, this specifies the component of the vector to the arc center that is parallel to the Y-axis.
interpolation and tool radius compensation that is parallel to the Y-axis.
Examples:
X10 Y20 I5 J5
Y(2*P1) J(P1)
J33.333 ; Specifies a full circle whose center is 33.333 units in the positive
; Y-direction from the start and end point
NORMAL J-1 ; Specifies a vector normal to the ZX plane
See Also:
Motion Program Commands {axis}{data}{vector}{data}, ABS, INC, NORMAL, I, K.
K{data}
Function: K-Vector Specification for Circular Moves
Syntax: K{data}
where:
{data} is a floating-point constant or expression representing the magnitude of the K-component of
In circular moves, this specifies the component of the vector to the arc center that is parallel to the Z-axis.
interpolation and tool radius compensation that is parallel to the Y-axis.
Examples:
X10 Z20 I5 K5
Z(2*P1) K(P1)
K33.333 ; Specifies a full circle whose center is 33.333 units in the
; positive Z-direction from the start and end point
NORMAL K-1 ; Specifies a vector normal to the XY plane
See Also:
Motion Program Commands {axis}{data}{vector}{data}, ABS, INC, NORMAL, I, J.
LINEAR
Function: Blended Linear Interpolation Move Mode
Syntax: LINEAR
LIN
The LINEAR command puts the program in blended linear move mode (this is the default condition on
power-up/reset). Subsequent move commands in the program will be processed according to the rules of
this mode. On each axis, the card attempts to reach a constant velocity that is determined by the most
recent feedrate (F) or move time (TM) command.
The LINEAR command takes the program out of any of the other move modes (CIRCLE, PVT, RAPID,
SPLINE). A command for any of these other move modes takes the program out of LINEAR mode.
Examples:
LINEAR ABS
CIRCLE1 X10 Y20 I5
LINEAR X10 Y0
OPEN PROG 1000 CLEAR
N1000 LINEAR RETURN
See Also:
Linear Blended Moves (Writing a Motion Program);
I-variables Isx87, Isx88, Isx89, Isx90;
Program commands CIRCLE, PVT, RAPID, SPLINE, TA, TS, TM, F, {axis}{data}.
LOCK{constant},P{constant}
Function: Check/set process locking bit
Type: Motion program/PLC program
Syntax: LOCK{constant},P{constant}
where:
the first {constant} is an integer from 0 to 7 representing the number of the locking bit;
the second {constant} is an integer from 0 to 8191 specifying the number of the P-variable used
to report the status of the locking bit.
The LOCK command permits the user to check and possibly take possession of one of the eight process
locking bits in Turbo PMAC. These locking bits can prevent conflicts between tasks of different
priorities attempting to manipulate the same register. On-line commands and PLCs 1-31 are background
When the LOCK command is invoked, the P-variable specified in the command takes the value of the
locking bit immediately before the command is invoked. It takes a value of 0 if the locking bit was not
set before the command (meaning the process is available for this task); it takes a value of 1 if the locking
bit was set before the command (meaning the process is not available for this task).
The locking bit itself is always set to 1 at the end of a LOCK command. It will stay at 1 until cleared by
an UNLOCK command.
The status of locking bits 0-7 is reported as bits 4-11, respectively, of I4904.
If no motion program buffer or PLC program buffer is open when this command is issued, this command
will be executed immediately as an on-line command.
Example:
P10=1 ; Assume locked to start
WHILE(P10=1) ; Loop until unlocked
ENDWHILE
M{data}
Function: Machine Code (M-Code)
Syntax: M{data}
where:
and the specified line label. (Usually programs 10n1 are used to implement the machine codes as the
N0 to N99999.
This structure permits the implementation of customizable M-Code routines for machine-tool style
subroutines by following the M-Code with one or more sets of {letter}{data}, as in CALL and
READ statements.
Most users will have M-codes only in the range 0-99, which permits the use of PROG 1001 only, and
Example:
M01 jumps to N1000 of PROG 1001
See Also:
Function: Set M-Variable Value
Syntax: M{data}={expression}
where:
{expression} is a mathematical expression representing the value to be assigned to this M-
variable.
This command sets the value of the specified M-variable to that of the expression on the right side of the
equals sign.
Note:
In a motion program, the assignment is done as the line is processed, not
necessarily in order with the actual execution of the move commands on either side
of it. If it is in the middle of a continuous move sequence, the assignment occurs
one or two moves ahead of its apparent place in the program (because of the need
to calculate ahead in the program).
To have the actual assignment of the value to the variable to be synchronous with the beginning of the
next move, use the synchronous M-variable assignment command M{constant}=={expression}
instead.
Examples:
M1=1
M102=$00FF
M161=P161*I108*32
M20=M20 & $0F
See Also:
How Turbo PMAC Executes a Motion Program, Synchronous Variable Assignment (Writing a Motion
Program)
Program Commands I{data}=, P{data}=, Q{data}=, M{data}==.
M{data}=={expression}
Function: Synchronous M-Variable Value Assignment
Syntax: M{data}=={expression}
where:
{expression} is a mathematical expression representing the value to be assigned to this M-
variable.
This command allows the value of an M-variable to be set synchronously with the start of the next move
or dwell. This is useful especially with M-variables assigned to outputs, so the output changes
synchronously with beginning or end of the move. Non-synchronous calculations (with the single =) are
fully executed ahead of time, during previous moves.
Note:
This command may not be used with any of the thumbwheel-multiplexer forms of
M-variables (TWB, TWD, TWR, TWS).
In this form, the expression on the right side is evaluated just as for a non-synchronous assignment, but
the resulting value is not assigned to the specified M-variable until the start of the actual execution of the
following motion command.
Note:
If using this M-variable in further expressions before the next move in the program
is started, the value assigned in this statement will not be received.
Examples:
X10
M1==1 ; Set Output 1 at start of actual blending to next move.
X20
M60==P1+P2
M(Q5000)==0
See Also:
Program)
Program Commands I{data}=, P{data}=, Q{data}=, M{data}=, M{data}&=, M{data}|=,
M{data}^=.
M{data}&={expression}
Function: M-Variable Synchronous And-Equals Assignment
Syntax: M{data}&={expression}
where:
{expression} is a mathematical expression representing the value to be ANDed with this M-
variable.
This command is equivalent to M{data}=M{data}&{expression}, except that the bit-by-bit AND
and the assignment of the resulting value to the M-variable do not happen until the start of the actual
execution of the following motion command. The expression itself is evaluated when the program line is
encountered, as in a non-synchronous statement.
Note:
M-variables (TWB, TWD, TWR, or TWS), or with any of the double-word forms
(L, D, or F).
Remember that if this M-variable is used in further expressions before the next
move in the program is started, the value assigned in this statement will not be
received.
Examples:
M20&=$FE ; Mask out LSB of byte M20
M346&=2 ; Clear all bits except bit 1
M(P3+2)&=$55
See Also:
Program)
Program Commands M{data}=, M{data}==, M{data}|=, M{data}^=
M{data}|={expression}
Function: M Variable Synchronous Or-Equals Assignment
Syntax: M{data}|={expression}
where:
{expression} is a mathematical expression representing the value to be ORed with this M-
variable.
This form is equivalent to M{data}=M{data}|{expression}, except that the bit-by-bit OR and
the assignment of the resulting value to the M-variable do not happen until the start of the following servo
command. The expression itself is evaluated when the program line is encountered, as in a non-
synchronous statement.
Note:
(L, D, or F).
received.
Examples:
M20|=$01 ; Set low bit of byte M20, leave other bits
M875|=$FF00 ; Set high byte, leaving low byte as is
M(Q5)|=Q8 & $F
See Also:
Program)
Program Commands M{data}=, M{data}==, M{data}&=, M{data}^=
M{data}^={expression}
Function: M-Variable Synchronous XOR-Equals Assignment
Syntax: M{data}^={expression}
where:
{expression} is a mathematical expression representing the value to be XORed with this M-
variable.
This form is equivalent to M{data}=M{data}^{expression}, except that the bit-by-bit XOR and
the assignment of the resulting value to the M-variable do not happen until the start of the following servo
command. The expression itself is evaluated when the program line is encountered, as in a non-
synchronous statement.
Note:
(L, D, or F).
received.
Examples:
M20^=$FF ; Toggle all bits of byte M20
M99^=$80 ; Toggle bit 7 of M99, leaving other bits as is
M(P1)^=P2
See Also:
Program)
Program Commands M{data}=, M{data}==, M{data}&=, M{data}|=
MACROAUXREAD
Function: Read (copy) Type 0 MACRO auxiliary parameter value from slave node
Type: Uncompiled PLC 1 31 only
Syntax: MACROAUXREAD{node #},{param #},{variable}
MXR{node #},{param #},{variable}
where:
{node #} is a constant in the range 0 to 63 representing the number of the node on the Turbo PMAC
matching the slave node to be accessed, where the node number specification is:
this node
{variable} is the name of the Turbo PMAC variable (I, P, Q, or M) into which the parameter
When Turbo PMAC executes this command in a PLC, it ends the present scan of that PLC. Execution of
the PLC resumes on the next line of the PLC in the next scan.
If this command is issued to a Turbo PMAC when no buffer is open, it will be executed as an on-line
command.
Note:
Delta Tau MACRO Station products use the Type 1 protocol and so do not use this
command.
Example:
MACROAUXREAD1,24,P1 ; Read Node 1 Parameter 24 into P1
MXR5,128,M100 ; Read Node 5 Parameter 128 into M100

See Also:
PLC Program command MACROAUXWRITE
MACROAUXWRITE
Function: Write (copy) Type 0 MACRO auxiliary parameter value to slave node
Syntax: MACROAUXWRITE{node #},{param #},{variable}
MXW{node #},{param #},{variable}
where:
{param #} is an integer constant from 2 to 253 specifying the auxiliary parameter number for this
node
{variable} is the name of the Turbo PMAC variable (I, P, Q, or M) from which the parameter
command.
Note:
Delta Tau MACRO Station products use the Type 1 protocol, and so do not use
this command.
Example:
MACROAUXWRITE1,24,P1 ; Write value of P1 to Node 1 Parameter 24
MXW5,128,M100 ; Write value of M100 to Node 5 Parameter 128

See Also:
On-line commands MACROAUXREAD, MACROAUXREAD
PLC Program command MACROAUXREAD
MACROMSTREAD
Function: Read (copy) Type 1 MACRO master auxiliary parameter value
Syntax: MACROMSTREAD{master #},{master variable},
MMR{master #},{master variable},{ring-master variable}
where:
be read;
be reported
command into which the value of the remote master variable is to be copied
station into the specified variable on the Turbo PMAC executing the command, using the MACRO Type
(I6480 = $xx90);
MACRO IC 0 node 14 normally must be disabled (I6841 bit 14 = 1);
by the slave node.
command.
Examples:
MMR4,I10,P10 ; Copies value of remote master 4 variable I10 into
; Turbo PMAC variable P10
MMR1,P1,P1 ; Copies value of remote master 1 variable P1 into
; Turbo PMAC variable P1
MACROMSTWRITE
Function: Write (copy) Type 1 MACRO master auxiliary parameter value
Syntax: MACROMSTWRITE{master #},{master variable},
MMW{master #},{master variable},{ring-master variable}
where:
be read;
be set;
command from which the value of the remote master variable is to be copied.
station from the specified variable on the Turbo PMAC executing the command, using the MACRO Type
(I6480 = $xx90);
by the slave node.
command.
Examples:
MMW4,I10,P10 ; Copies value of Turbo PMAC variable P10 into remote master 4 variable I10
MMW1,P1,P1 ; Copies value of Turbo PMAC variable P1 into remote master 1 variable P1

MACROSLVREAD
Function: Read (copy) Type 1 MACRO auxiliary parameter value
Syntax: MACROSLVREAD{node #},{slave variable},{PMAC variable}
MSR{node #},{slave variable},{PMAC variable}
where:
{slave variable} is the name of the variable on the slave station whose value is to be reported.
{PMAC variable} is the name of the variable on the Turbo PMAC into which the value of the
slave station variable is to be copied.
The variable on the Turbo PMAC can be any of the I, P, Q, or M-variable on the card.
(I6840/6890/6940/6990 = $xx90 or $xx30);
slave node.
command.
Examples:
MSR0,MI910,P1 ; Copies value of slave Node 0 variable MI910 into PMAC variable P1
MSR1,MI997,M10 ; Copies value of slave Node 1 variable MI997 into PMAC variable M10

MACROSLVWRITE
Function: Write (copy) Type 1 MACRO auxiliary parameter value
Syntax: MACROSLVWRITE{node #},{slave variable},{PMAC variable}
MSW{node #},{slave variable},{PMAC variable}
where:
value is to be set;
{PMAC variable} is the name of the variable on the PMAC from which the value of the slave
station variable is to be copied
The variable on the Turbo PMAC can be any of the I, P, Q, or M-variables on the card.
(I6840/6890/6940/6990 = $xx90 or $xx30);
slave node.
command.
Examples:
MSW0,MI910,P35 ; Copies value of PMAC P35 into MACRO station node 0 variable MI910
MSW4,C4,P0 ; Causes MACRO station with active node 4 to execute Command #4, saving
; its setup variable values to non-volatile memory (P0 is a dummy variable here)
N{constant}
Function: Program Line Label
Syntax: N{constant}
where:
{constant} is an integer from 0 to 262,143 (2
18
-1)
This is a label for a line in the program that allows the flow of execution to jump to that line with a GOTO,
GOSUB, CALL, G, M, T, or D statement or a B command.
A line needs only a label if the user wishes to be able to jump to that line. Line labels do not have to be in
any sort of numerical order. The label must be at the beginning of a line. Remember that each location
label takes up space in Turbo PMAC memory.
Note:
There is always an implied N0 at the beginning of every motion program. Putting
an explicit N0 at the beginning may be useful for people reading the program.
Putting an N0 anywhere else in the program is useless and may confuse people
reading the program.
Examples:
N1
N65537 X1000
See Also:
Subroutines and Subprograms (Writing a Motion Program)
Program commands O{constant}, GOTO, GOSUB, CALL, G, M, T, D.
NOFRAX
Function: Remove all axes from list of vector feedrate axes
Syntax: NOFRAX
This command causes Turbo PMAC to remove all axes from the list of vector feedrate axes for the
addressed coordinate system. In this mode, any feedrate-specified move in the coordinate system will
yield a vector distance of 0, forcing the use of the Isx86 alternate feedrate.
This can be useful to create a dry run of a motion program, overriding the feedrates specified in the
motion-program F commands.
Axes can be restored to the vector feedrate list with the FRAX command.
See Also:
On-line commands NOFRAX, FRAX
Program commands F, FRAX
NORMAL
Function: Define Normal Vector to Plane of Circular Interpolation and Cutter Radius
Compensation
Syntax: NORMAL {vector}{data} [{vector}{data}...]
NRM {vector}{data} [{vector}{data}...]
where:
{vector} is one of the letters I, J, and K, representing components of the total vector parallel to the
X, Y, and Z axes, respectively
{data} is a constant or expression representing the magnitude of the particular vector component.
This statement defines the orientation of the plane in XYZ-space in which circular interpolation and cutter
radius compensation will take place by setting the normal (perpendicular) vector to that plane.
The vector components that can be specified are I (X-axis direction), J (Y-axis direction), and K (Z-axis
direction). The ratio of the component magnitudes determines the orientation of the normal vector, and
therefore, of the plane. The length of this vector does not matter it does not have to be a unit vector.
The direction sense of the vector does matter, because it defines the clockwise sense of an arc move, and
the sense of cutter-compensation offset. Turbo PMAC uses a right-hand rule; that is, in a right-handed
coordinate system (I x J = K), if a right thumb points in the direction of the normal vector specified here,
the right fingers will curl in the direction of a clockwise arc in the circular plane, and in the direction of
offset-right from direction of movement in the compensation plane. In general, the negative normal
vector produces the clockwise/counterclockwise sense expected.
Examples:
The standard settings to produce circles in the principal planes will therefore be:
NORMAL K-1 ; XY plane -- equivalent to G17
NORMAL J-1 ; ZX plane -- equivalent to G18
NORMAL I-1 ; YZ plane -- equivalent to G19
By using more than one vector component, a circular plane skewed from the principal planes can be defined:
NORMAL I0.866 J0.500
NORMAL J25 K-25
NORMAL J(-SIN(Q1)) K(-COS(Q1))
NORMAL I(P101) J(P201) K(301)
See Also:
Circular Blended Moves, Cutter Radius Compensation (Writing a Motion Program)
Cartesian Axes (Setting Up a Coordinate System)
Program Commands CIRCLE1, CIRCLE2, CC0, CC1, CC2
NX{data}
Function: Set 3D-comp surface-normal vector X-component
Syntax: NX{data}
where:
{data} is a signed floating-point constant or expression representing the X-component of the
surface-normal vector
This statement specifies the X-component of the surface-normal vector used for three-dimensional cutter-
radius compensation. This value is used along with the Y and Z-components specified by the NY{data}
and NZ{data} statements, respectively, to compute the orientation of the vector.
The total magnitude of the surface-normal vector specified with these three components does not matter,
although a unit-magnitude vector is typically specified. The relative magnitudes (including signs) of the
three components are what determine the orientation of the vector. The vector must be defined from the
surface toward the tool. Generally, all three components be declared together on one line; if only one or
two components are declared, the others are left at their old values, possibly leading to unpredictable
results.
The surface-normal vector affects the compensation for the end-point of the move commanded on the
same line as the surface-normal vector. It also affects the compensation for subsequent moves until
another surface-normal vector is declared. In typical use, a new surface-normal vector is declared with
each move, so the vector only affects the move on the same line in this case.
Example:
X3.76 Y8.29 Z-4.83 A34.32 C-29.75 NX0.866 NY0 NZ-0.5
See Also:
Three-Dimensional Compensation
Program commands CC3, CCR{data}, NY{data}, NZ{data}, TR{data}, TX{data},
TY{data}, TZ{data}
NY{data}
Function: Set 3D-comp surface-normal vector Y-component
Syntax: NY{data}
where:
{data} is a signed floating-point constant or expression representing the Y-component of the
This statement specifies the Y-component of the surface-normal vector used for three-dimensional cutter-
radius compensation. This value is used along with the X and Z-components specified by the NX{data}
and NZ{data} statements, respectively, to compute the orientation of the vector.
although a unit-magnitude vector is typically specified. The relative magnitudes (including signs) of the
results.
Example:
X3.76 Y8.29 Z-4.83 A34.32 C-29.75 NX0.866 NY0 NZ-0.5
See Also:
Program commands CC3, CCR{data}, NX{data}, NZ{data}, TR{data}, TX{data},
TY{data}, TZ{data}
NZ{data}
Function: Set 3D-comp surface-normal vector Z-component
Syntax: NZ{data}
where:
{data} is a signed floating-point constant or expression representing the Z-component of the
This statement specifies the Z-component of the surface-normal vector used for three-dimensional cutter-
radius compensation. This value is used along with the X and Y-components specified by the
NX{data} and NY{data} statements, respectively, to compute the orientation of the vector.
although typically a unit-magnitude vector is specified. The relative magnitudes (including signs) of the
results.
Example:
X3.76 Y8.29 Z-4.83 A34.32 C-29.75 NX0.866 NY0 NZ-0.5
See Also:
Program commands CC3, CCR{data}, NX{data}, NY{data}, TR{data}, TX{data},
TY{data}, TZ{data}
O{constant}
Function: Alternate Line Label
Syntax: O{constant}
where:
{constant} is an integer from 0 to 262,143 (2
18
-1)
This is an alternate form of label in the motion program. It allows the flow of execution to jump to that
line with a GOTO, GOSUB, CALL, G, M, T, or D statement or a B command.
Turbo PMAC will store and report this as an N{constant} statement, but O labels are legal to send to
the program buffer. (N10 and O10 are identical labels to Turbo PMAC.)
A line only needs a label if the user wishes to be able to jump to that line. Line labels do not have to be in
any sort of numerical order. The label must be at the beginning of a line. Remember that each location
label takes up space in Turbo PMAC memory.
Examples:
O1
O65537 X1000
See Also:
Program commands O{constant}, GOTO, GOSUB, CALL, G, M, T, D.
OR({condition})
Function: Conditional OR
Type: PLC program
Syntax: OR ({condition})
This statement forms part of an extended compound condition to be evaluated in a PLC program. It must
immediately follow an IF, WHILE, AND, or OR statement. This OR is a boolean operator logically
combining the condition on its line with the condition on the program line above.
It takes lower precedence than operators within a compound condition on a single line (those within
parentheses), and also lower precedence than an AND operator that starts a line. (ORs operate on groups
of ANDed conditions.)
In motion programs, there can be compound conditions within one program line, but not across multiple
program lines, so this statement is not permitted in motion programs.
Note:
This logical OR, which acts on conditions, should not be confused with the bit-by-
bit | (vertical bar) or-operator, which operates on values.
Examples:
IF (M11=1) ; This branch increments P1 every cycle that
AND (M12=0) ; inputs M11 and M12 are different, and decrements
OR (M11=0) ; them every cycle that they are the same.
AND (M12=1)
P1=P1+1
ELSE
P1=P1-1
ENDIF
IF (M11=1 AND M12=0) ; This does the same as above
OR (M11=0 AND M12=1)
P1=P1+1
ELSE
P1=P1-1
ENDIF
See Also:
Program commands IF, WHILE, AND
Function: Set P-Variable Value
Syntax: P{data}={expression}
where:
representing the P-variable number;
{expression} represents the value to be assigned to this P-variable.
This command sets the value of the specified P-variable to that of the expression on the right side of the
equals sign. The assignment is done as the line is processed, which usually in a motion program is one or
two moves ahead of the move actually executing at the time (because of the need to calculate ahead in the
program).
Examples:
P1=0
P746=P20+P40
P893=SIN(Q100)-0.5
See Also:
On-line command P{constant}={expression}
Program commands I{data}={expression}, M{data}={expression},
Q{data}={expression}.
PAUSE PLC
Function: Pause execution of PLC programs
Syntax: PAUSE PLC {constant}[,{constant}...]
PAU PLC {constant}[,{constant}...]
PAUSE PLC {constant}[..{constant}]
PAU PLC {constant}[..{constant}]
where:
This command causes Turbo PMAC to stop execution of the specified uncompiled PLC program or
programs, with the capability to restart execution at this point (not necessarily at the top) with a RESUME
PLC command. Execution can also be restarted at the top of the program with the ENABLE PLC
command.
If the PLC program is paused from within that PLC, execution is stopped immediately after the PAUSE
PLC command.
If the PLC program is paused while it is not in the middle of a scan, which is always the case if it is
paused from another background PLC, it will obviously be paused at the end of a scan after an
ENDWHILE or after the last line.
If the PLC program is paused while it has been interrupted in the middle of a scan (for example, from a
motion program), its execution will resume after the interrupt and continue until after it executes any of
the following:
Any ENABLE PLC, DISABLE PLC, PAUSE PLC, or RESUME PLC command
An ENDWHILE command
The last line of the program
Execution will be paused at this point.
If no buffer is open when this command is sent to Turbo PMAC, it will be executed immediately as an
on-line command.
Examples:
PAUSE PLC 1
PAUSE PLC 4,5
PAUSE PLC 7..20
PAU PLC 3,8,11
PAU PLC 0..31
See Also:
I-variable I5
On-line commands ENABLE PLC, DISABLE PLC, <CONTROL-D>, PAUSE PLC, RESUME PLC,
LIST PLC
Program command ENABLE PLC, DISABLE PLC, RESUME PLC
PRELUDE
Function: Specify automatic subroutine call function
Syntax: PRELUDE1{command}
PRELUDE0
where:
{command} is a subprogram call from the set CALL{data}, G{data}, M{data},
T{data}, D{data}
The PRELUDE1 command permits automatic insertion of a subprogram call before each subsequent
motion command (e.g. X10Y10) or other letter-number command (e.g. L10) other than a line label in the
motion program. The action taken is equivalent to inserting the call into the program text before each
subsequent motion command or letter-number command.
The subprogram call to be performed can be specified in the PRELUDE1 command either as a CALL
command, or as a G, M, T, or D code. The value following the Call or code letter must be a constant; it
cannot be a variable or expression. It does not have to be an integer. If the routine called in the subprogram
starts with a READ statement, the motion or letter-number command itself can become arguments for the
subprogram call. Any motion command within a PRELUDE1 subroutine or subprogram call is executed
directly as a motion command, without an automatic subroutine call in front of it..
Turbo PMAC will only execute the PRELUDE1 function if the motion or letter-number command is
found at the beginning of a program line or immediately after the line label. If another type of command
occurs earlier on the program line, no PRELUDE1 function will be executed before the motion or letter-
number command. If the command is on a line that is already in a subroutine or subprogram reached by a
CALL or GOSUB command, no PRELUDE1 function will be executed.
Each PRELUDE1 command supersedes the previous PRELUDE1 command. It is not possible to nest
automatic PRELUDE1 calls, but an automatic PRELUDE1 call can be nested within explicit subroutine
and subprogram calls.
PRELUDE0 disables any automatic subroutine call.
Examples:
PRELUDE1 CALL10 ; Insert a CALL10 before subsequent moves
X10 Y20 ; Implicit CALL10 before this move
X20 Y30 ; Implicit CALL10 before this move
...
OPEN PROG 10 CLEAR ; Subprogram
Z-1 ; Move down
DWELL 500 ; Hold position
Z1 ; Move up
RETURN
...
G71 X7 Y15 P5 ; G71 calls PROG 1000 N71000
X8 Y16 P5 ; With PRELUDE, G71 is implied (modal)
X9 Y15 P8 ; With PRELUDE, G71 is implied (modal)
G70 ; Stop modal canned cycles
...
OPEN PROG 1000
...
N70000 ; G70 subroutine
PRELUDE0 ; Stop PRELUDE calls
RETURN
N71000 ; G71 subroutine
PRELUDE1 G71.1 ; Make G71 modal by using PRELUDE
RETURN
N71100 ; G71.1 routine is what executes G71 modally
READ(X,Y,P) ; Read values associated with X, Y, and P
{action based on parameters}
RETURN
See Also:
Program commands CALL, GOSUB, READ, G, M, T, D
PSET
Function: Redefine current axis positions (Position SET)
Syntax: PSET{axis}{data} [{axis}{data}...]
where:
{data} is a constant or an expression representing the new value for this axis position
This command allows the user to re-define the value of an axis position in the middle of the program. It
is equivalent to the RS-274 G-Code G92. No move is made on any axis as a result of this command the
value of the present commanded position for the axis is merely set to the specified value.
Internally, this command changes the value of the position bias register for each motor attached to an axis
named in the command. This register holds the difference between the axis zero point and the motor zero
(home) point.
This command automatically forces a temporary pause in the motion of the axes; no moves are blended
through a PSET command. For more powerful and flexible offsets that can be done on the fly (X, Y, and
Z axes only), refer to the matrix manipulation commands such as ADIS and IDIS.
Examples:
X10Y20
PSET X0 Y0 ; Call this position (0,0)
N92000 READ(X,Y,Z) ; To implement G92 in PROG 1000
PSET X(Q124)Y(Q125)Z(Q126) ; Equivalent of G92 X..Y..Z..
See Also:
Axes (Setting Up a Coordinate System)
On-line command {axis}={expression}
Program commands ADIS, AROT, IDIS, IROT
Suggested M-variable definitions Mxx64
PVT{data}
Function: Set Position-Velocity-Time mode
Syntax: PVT{data}
where:
{data} is a positive constant or expression representing the time of a segment in milliseconds
This command puts the motion program into Position-Velocity-Time move mode, and specifies the time
for each segment of the move, in milliseconds. In this mode, each move segment in the program must
specify the ending position and velocity for the axis. Taking the starting position and velocity (from the
previous segment), the ending position and velocity, and the segment time, Turbo PMAC computes the
unique cubic position profile (parabolic velocity profile) to meet these constraints.
If global I-variable I42 is set to the default value of 0, the specified time uses the move time register, and
has a range of 0 to 4095.9998 milliseconds, with a resolution of -microsecond. In this case, if the
segment time in a sequence of moves is changed on the fly, either another PVT command is used, or a TM
command.
If I42 is set to 1, the specified time uses the acceleration time register, and has a range of 0 to 8,388,607
milliseconds(about 2 hours, 20 minutes), with a resolution of 1 millisecond. In this case, if the segment
time in a sequence of moves is changed on the fly, either another PVT command is used, or a TA
command.
The segment time in a sequence of moves can be changed on the fly, either with another PVT command,
or with a TM command. TS, TA, and F settings are irrelevant in this mode.
The PVT command takes the program out of any of the other move modes (LINEAR, CIRCLE, SPLINE,
RAPID), and any of the other move mode commands takes the program out of PVT move mode.
Refer to the Writing a Motion Program section of this manual for more details of this mode.
Examples:
INC ; incremental mode, specify moves by distance
PVT200 ; enter this mode -- move time 200ms
X100:1500 ; cover 100 units ending at 1500 units/sec
PVT(P37)
See Also:
Position-Velocity-Time Mode Moves (Writing a Motion Program)
Program commands {axis}{data}:{data}..., TA, LINEAR, CIRCLEn, RAPID, SPLINE1.
Function: Set Q-Variable Value
Syntax: Q{data}={expression}
where:
representing the Q-variable number;
{expression} represents the value to be assigned to the specified Q-variable.
This command sets the value of the specified Q-variable to that of the expression on the right side of the
equals sign. The assignment is done as the line is processed, which in a motion program performing a
continuous move sequence is usually one or two moves ahead of the move actually executing at the time
(because of the need to calculate ahead in the program).
Because each coordinate system has its own set of Q-variables, it is important to know which coordinate
system's Q-variable is affected by this command. When executed from inside a motion program, this
command affects the specified Q-variable of the coordinate system running the motion program.
When executed from inside a PLC program, this command affects the specified Q-variable of the
coordinate system specified by the most recent ADDRESS command executed inside that PLC program.
If there has been no ADDRESS command executed since power-on/reset, it affects the Q-variable of
Coordinate System 1.
Examples:
Q1=3
Q99=2.71828
Q124=P100+ATAN(Q120)
See Also:
Q-Variables (Program Computational Features)
On-line command Q{constant}={expression}
Program commands ADDRESS, I{data}={expression}, M{data}={expression},
R{data}
Function: Set Circle Radius
Syntax: R{data}
where:
{data} is a constant or expression representing the radius of the arc move specified in user length
units.
This partial command defines the magnitude of the radius for the circular move specified on that
command line. It does not affect the moves on any other command lines. (If there is no R radius
specification and no IJK vector specification on a move command line, the move will be done linearly,
even if the program is in CIRCLE mode.)
If the radius value specified in {data} is greater than zero, the circular move to the specified end point
will describe an arc of less than or equal to 180
o
with a radial length of the specified value. If the radius
value specified in {data} is less than zero, the circular move to the specified end point will describe an
arc of greater than or equal to 180
o
with a radial length equal to the absolute value of {data}.
Note:
If using the AROT or IROT commands to scale the coordinate system, do not use
the radius center specification for circle commands. The radius does not get
scaled. Use the I, J, K vector specification instead.
Note:
If the distance from the start point to the end point is more than twice the
magnitude specified in {data}, there is no circular arc move possible. If the
distance is greater than twice {data} by an amount less than Isx96 (expressed in
user length units), Turbo PMAC will execute a spiral to the end point. If the
distance is greater by more than Isx96, Turbo PMAC will stop the program with a
run-time error.
Examples:
RAPID X0 Y0 ; Move to origin
CIRCLE1 ; Clockwise circle mode
X10 Y10 R10 ; Quarter circle to (10, 10)
X0 Y0 R-10 ; Three-quarters circle back to (0, 0)
X(P101) R(P101/2) ; Half circle to (P101, 0)
See Also:
Circular Blended Moves (Writing a Motion Program);
Program commands CIRCLE1, CIRCLE2, {axis}{data}{vector}{data}...
RAPID
Function: Set Rapid Traverse Mode
Syntax: RAPID
RPD
This command puts the program into a mode in which all motors defined to the commanded axes move to
their destination points in jog-style moves. This mode is intended to create the minimum-time move from
one point to another. Successive moves are not blended together in this mode, and the different motors do
not necessarily all reach their end points at the same time.
The accelerations and decelerations in this mode are controlled by motor jog-acceleration I-variables
Ixx19, Ixx20, and Ixx21. If motor I-variable Ixx90 is set to 0, the velocities in this mode are controlled by
the motor jog speed I-variables Ixx22. If Ixx90 is set to 1, they are controlled by the motor maximum
speed I-variables Ixx16. Only the motor with the greatest distance-to-speed ratio for the move actually
moves at this speed; all other motors are slowed from the specified speed to complete the move in
approximately the same time, so that the move is nearly linear.
The RAPID command takes the program out of any of the other move modes (LINEAR, CIRCLE, PVT,
SPLINE); any of the other move-mode commands takes the program out of RAPID mode.
Examples:
RAPID X10 Y20 ; Move quickly to starting cut position
M1=1 ; Turn on cutter
LINEAR X12 Y25 F2 ; Start cutting moves
...
M1=0 ; Turn off cutter
RAPID X0 Y0 ; Move quickly back to home position
See Also:
Rapid Mode Moves (Writing a Motion Program)
I-variables Ixx90, Ixx16, Ixx19, Ixx22
Program commands LINEAR, CIRCLE, PVT, SPLINE
READ
Function: Read Arguments for Subroutine
Syntax: READ({letter},[{letter}...])
where:
{letter} is any letter of the English alphabet, except N or O, representing the letter on the calling
program line whose following value is to be read into a variable
Note:
No space is allowed between READ and the left parenthesis.
This statement allows a subprogram or subroutine to take arguments from the calling routine. It looks at
the remainder of the line calling this routine (CALL, G, M, T, D), takes the values following the specified
letters and puts them into particular Q-variables for the coordinate system. For the Nth letter of the
alphabet, the value is put in Q(100+N).
It scans the calling line until it sees a letter that is not in the list of letters to READ, or until the end of the
calling line. (Note that if it encounters a letter not to be read, it stops, even if some letters have not yet
been read.) Each letter value successfully read into a Q-variable causes a bit to be set in Q100, noting that
it was read (bit N-1 for the Nth letter of the alphabet). For any letter not successfully read in the most
recent READ command, the corresponding bit of Q100 is set to zero.
The Q-variable and flag bit of Q100 associated with each letter are shown in the following table:
Letter Target Variable Q100 Bit Bit Value Decimal Bit Value Hex
A Q101 0 1 $01
B Q102 1 2 $02
C Q103 2 4 $04
D Q104 3 8 $08
E Q105 4 16 $10
F Q106 5 32 $20
G Q107 6 64 $40
H Q108 7 128 $80
I Q109 8 256 $100
J Q110 9 512 $200
K Q111 10 1,024 $400
L Q112 11 2,048 $800
M Q113 12 4,096 $1000
N* Q114* 13* 8,192* $2000*
O* Q115* 14* 16,384* $4000*
P Q116 15 32,768 $8000
Q Q117 16 65,536 $10000
R Q118 17 131,072 $20000
S Q119 18 262,144 $40000
T Q120 19 524,288 $80000
U Q121 20 1,048,57 $100000
V Q122 21 2,097,15 $200000
W Q123 22 4,194,304 $400000
X Q124 23 8,388,608 $800000
Y Q125 24 16,777,216 $1000000
Z Q126 25 33,554,432 $2000000
*Cannot be used
Any letter may be READ except N or O, which are reserved for line labels (and should only be at the
beginning of a line anyway). If a letter value is read from the calling line, the normal function of the
letter (e.g. an axis move) is overridden, so that letter serves merely to pass a parameter to the subroutine.
If there are remaining letter values on the calling line that are not read, those will be executed according
to their normal function after the return from the subroutine.
Examples:
In standard machine tool code, a two-second DWELL would be commanded in the program as a G04
X2000, for instance. In Turbo PMAC, a G04 is interpreted as a CALL to label N04000 of PROG 1000,
so to implement this function properly, PROG 1000 would contain the following code:
N04000 READ(X)
DWELL (Q124)
RETURN
Also, in standard machine tool code, the value assigned to the current position of the axis may be changed
with the G92 code, followed by the letters and the new assigned values of any axes (e.g. G92 X20
Y30). It is important only to assign new values to axes specified in this particular G92 command, so the
Turbo PMAC subroutine implementing G92 with the PSET command must check to see if that particular
axis is specified:
N92000 READ(X,Y,Z)
IF (Q100 & $800000 > 0) PSET X(Q124)
IF (Q100 & $1000000 > 0) PSET Y(Q125)
IF (Q100 & $2000000 > 0) PSET Z(Q126)
RETURN
See Also:
Program commands CALL, GOSUB, G, M, T, D
RESUME PLC
Function: Resume execution of PLC programss
Syntax: RESUME PLC {constant}[,{constant}...]
RES PLC {constant}[,{constant}...]
RESUME PLC{constant}[..{constant}]
RES PLC {constant}[..{constant}]
where:
This command causes Turbo PMAC to resume execution of the specified uncompiled PLC program or
programs at the point where execution was suspended with the PAUSE PLC command, which is not
necessarily at the top of the program.
The RESUME PLC command cannot be used to restart execution of a PLC program that has been stopped
with a DISABLE PLC command. However, after a PLC has been stopped with a DISABLE PLC
command, if a PAUSE PLC command is then given for that PLC, then a RESUME PLC command can
be given to start operation at the point at which it has been stopped.
If no buffer is open when this command is sent to Turbo PMAC, it will be executed immediately as an
on-line command.
Examples:
RESUME PLC 0
RESUME PLC 1,2,5
RESUME PLC 1..16
RES PLC 7
See Also:
I-variable I5
On-line commands ENABLE PLC, DISABLE PLC, <CONTROL-D>, PAUSE PLC, RESUME PLC
Program commands ENABLE PLC, DISABLE PLC, PAUSE PLC
RETURN
Function: Return From Subroutine Jump/End Main Program
Syntax: RETURN
RET
The RETURN command tells the motion program to jump back to the routine that called the execution of
this routine. If this routine was started from an on-line command (RUN), program execution stops and the
program pointer is reset to the top of this motion program control is returned to the Turbo PMAC
operating system.
If this routine was started from a GOSUB, CALL, G, M, T, or D command in a motion program, program
execution jumps back to the command immediately following the calling command.
When the CLOSE command is sent to end the entry into a motion program buffer, Turbo PMAC
automatically appends a RETURN command to the end of that program. When the OPEN command is
sent to an existing motion program buffer, the final RETURN command is automatically removed.
Examples:
OPEN PROG 1 CLEAR
X20 F10
X0
CLOSE ; Turbo PMAC places a RETURN here
OPEN PROG 1000 CLEAR
N0 RAPID RETURN ; Execution jumps back after one-line routine
N1000 LINEAR RETURN ; Ditto
N2000 CIRCLE1 RETURN ; Ditto
...
CLOSE ; Turbo PMAC places a RETURN here
See Also:
On-line commands OPEN, CLOSE
Program commands CALL, GOSUB, G, M, T, D
S{data}
Function: Spindle data command
Syntax: S{data}
where:
{data} is a constant or expression representing the value to be passed to the storage variable for
later use
This command causes the value in {data} to be loaded in variable Q127 for the coordinate system
executing the motion program. It takes no other action. It is intended to pass spindle speed data in
machine tool programs. The algorithms that actually control the spindle would then use Q127 in their
routines; for instance, to set jog speed, or voltage output.
Note:
This command is distinct from S{data} information passed as part of a
subroutine call through a READs command; in that form, the value is placed in
Q119 for the coordinate system.
Examples:
S1800 ; This puts a value of 1800 in Q127
S(P1) ; This puts the value of P1 in Q127
G96 S50 ; Here the S-term is an argument in the G-code call
(PROG 1000) ; This is the subroutine that executes G96
N96000 READs ; This puts a value of 50 in Q119
See Also:
Q-variables (Program Computational Features)
Implementing a Machine-Tool Style Program (Writing a Motion Program)
Motion program command READ
Example program SPINDLE.PMC
SENDx
Function: Cause Turbo PMAC to Send Message
Syntax: SENDS"{message}"
SENDP"{message}"
SENDR"{message}"
SENDA"{message}"
This command causes Turbo PMAC to send the specified message out a specified communications port.
This is particularly useful in the debugging of applications. It can also be used to prompt an operator, or
to notify the host computer of certain conditions.
If I62=0, Turbo PMAC issues a carriage-return (<CR>) character at the end of the message automatically.
If I62=1, Turbo PMAC does not issue a <CR> character at the end of the message; a SENDx^M must be
used to issue a <CR> in this case.
Note:
If there is no host on the port to which the message is sent, or the host is not ready
to read the message, the message is left in the queue. If several messages back up
in the queue this way, the program issuing the messages will halt execution until
the messages are read. This is a common mistake when the SENDx command is
used outside of an Edge-Triggered condition in a PLC program. See Writing a
PLC Program for more details.
On the serial port, it is possible to send messages to a non-existent host by
disabling the port handshaking with I1=1.
SENDS transmits the message to the main serial port.
SENDP transmits the message to the parallel bus port: ISA, VME, or PCI, whichever is present on the
board.
SENDR transmits the message through the DPRAM ASCII response buffer.
SENDA transmits the message to the Option 9T auxiliary serial port.
Note:
If a program, particularly a PLC program, sends messages immediately on power-
up/reset, it can confuse a host-computer program (such as the Turbo PMAC
Executive Program) that is trying to find Turbo PMAC by querying it and looking
for a particular response.
It is possible, particularly in PLC programs, to order the sending of messages faster than the port can
handle them. Usually, this will happen if the same SENDx command is executed every scan through the
PLC. For this reason, it is good practice to have at least one of the conditions that causes the SENDx
command to execute to be set false immediately to prevent execution of this SENDx command on
subsequent scans of the PLC.
Note:
To cause Turbo PMAC to send the value of a variable, use the COMMANDx
statement instead, specifying the name of the variable in quotes (e.g. CMDS"P1")
Examples:
SENDR"Motion Program Started"
SENDS"DONE"
SENDP"Spindle Command Given"
IF (M188=1) ; C.S.1 Warning Following Error Bit set?
IF (P188=0) ; But not set last scan? (P188 follows M188)
SENDA"Excessive Following Error" ; Notify operator
P188=1 ; To prevent repetition of message
ENDIF
ELSE ; F.E. Bit not set
P188=0 ; To prepare for next time
ENDIF
SENDS"THE VALUE OF P7 IS:" ; Turbo PMAC to send message string
CMDS"P7" ; Turbo PMAC to return the value of P7
See Also:
I-variables I1, I62
Program commands COMMANDx, DISPLAY, SENDx^{letter}
SENDx^{letter}
Function: Cause Turbo PMAC to Send Control Character
Syntax: SENDS^{letter}
SENDP^{letter}
SENDR^{letter}
SENDA^{letter}
where:
{letter} is one of the characters in the following set: @ABC...XYZ[\]^_
This command causes Turbo PMAC to send the specified control character over the specified
communications ports. These can be used for printer and terminal control codes, or for special
communications to a host computer.
Control characters have ASCII byte values of 0 to 31 ($1F). The specified {letter} character
determines which control character is sent when the statement is executed.
The byte value of the control character sent is 64 ($40) less than the byte value of {letter}. The
letters that can be used and their corresponding control characters are:
{letter} Letter Value Control Character Value
@ 64 NULL 0
A 65 <CTRL-A> 1
B 66 <CTRL-B> 2
C 67 <CTRL-C> 3
...
X 88 <CTRL-X> 24
Y 89 <CTRL-Y> 25
Z 90 <CTRL-Z> 26
[ 91 ESC 27
\ 92 28
] 93 29
^ 94 30
_ 95 31
Note: Do not put the up-arrow character and the letter in quotes (e.g. do not use SENDx"Â")
or Turbo PMAC will attempt to send the two non-control characters ^ and A for this example,
instead of the control character.
SENDS transmits the control character to the main serial port.
SENDP transmits the control character to the parallel bus port: ISA, VME, or PCI, whichever is present
on the board.
SENDR transmits the control character through the DPRAM ASCII response buffer.
SENDA transmits the control character to the Option 9T auxiliary serial port.
When Turbo PMAC powers up or resets, the active response port is the serial port. When any command
is received over a bus port, the active response port becomes the bus port. Turbo PMAC must then
receive a <CONTROL-Z> command to cause the response port to revert back to the serial port.
It is possible, particularly in PLC programs, to order the sending of messages faster than the port can handle
them. Usually, this will happen if the same SEND command is executed every scan through the PLC.
For this reason, it is good practice to have at least one of the conditions that causes the SEND command to
execute to be set false immediately to prevent execution of this SEND command on subsequent scans of
the PLC.
See Also:
On-line command <CTRL-Z>
Program commands SEND"{message}", COMMAND"{command}", COMMAND^{letter}
SETPHASE
Function: Set commutation phase position value
Type: Motion and PLC programs
Syntax: SETPHASE {constant} [,{constant}]
SETPHASE {constant}..{constant}
[,{constant}..{constant}]
where:
{constant} is an integer from 1 to 32 representing a motor number
The SETPHASE command causes Turbo PMAC to immediately copy the value of Ixx75 for the specified
motor or motors into the active phase position register for that motor or motors.
Typically, this command is used to correct the phasing of a motor at a known angle (such as the index
pulse of the encoder) after an initial rough phasing (such as from Hall commutation registers).
The copying action is done immediately on execution of the command. In a motion program, this is done
at program calculation, which can be ahead of execution of the accompanying moves if the command is in
the middle of a blended sequence of moves.
To determine the value of Ixx75 to be used, first force an unloaded motor to the zero position in its
phasing cycle. Next, manually set the phase position register (suggested M-variable Mxx71) to zero.
Finally, move the motor to the known position, usually with a homing search move to the index pulse or
other trigger. Read the phase position register at this point and set Ixx75 to this value. For more details,
see the Ixx75 description and the Commutation section of the User Manual.
Examples:
HOME1
WHILE(M140=0)
ENDWHILE
SETPHASE1
SPLINE1
Function: Put program in uniform cubic spline motion mode
Syntax: SPLINE1
This modal command puts the program in cubic B-spline mode. In SPLINE1 mode, each programmed
move takes either the TM time (Isx89 is default) if global variable I42 is set to the default value of 0, or
the TA time (Isx87 is the default) if I42 is set to 1 -- there is no feedrate specification allowed. Each
move on each axis is computed as a cubic position trajectory in which the intermediate positions are
relaxed somewhat so there are no velocity or acceleration discontinuities in blending the moves together.
If I42 is set to 0, the specified TM time has a range of 0 to 4095.9998 milliseconds, with a resolution of -
microsecond. If I42 is set to 1, the specified TA time has a range of 0 to 8,388,607 milliseconds (about 2
hours, 20 minutes), with a resolution of 1 millisecond.
Before the first move in any series of consecutive moves, a starting move of TM or TA time is added to
blend smoothly from a stop. After the last move in any series of consecutive moves, an ending move of
TM or TA time is added to blend smoothly to a stop.
This command will take the program out of any of the other move modes (LINEAR, CIRCLE, PVT,
RAPID). The program will stay in this mode until another move mode command is executed.
Examples:
RAPID X10 Y10
SPLINE1 TM100
X20 Y15
X32 Y21
X43 Y26
X50 Y30
DWELL100
RAPID X0 Y0
See Also:
Cubic Spline Mode (Writing a Motion Program)
Program commands LINEAR, CIRCLE, RAPID, PVT, SPLINE2, TA
SPLINE2
Function: Put program in non-uniform cubic spline motion mode
Syntax: SPLINE2
This modal command puts the program in non-uniform cubic spline mode. This mode is virtually
identical to the SPLINE1 uniform cubic spline mode described above, except that the TM segment time
can vary in a continuous spline. This makes SPLINE2 mode more flexible than SPLINE1 mode, but it
takes slightly more computation time.
Examples:
RAPID X10 Y10
SPLINE2
X20 Y15 TA100
X32 Y21 TA120
X43 Y26 TA87
X50 Y30 TA62
DWELL100
RAPID X0 Y0
See Also:
Cubic Spline Mode (Writing a Motion Program)
Program commands LINEAR, CIRCLE, RAPID, PVT, SPLINE1, TA
STOP
Function: Stop program execution
Type: Motion program (PROG)
Syntax: STOP
This command suspends program execution, whether started by run or step, keeping the program counter
pointing to the next line in the program, so that execution may be resumed with a RUN or STEP command.
Examples:
A10 B10
A20 B0
STOP
A0 B0
See Also:
On-line commands <CONTROL-Q>, Q, R, S
Program commands BLOCKSTART, BLOCKSTOP
T{data}
Function: Tool Select Code (T-Code)
Syntax: T{data}
where:
and the specified line label.
(Usually, programs 10n2 are used to implement the machine codes as the system designer sees fit.) The
value of {data} can be from 0.0 to 99.999, corresponding to line labels N0 to N99999.
This structure permits the implementation of customizable T-Code routines for machine-tool style
subroutines by following the T-Code with one or more sets of {letter}{data}, as in CALL and
READ statements.
Most users will have T-codes only in the range 0-99, which permits the use of PROG 1002 only, and
Examples:
T01 jumps to N1000 of PROG 1002
See Also:
TA{data}
Function: Set Acceleration Time
Syntax: TA{data}
where:
{data} is a constant or expression representing the acceleration time in milliseconds
This statement specifies the commanded acceleration time between blended moves (LINEAR and
CIRCLE mode), and from and to a stop for these moves. If global variable I42 is set to 1, it also specifies
the segment time for PVT and SPLINE mode moves. The units are milliseconds, and the range is 0 to
8,388,607 msec (about 2 hours, 20 minutes). Turbo PMAC will round the specified value to the nearest
integer number of milliseconds when executing this command (no rounding is done in storing the value in
the buffer).
Note:
If the coordinate system is not in segmentation mode (Isx13 = 0), make sure the
specified acceleration time (TA or 2*TS) is greater than zero, even if planning to
rely on the maximum acceleration rate parameters (Ixx17). A specified
acceleration time of zero will cause a divide-by-zero error. The minimum
specified time in this case should be TA1 TS0.
If the specified S-curve time (from TS, or Isx88) is greater than half the TA time, the time used for the
acceleration for blended moves will be twice the specified S-curve time.
The acceleration time is also the minimum time for a blended move; if the distance on a feedrate-
specified (F) move is so short that the calculated move time is less than the acceleration time, or the time
of a time-specified (TM) move is less than the acceleration time, the move will be done in the acceleration
time instead. This will slow down the move. If TA controls the move time it must be greater than the
Isx13 time and the I8 period.
Note:
programmed LINEAR mode move with Isx13=0 (no move segmentation).
A move executed in a program before any TA statement will use the default acceleration time specified by
coordinate system I-variable Isx87.
Examples:
TA100
TA(P20)
TA(45.3+SQRT(Q10))
See Also:
Linear, Circular Blended Moves, Cubic Spline Moves, PVT Moves (Writing a Motion Program)
I-variables Ixx17, Isx87, Isx88
Program commands TS, TM
TINIT
Function: Initialize selected transformation matrix
Syntax: TINIT
This command initializes the currently selected (with TSEL) transformation matrix for the coordinate
system by setting it to the identity matrix. This makes the rotation angle 0, the scaling 1, and the
displacement 0, so the XYZ points for the coordinate system are as the axis definition statements created
them. Turbo PMAC will still perform the matrix calculations, even though they have no effect. TSEL0
should be used to stop the matrix calculations
The matrix can subsequently be changed with the ADIS, IDIS, AROT, and IROT commands.
Examples:
TSEL 4 ; Select transformation matrix 4
TINIT ; Initialize it to the identity matrix
IROT 71 ; Do incremental rotation/scaling with Q71-Q79
See Also:
Program commands TSEL, ADIS, IDIS, AROT, IROT
TM{data}
Function: Set Move Time
Syntax: TM{data}
where:
{data} is a floating-point constant or expression representing the move time in milliseconds.
This command establishes the time to be taken by subsequent LINEAR and CIRCLE, mode moves. If
global variable I42 is set to the default value of 0, it also established the time to be taken by subsequent
SPLINE and PVT mode moves. It overrides any previous TM or F statement, and is overridden by any
subsequent TM or F statement. It is irrelevant in RAPID move mode (or in SPLINE or PVT move mode
if I42 is set to 1), but the latest value will stay active through that mode for the next return to TM-
controlled move modes.
For LINEAR and CIRCLE mode moves, the effective move time can range from 0.5 msec to 2
23
msec
(about 2 hours 20 minutes), with floating-point resolution. For SPLINE and PVT mode moves, the
effective move time can range from 1 servo cycle to 4096 msec (about 4 seconds), with resolution of -
microsecond.
There are several cases in which Turbo PMAC will not use the move time commanded with the TM
statement:
If the specified move time is over the maximum 2
23
msec for LINEAR or CIRCLE moves, 4096
msec for SPLINE and PVT moves the move will be executed in the maximum allowed time, at a
higher speed than what was programmed.
If the move time programmed with the TM statement causes any motor in the coordinate system to
exceed its Ixx16 velocity limit (when active), all axes will be slowed so that no motor exceeds its
limit.
If the specified move time is less than the acceleration time currently in force (TA or 2*TS or the time
set by the Ixx17 limit when active), the move will take the full acceleration time instead, and the axes
will move more slowly than specified by the TM command. If the acceleration time is 0, the
minimum permitted move time is 0.5 msec.
If the % override value for the coordinate system is at other than %100 when the move is executed,
the move will not execute in the specified time. The actual move time varies in inverse proportion to
the % value.
If TM controls the move time it must be greater than the Isx13 time and the I8 period. Otherwise, the
program can fail on a run-time error because the calculations for the next move may not be completed in
time.
Examples:
TM30
TM47.635
TM(P1/3)
See Also:
Linear and Circular Blended Moves (Writing a Motion Program)
I-variables I8, Ixx16, Ixx17, Isx13, Isx89
Program commands F, TA, TS, LINEAR, CIRCLE
TR{data}
Function: Set 3D-comp tool-shaft radius magnitude
Syntax: TR{data}
where:
{data} is a signed floating-point constant or expression representing the magnitude of the tools
shaft radius
This statement sets the magnitude of the radius of the cutting tools shaft for three-dimensional cutter-
radius compensation, expressed in the user units of the X, Y, and Z axes. It is used in conjunction with
the cutters end radius declared by the CCR statement. This function is often part of the D tool data used
in the machine-tool standard RS-274 (G) code.
The default value of the tool-shaft radius at power-up/reset is zero. If the tool-shaft radius declared with
the TR statement is less than the cutter-end radius set with the CCR statement, the CCR value will be used
instead for the tool-shaft radius.
In operation of 3D compensation, after an offset of the cutter-end radius along the surface-normal vector,
there is a second offset of the tool-shaft radius minus the cutter-end radius, perpendicular to the tool-
orientation vector.
The tool-shaft value declared with the TR statement affects all subsequent moves with 3D compensation
active, until another tool-shaft radius value is declared.
Examples:
TR1.356
TR(Q10)
See Also:
Program commands CC3, CCR{data}, NX{data}, NY{data}, NZ{data}, TX{data},
TY{data}, TZ{data}
TS{data}
Function: Set S-Curve Acceleration Time
Syntax: TS{data}
where:
{data} is a positive constant or expression representing the S-curve time in milliseconds.
This command specifies the time, at both the beginning and end of the total acceleration time, in LINEAR
and CIRCLE mode blended moves that is spent in S-curve acceleration. The units are milliseconds.
Turbo PMAC will round the specified value to the nearest integer number of milliseconds when executing
this command (no rounding is done when storing the value in the buffer).
If TS is zero, the acceleration is constant throughout the TA time and the velocity profile is trapezoidal.
If TS is greater than zero, the acceleration will start at zero and linearly increase through TS time, then
stay constant (for time TC) until TA-TS time, and linearly decrease to zero at TA time (that is,
TA=2TS+TC).
If TS is equal to TA/2, the entire acceleration will be spent in S-curve form (TS values greater than
TA/2 override the TA value; total acceleration time will be 2TS.
Note:
For LINEAR mode moves with Turbo PMAC not in segmentation mode
(Isx13=0), if the rate of acceleration for any motor in the coordinate system
exceeds that motors maximum as specified by Ixx17, the acceleration time for all
motors is increased so that no motor exceeds its maximum acceleration rate.
TS does not affect RAPID, PVT, or SPLINE mode moves, but it stays valid for the next return to blended
moves.
Note:
If the coordinate system is not in segmentation mode (Isx13 = 0), make sure the
specified acceleration time (TA or 2*TS) is greater than zero, even if planning to
rely on the maximum acceleration rate parameters (Ixx17). A specified
acceleration time of zero will cause a divide-by-zero error. In this case, the
minimum specified time should be TA1 TS0.
In executing the TS command, Turbo PMAC rounds the specified value to the nearest integer number of
milliseconds (there is no rounding done when storing the command in the buffer).
A blended move executed in a program before any TS statement will use the default S-curve time
specified by coordinate system I-variable Isx88.
Examples:
TS20
TS(Q17)
TS(39.32+P43)
See Also:
Linear and Circular Blended Moves (Writing a Motion Program)
I-variables Isx13, Ixx17, Ixx21, Isx87, Isx88
Program commands TA, TM, F, LINEAR, CIRCLE
TSELECT{constant}
Function: Select active transformation matrix for X, Y, and Z axes
Syntax: TSELECT{constant}
TSEL{constant}
where:
{constant} is an integer representing the number of the matrix to be used
This command selects the specified matrix for use as the active transformation matrix for the X, Y, and Z
axes of the coordinate system running the motion program. This matrix can then be modified using the
TINIT, ADIS, AROT, IDIS, and IROT commands to perform translations, rotations, and scaling of the
three axes. This matrix will be used until another one is selected.
This matrix must already have been created with the on-line DEFINE TBUF command. That command
specifies the number of matrices to create and it must have specified a number at least as high as the
number used in TSEL (a matrix that has not been created cannot be selected).
TSEL0 deselects all transformation matrices, saving calculation time.
Examples:
DEFINE TBUF 5 ; Create 5 transformation matrices
OPEN PROG 10 CLEAR
...
TSEL 3 ; Select transformation matrix 3 (of 5)
TINIT ; Make matrix 3 the identity matrix
See Also:
Program commands AROT, IROT, ADIS, IDIS, TINIT
TX{data}
Function: Set 3D-comp tool-orientation vector X-component
Syntax: TX{data}
where:
{data} is a signed floating-point constant or expression representing the X-component of the tool-
orientation vector
This statement specifies the X-component of the tool-orientation vector used for three-dimensional cutter-
radius compensation. This value is used along with the Y and Z-components specified by the TY{data}
and TZ{data} statements, respectively, to compute the orientation of the vector.
The total magnitude of the tool-orientation vector specified with these three components does not matter,
three components are what determine the orientation of the vector. The direction sense of the vector does
not matter base to tip, or tip to base. Generally, all three components are declared together on one line;
if only one or two components are declared, the others are left at their old values, possibly leading to
unpredictable results.
The tool-orientation vector affects the compensation for the end-point of the move commanded on the
same line as the tool-orientation vector. It also affects the compensation for subsequent moves until
another tool-orientation vector is declared. In typical use, a new tool-orientation vector is declared with
Examples:
X3.76 Y8.29 Z-4.83 A34.32 C-29.75 NX0.866 NY0 NZ-0.5 TX-0.707 TY0.707 TZ0
See Also:
Program commands CC3, CCR{data}, NX{data}, NY{data}, NZ{data}, TR{data},
TY{data}, TZ{data}
TY{data}
Function: Set 3D-comp tool-orientation vector Y-component
Syntax: TY{data}
where:
{data} is a signed floating-point constant or expression representing the Y-component of the tool-
orientation vector
This statement specifies the Y-component of the tool-orientation vector used for three-dimensional cutter-
radius compensation. This value is used along with the X and Z-components specified by the TX{data}
and TZ{data} statements, respectively, to compute the orientation of the vector.
Examples:
See Also:
TX{data}, TZ{data}
TZ{data}
Function: Set 3D-comp tool-orientation vector Z-component
Syntax: TZ{data}
where:
{data} is a signed floating-point constant or expression representing the Z-component of the tool-
orientation vector
This statement specifies the Z-component of the tool-orientation vector used for three-dimensional cutter-
radius compensation. This value is used along with the X and Y-components specified by the
TX{data} and TY{data} statements, respectively, to compute the orientation of the vector.
Examples:
See Also:
TX{data}, TY{data}
U{data}
Function: U-Axis Move
Syntax: U{data}
where:
{data} is a floating point constant or expression representing the position or distance in user units
for the U-axis.
This command causes a move of the U-axis. (See {axis}{data} description, above.) If it follows a
Examples:
U10
U(P17+2.345)
X20 U20
U(COS(Q10)) V(SIN(Q10))
G77 U40
See Also:
Program commands {axis}{data}, A, B, C, V, W, X, Y, Z, CALL, PRELUDE, READ
UNLOCK{constant}
Function: Clear process locking bit
Type: Motion and PLC programs
Syntax: UNLOCK{constant}
where:
{constant} is an integer from 0 to 7 representing the number of the locking bit
The UNLOCK command permits the user to clear one of the eight process locking bits in Turbo PMAC,
releasing the process for other tasks. These locking bits can prevent conflicts between tasks of different
priorities attempting to manipulate the same register. On-line commands and PLCs 1-31 are background
The user can check the status of a locking bit with the LOCK command.
The status of locking bits 0-7 is reported as bits 4-11, respectively, of I4904.
Examples:
P10=1 ; Assume locked to start
WHILE(P10=1) ; Loop until unlocked
ENDWHILE
V{data}
Function: V-Axis Move
Syntax: V{data}
where:
for the V-axis.
This command causes a move of the V-axis. (See {axis}{data} description, above.) If it follows a
Examples:
V20
U56.5 V(P320)
Y10 V10
V(SQRT(Q20*Q20+Q21*Q21))
CALL300 V(Q400)
See Also:
Program commands {axis}{data}, A, B, C, U, W, X, Y, Z, CALL, PRELUDE, READ
W{data}
Function: W-Axis Move
Syntax: W{data}
where:
for the W-axis.
This command causes a move of the W-axis. (See {axis}{data} description, above.) If it follows a
Examples:
W5
W(P10+33.5)
Z10 W10
W(ABS(Q22*Q22))
M50 W1
See Also:
Program commands {axis}{data}, A, B, C, U, V, X, Y, Z, CALL, PRELUDE, READ
WAIT
Function: Suspend program execution
Syntax: WAIT
This command may be used on the same line as a WHILE condition to hold up execution of the program
until the condition goes false. When the condition goes false, program execution resumes on the next
line. Turbo PMAC will not blend moves through a true WHILEWAIT loop.
Use of the WAIT statement allows indefinite pauses without the need for repeated use of a servo
command (e.g. DWELL or DELAY) to eat up the time. However, it is impossible to predict how long the
pause will be.
WAIT permits a faster resumption of the program upon the WHILE condition going false. Also, the
program timer is halted when WAITing, which allows the in-position bit to go true (which can be used
to trigger an action, or the next move).
Since Turbo PMAC executes a WHILE ({condition}) WAIT statement every Real Time Interrupt
until the condition goes false, it is essentially the same as a PLC0. This could use excessive processor
time and in severe cases trip the watchdog timer on Turbo PMACs that simultaneously run several
motion programs that use WAIT statements and or large PLC0 programs. For example, if the condition
needs to be checked only every 20 msec and not every Real Time Interrupt, consider using a DWELL
command to regulate the execution time of the WHILE loop.
Examples:
WHILE ({condition})
DWELL20
ENDW
WHILE (M11=0) WAIT ; Pause here until Machine Input 1 set
WHILE (M187=0) WAIT ; Pause here until all axes in-position
M1=1 ; Turn on Output 1 to activate punch
See Also:
I-variable Ixx28
Program commands DWELL, DELAY, STOP
WHILE({condition})
Function: Conditional looping
Type: Motion program (PROG only); PLC program
Syntax: WHILE ({condition})
WHILE ({condition}) {action}
where:
{condition} consists of one or more sets of {expression} {comparator}
{expression}, joined by logical operators AND or OR.
This statement allows repeated execution of a statement or series of statements as long as the condition is
true. It is Turbo PMACs only looping construct. It can take two forms:
(Valid in motion program only) With a statement following on the same line, it will repeatedly execute
that statement as long as the condition is true. No ENDWHILE is used to terminate the loop.
WHILE ({condition}) {action}
(Valid in motion and PLC programs) With no statement following on the same line, it will execute
statements on subsequent lines down to the next ENDWHILE statement.
WHILE ({condition})
{statement}
[{statement}
...]
ENDWHILE
If a WHILE loop in a motion program has no move, DWELL, or DELAY inside, Turbo PMAC will attempt
to execute the loop twice (while true) each real-time interrupt cycle (stopped from more loops only by the
double-jump-back rule), much like a PLC0. This can starve the background tasks for time, possibly even
tripping the watchdog timer. Turbo PMAC will not attempt to blend moves through such an empty
WHILE loop if it finds the loop condition true twice or more. A WHILEWAIT loop will operate this way
on a single jump back.
In PLC programs, extended compound WHILE conditions can be formed on multiple program lines
through use of AND and OR commands on the program lines immediately following the WHILE command
itself (this structure is not available in motion programs). Conditions in each program line can be either
simple or compound. AND and OR operations within a program line take precedence over AND and OR
operations between lines.
Examples:
WHILE (P20=0)
...
ENDWHILE
WHILE (Q10<5 AND Q11>1)
...
ENDWHILE
WHILE (M11=0) WAIT ; sit until input goes true
INC
WHILE (M11=0 OR M12=0) X100 ; increment until 2 inputs true
To do the equivalent of a For/Next loop:
P1=0 ; Initialize loop counter
WHILE (P1<10) ; Loop until counter exceeds limit
X1000 ; Perform action to be repeated
P1=P1+1 ; Increment loop counter
ENDWHILE ; Loop back
To do a timed wait in a PLC program, use the servo cycle counter as timer
P90=16777216 ; Counter rollover value (2^24)
P91=M0 ; Store starting value of M0 (X:$0) counter
P92=0 ; Time elapsed so far
WHILE (P92<P93) ; Loop until past specified time
P92=(M0-P91)%P90 ; Calculate time elapsed
; Modulo (%) operation to handle rollover
ENDWHILE ; Loop back
To do extended compound conditions in a PLC program
WHILE (M11=1 AND M12=1)
OR (M13=1 AND M14=1)
AND (P1>0)
...
ENDWHILE
See Also:
Program Logic (Writing a Motion Program, Writing a PLC Program)
Program commands AND, OR, IF, ELSE, ENDIF, ENDWHILE
X{data}
Function: X-Axis Move
Syntax: X{data}
where:
for the X-axis.
This command causes a move of the X-axis. (See {axis}{data} description, above.) If it follows a
Examples:
X10
X15 Y20
X(P1) Y30
X(Q10*COS(Q1)) Y(Q10*SIN(Q1))
X3.76 Z2.92 I0.075 K3.42
CALL100 X5 Y10
See Also:
Program commands {axis}{data}, A, B, C, U, V, W, Y, Z, CALL, PRELUDE, READ
Y{data}
Function: Y-Axis Move
Syntax: Y{data}
where:
for the Y-axis.
This command causes a move of the Y-axis. (See {axis}{data} description, above.) If it follows a
Examples:
Y50
Y(P100)
X35 Y75
Y-0.221 Z3.475
Y(ABS(P3+P4)) A(INT(P3-P4))
G73 Y20
See Also:
Program commands {axis}{data}, A, B, C, U, V, W, X, Z, CALL, PRELUDE, READ
Z{data}
Function: Z-Axis Move
Syntax: Z{data}
where:
for the Z-axis.
This command causes a move of the Z-axis. (See {axis}{data} description, above.) If it follows a
Examples:
Z20
Z(Q25)
X10 Y20 Z30
Z23.4 R10.5
Z(P301+2*P302/P303)
See Also:
Program commands {axis}{data}, A, B, C, U, V, W, X, Y, CALL, PRELUDE, READ

512 Turbo PMAC Memory and I/O Map
TURBO PMAC MEMORY AND I/O MAP
Program (Machine Code) Memory
P:$000000 - $00FFFF Firmware
P:$040000 - $0407FF User-Written Servo
P:$040800 - $040BFF User-Written Phase
P:$050000 - P$05BFFF Compiled PLCs (Standard Program Memory Configuration)
P:$050000 - P$0BBFFF Compiled PLCs (Extended Program Memory Configuration)
Global Servo Registers
X:$000000 Servo interrupt cycle counter (servo cycles)
Y:$000000 Servo count for next real time interrupt
X:$000001 Filtered velocity pointer
Y:$000001 Real time interrupt period minus one (I8)
X:$000002 Data gathering counter (time)
Y:$000002 Data gathering period (I5051)
X:$000003 Phase cycle counter (time)
Y:$000003 Phase cycle period (I7)
X:$000004 DPRAM real-time update counter (time)
Y:$000004 DPRAM real-time update period (I19)
X:$000005 DPRAM background update counter (time)
Y:$000005 DPRAM background update period (from I19)
X:$000006 Global Status Register
(First word returned on ??? command. See ??? in the On-Line Commands section)
0 This Card Addressed Serially
1 All Cards Addressed Serially
2 (Reserved for future use)
3 No hardware clocks found
4 MACRO Ring Check Error
5 MACRO Auxiliary Communications Error
6 TWS Variable Parity Error
7 (Internal use)
8 PLCC L-variable uses illegal M-variable def
9 Real-Time Interrupt Warning
10 Flash Read Error
11 DPRAM Error
12 Firmware Checksum Error
13 Any Memory Checksum Error
14 Compensation On
15 Watchdog Timer
16 (Internal use)
17 Gather on external trigger
19 Data gathering function on
20 Servo Error
21 CPU Type Bit 1
22 Real Time Interrupt Re-entry
Y:$000006 Global Status Register
Turbo PMAC Memory and I/O Map 513
(Second word returned on ??? command)
0-7 (Reserved for future use)
8-10 (Internal use)
11 Fixed Buffer Full
12-15 (Internal use)
16 3U Turbo System
17 PLC Buffer Open
18 ASCII Rotary Buffer Open
19 Motion Program Buffer Open
20 Binary Rotary Buffer Open
21 CPU Type Bit 0
22 VME Board
23 Ultralite Board
D:$000007 - $00000A Temporary storage
X:$00000B Last real-time interrupt execution time (CPU cycles / 2)
Y:$00000B Longest real-time interrupt execution time (CPU cycles / 2)
D:$00000C - $000016 Temporary storage
D:$000017 Real-time counter (1/1024 sec since power-up/reset, or if Opt 18B
is present, since 12am 1/1/2000)
D:$000018 - $000023 Temporary storage
X:$000022 Last background cycle time (CPU cycles/2)
Y:$000022 Longest background cycle time (CPU cycles/2)
X:$000024 P-Buffer Base Address
Y:$000024 Display Buffer Pointer
X:$000025 Minimum watchdog timer count
Y:$000025 Watchdog timer counter value
D:$000026 Global I-variables
X:$000028 Servo interrupt time (I10)
X:$000030 Synchronous M-variable buffer size (minus 1)
X:$00003B Maximum compensation table number
Y:$00003B Maximum active coordinate system number
X:$00003C Maximum commutated motor number
Y:$00003C Maximum servoed motor number
X:$00003E PLCC End Address
Y:$00003E Program Buffer End Address
X:$00003F Battery-Backed RAM End Address
Y:$00003F Dual-Ported RAM End Address

Temporary Stack Registers
X/Y:$000040 - $00007F Temporary Stack registers
Motor Registers
Motor # 1 2 3 4 5 6 7 8
Address
$00008x $00010x $00018x $00020x $00028x $00030x $00038x $00040x
Motor #
9 10 11 12 13 14 15 16
Address
$00048x $00050x $00058x $00060x $00068x $00070x $00078x $00080x
Motor #
17 18 19 20 21 22 23 24
Address
$00088x $00090x $00098x $000A0x $000A8x $000B0x $000B8x $000C0x
Motor #
25 26 27 28 29 30 31 32
Address
$000C8x $000D0x $000D8x $000E0x $000E8x $000F0x $000F8x $00100x
D:$000x80/00 Motor time left in move (X-register units msec*2 at %100)
D:$000x81/01 Motor present desired jerk residual
D:$000x82/02 Motor present desired jerk (dA/dt)
D:$000x83/03 Motor present desired acceleration residual
D:$000x84/04 Motor present desired acceleration (X-register units
6/[Ixx08*32] cts/msec
2

at %100; Y is fractional)
X:$000x85/05 Motor present desired velocity residual
Y:$000x85/05 Motor backlash size
D:$000x86/06 Motor present desired velocity (X-register units
3/[Ixx08*32] cts/msec at %100; Y is fractional)
D:$000x87/07 Motor present desired position residual
D:$000x88/08 Motor present desired position (1/[Ixx08*32] counts)
X:$000x89/09 Motor position feedback pointer (Ixx03)
Y:$000x89/09 Motor position scaling factor (Ixx08)
X:$000x8A/0A Motor master (handwheel) register pointer (Ixx05)
Y:$000x8A/0A Motor previous actual source position value
D:$000x8B/0B Motor present actual position (1/[Ixx08*32] counts)
X:$000x8C/0C Motor master (handwheel) scale factor (Ixx07)
Y:$000x8C/0C Motor previous master (handwheel) source position (1/32 ct)
D:$000x8D/0D Motor present master (handwheel) position (1/[Ixx07*32]cts
of the master or 1/[Ixx08*32]cts of the slaved motor).
X:$000x8E/0E Motor feedpot (time base) pointer
Y:$000x8E/0E Motor servo extension timer
X:$000x8F/0F Motor PID Velocity Feedforward gain (Ixx32);
Motor ESA S0 gain (Iyy10/60)
Y:$000x8F/0F Motor servo-loop closure extension (Ixx60)
Motor # 1 2 3 4 5 6 7 8
Address
$00009x $00011x $00019x $00021x $00029x $00031x $00039x $00041x
Motor #
9 10 11 12 13 14 15 16
Address
$00049x $00051x $00059x $00061x $00069x $00071x $00079x $00081x
Motor #
17 18 19 20 21 22 23 24
Address
$00089x $00091x $00099x $000A1x $000A9x $000B1x $000B9x $000C1x
Motor #
25 26 27 28 29 30 31 32
Address
$000C9x $000D1x $000D9x $000E1x $000E9x $000F1x $000F9x $00101x
D:$000x90/10 Motor compensation position correction (1/[Ixx08*32] cts)
D:$000x91/11 Motor following error (1/[Ixx08*32] cts)
X:$000x92/12 Motor PID derivative gain (Ixx31); ESA T0 gain (Iyy20/70)
Y:$000x92/12 Motor PID intermediate value; ESA S1 gain (Iyy11/61)
X:$000x93/13 Motor PID intermediate value; ESA UT1 term
Y:$000x93/13 Motor PID acceleration feedforward gain (Ixx35);
Motor ESA T1 gain (Iyy21/71)
X:$000x94/14 Motor ESA UT2 term
Y:$000x94/14 Motor ESA T2 gain (Iyy22/72)
X:$000x97/17 Motor ESA UR1 term
Y:$000x97/17 Motor ESA R1 gain (Iyy16/66)
Y:$000x98/18 Motor ESA R2 gain (Iyy17/67)
Y:$000x99/19 Motor PID proportional gain (Ixx30); ESA R3 gain (Iyy18/68)
X:$000x9A/1A Motor PID previous desired velocity; ESA UR4 term
Y:$000x9A/1A Motor PID deadband gain (Ixx64); ESA R4 gain (Iyy19/69)
X:$000x9B/1B Motor velocity-loop position address (Ixx04)
Y:$000x9B/1B Motor PID position error limit (Ixx67);
Motor ESA TS scale gain (Iyy25/75)
X:$000x9C/1C Motor PID deadband size (Ixx65); ESA F0 gain (Iyy12/62)
Y:$000x9C/1C Motor velocity-loop scale factor (Ixx09)
X:$000x9D/1D Motor present actual velocity (unfiltered)
(1/[Ixx09*32]cts / [Ixx60+1] servo cycles)
Y:$000x9D/1D Motor previous velocity-loop source position
D:$000x9E/1E Motor PID integrated position error;
Motor ESA previous velocity position
X:$000x9F/1F Motor PID integral gain (Ixx33); ESA F1 gain (Iyy13/63)
Y:$000x9F/1F Motor PID integration limit (Ixx63); ESA G0 gain (Iyy36/86)
Motor # 1 2 3 4 5 6 7 8
Address
$0000Ax $00012x $0001Ax $00022x $0002Ax $00032x $0003Ax $00042x
Motor #
9 10 11 12 13 14 15 16
Address
$0004Ax $00052x $0005Ax $00062x $0006Ax $00072x $0007Ax $00082x
Motor #
17 18 19 20 21 22 23 24
Address
$0008Ax $00092x $0009Ax $000A2x $000AAx $000B2x $000BAx $000C2x
Motor #
25 26 27 28 29 30 31 32
Address
$000CAx $000D2x $000DAx $000E2x $000EAx $000F2x $000FAx $00102x
X:$000xA0/20 Motor PID integrated error residual; ESA UG1 term
Y:$000xA0/20 Motor PID N1 notch filter gain (Ixx36);
Motor ESA G1 gain (Iyy37/87)
X:$000xA1/21 Motor PID intermediate term; ESA UG2 term
Y:$000xA1/21 Motor PID N2 notch filter gain (Ixx37);
Motor ESA G2 gain (Iyy38/88)
X:$000xA2/22 Motor PID intermediate term; ESA UD1 term
Y:$000xA2/22 Motor PID D1 notch filter gain (Ixx38);
Motor ESA D1 gain (Iyy34/84)
X:$000xA3/23 Motor PID intermediate term; ESA UD2 term
Y:$000xA3/23 Motor PID D2 notch filter gain (Ixx39);
Motor ESA D2 gain (Iyy35/85)
X:$000xA4/24 Motor ESA GS scale gain (Iyy39/89)
Y:$000xA4/24 Motor ESA H0 gain (Iyy14/64)
D:$000xA5/25 Motor previous net commanded position (1/[Ixx08*32] cts)
X:$000xA6/26 Motor ESA H1 gain (Iyy15/65)
Y:$000xA6/26 Motor ESA K0 gain (Iyy29/79)
X:$000xA7/27 Motor ESA UK1 term
X:$000XAA/2A Motor ESA UL1 term
Y:$000xAA/2A Motor ESA L1 gain (Iyy26/76)
X:$000xAB/2B Motor ESA UL2 term
Y:$000xAB/2B Motor ESA L2 gain (Iyy27/77)
X:$000xAC/2C Motor ESA UL3 term
Y:$000xAC/2C Motor ESA L3 gain (Iyy28/78)
X:$000xAD/2D Motor ESA KS scale gain (Iyy33/83)
Y:$000xAD/2D Motor jog move delay time (Ixx92)
X:$000xAE/2E Motor PID filter result; ESA previous command output
Y:$000xAE/2E Motor PID command output limit (Ixx69);
Motor ESA output scale factor (Ixx69)
X:$000xAF/2F Motor flag address (Ixx25)
Y:$000xAF/2F Motor flag control bits (Ixx24)
Motor # 1 2 3 4 5 6 7 8
Address
$0000Bx $00013x $0001Bx $00023x $0002Bx $00033x $0003Bx $00043x
Motor #
9 10 11 12 13 14 15 16
Address
$0004Bx $00053x $0005Bx $00063x $0006Bx $00073x $0007Bx $00083x
Motor #
17 18 19 20 21 22 23 24
Address
$0008Bx $00093x $0009Bx $000A3x $000ABx $000B3x $000BBx $000C3x
Motor #
25 26 27 28 29 30 31 32
Address
$000CBx $000D3x $000DBx $000E3x $000EBx $000F3x $000FBx $00103x
X:$000xB0/30 Motor servo status/control bits
(First word returned on ? command. See Y:$000xC0/40 for second word)
(Refer to ? description in on-line commands for detailed description of bits)
0 Rapid move maximum velocity select (Ixx90)
1 Alternate command output mode (Ixx96)
2 Software-capture enable (Ixx97 bit 0)
3 Trigger-on-error enable (Ixx97 bit 1)
4 Position-following (master) enable (Ixx06 bit 0)
5 Position-following (master) offset mode (Ixx06 bit 1)
6 Commutation enable (Ixx01 bit 0)
7 Y-address commutation encoder (Ixx01 bit 1)
8 User-written servo enable (Ixx59 bit 0)
9 User-written phase enable (Ixx59 bit 1)
10 Home search in progress
11 Block request
12 Abort/limit deceleration in progress
13 Desired velocity zero
14 Data block error
15 Dwell in progress
16 Integrate only at zero desired velocity (Ixx34)
17 Move timer active
18 Open loop mode
19 Amplifier enabled
20 Extended servo algorithm enable (Iyy00/Iyy50)
21 Positive end limit set (soft or hard)
22 Negative end limit set (soft or hard)
23 Motor activated (Ixx00)
Y:$000xB0/30 Motor phase address pointer (Ixx83)
X:$000xB1/31 Motor block execution pointer
Y:$000xB1/31 Motor friction feedforward gain (Ixx68)
X:$000xB2/32 Motor number of commutation cycles (Ixx70)
Y:$000xB2/32 Motor previous phase position
X:$000xB3/33 Motor B phase bias (Ixx79)
Y:$000xB3/33 Motor A phase bias (Ixx29)
D:$000xB4/34 Motor present phase position (X-register units: counts*Ixx70)
X:$000xB5/35 Motor counts per Ixx70 commutation cycles (Ixx71)
Y:$000xB5/35 Motor phase offset (Ixx72)
X:$000xB6/36 Motor ADC mask word (Ixx84)
Y:$000xB6/36 Motor ADC address (Ixx82)
X:$000xB7/37 Motor slip gain (Ixx78)
Y:$000xB7/37 Motor estimated rotor magnetization current
X:$000xB8/38 Motor commanded quadrature current (servo command+bias)
Y:$000xB8/38 Motor commanded quadrature current (0 for microstep)
X:$000xB9/39 Motor actual quadrature current
Y:$000xB9/39 Motor actual direct current
X:$000xBA/3A Motor current-loop back path proportional gain (Ixx76)
Y:$000xBA/3A Motor current-loop forward path proportional gain (Ixx62)
X:$000xBB/3B Motor commutation table pointer
Y:$000xBB/3B Motor current-loop integral gain (Ixx61)
X:$000xBC/3C Motor quadrature current loop integrator output
Y:$000xBC/3C Motor direct current loop integrator output
X:$000xBD/3D Motor commutation table pointer offset (Ixx55)
Y:$000xBD/3D Motor PWM scale factor (Ixx66)
X:$000xBE/3E Motor command output address (Ixx02)
Y:$000xBE/3E Motor delay compensation gain (Ixx56)
X:$000xBF/3F Motor (Quadrature/torque) command value (includes bias)
Y:$000xBF/3F Motor (Quadrature/torque) command bias (from TCOMP table)
Motor # 1 2 3 4 5 6 7 8
Address
$0000Cx $00014x $0001Cx $00024x $0002Cx $00034x $0003Cx $00044x
Motor #
9 10 11 12 13 14 15 16
Address
$0004Cx $00054x $0005Cx $00064x $0006Cx $00074x $0007Cx $00084x
Motor #
17 18 19 20 21 22 23 24
Address
$0008Cx $00094x $0009Cx $000A4x $000ACx $000B4x $000BCx $000C4x
Motor #
25 26 27 28 29 30 31 32
Address
$000CCx $000D4x $000DCx $000E4x $000ECx $000F4x $000FCx $00104x
X:$000xC0/40 Motor fatal following error limit (Ixx11)
Y:$000xC0/40 Motor status bits
(Second word returned on ? command. See X:$000xB0/30 for first word)
(Refer to ? specification in On-line Commands for detailed description of bit meanings)
0 Background-check in-position
1 Warning following error limit exceeded
2 Fatal following error limit exceeded
3 Amplifier fault error
4 Backlash direction flag
5 I
2
T Amplifier fault error
6 Integrated fatal following error
7 Trigger move
8 Phasing reference error
9 Phasing reference in progress
10 Home complete
11 Stopped on actual position limit
12 Stopped on desired position limit
13 Foreground-check in-position
15 Assigned to C.S.
16-19 Coordinate definition (1=A, 2=B, 3=C, 4=UVW, 5=I, 7=XYZ)
20-23 Number of C.S. defined in (-1)
L:$000xC1/41 Motor jog speed (Ixx22) [floating point]
L:$000xC2/42 Motor jog max. acceleration (Ixx19) [floating point]
X:$000xC3/43 Motor jog/home S-curve time (Ixx21)
Y:$000xC3/43 Motor jog/home acceleration time (Ixx20)
L:$000xC4/44 Motor limit/abort acceleration (Ixx15) [floating point]
X:$000xC5/45 Motor in-position band (Ixx28)
Y:$000xC5/45 Motor warning following error limit (Ixx12)
D:$000xC6/46 Motor target velocity
D:$000xC7/47 Motor target (& pre-jog) position (1/[Ix08*32] cts)
D:$000xC8/48 Motor delta target position (1/[Ix08*32] cts)
L:$000xC9/49 Motor delta position (floating point)
L:$000xCA/4A Motor maximum velocity (Ixx16, cts/msec, floating point)
L:$000xCB/4B Motor maximum acceleration (Ixx17, cts/msec
2
, floating point)
D:$000xCC/4C Motor position bias (1/[Ixx08*32] cts)
X:$000xCD/4D Motor home offset position (Ixx26)
Y:$000xCD/4D Motor I-variable bits
0 3 Power-on Mode (Ixx80)
4 23 (Reserved for future use)
X:$000xCE/4E Motor phase-finding parameters
0 7 Phase-finding time (Ixx74)
8 23 Phase-finding torque (Ixx73)
Y:$000xCE/4E Motor encoder home capture position offset (counts)
L:$000xCF/4F Motor X/U/A/B/C-Axis coefficient (floating-point)
Motor # 1 2 3 4 5 6 7 8
Address
$0000Dx $00015x $0001Dx $00025x $0002Dx $00035x $0003Dx $00045x
Motor #
9 10 11 12 13 14 15 16
Address
$0004Dx $00055x $0005Dx $00065x $0006Dx $00075x $0007Dx $00085x
Motor #
17 18 19 20 21 22 23 24
Address
$0008Dx $00095x $0009Dx $000A5x $000ADx $000B5x $000BDx $000C5x
Motor #
25 26 27 28 29 30 31 32
Address
$000CDx $000D5x $000DDx $000E5x $000EDx $000F5x $000FDx $00105x
L:$000xD0/50 Motor Y/V-Axis coefficient (floating point)
L:$000xD1/51 Motor Z/W-Axis coefficient (floating point)
L:$000xD2/52 Motor axis offset (floating point)
X:$000xD3/53 Motor in-position scan counter
Y:$000xD3/53 Motor in-position number of scans (Ixx88)
X:$000xD4/54 Motor power-on phase position offset (Ixx75)
Y:$000xD4/54 Motor multiple resolver gear ratios (Ixx98, Ixx99)
X:$000xD5/55 Motor power-on phase position format (Ixx91)
Y:$000xD5/55 Motor power-on phase position address (Ixx81)
X:$000xD6/56 Motor power-on servo position format (Ixx95)
Y:$000xD6/56 Motor power-on servo position address (Ixx10)
D:$000xD7/57 Motor variable jog position/distance (1/[Ixx08*32] cts)
X:$000xD8/58 Motor I
2
T time value
Y:$000xD8/58 Motor trigger capture position
X:$000xD9/59 Motor continuous current limit (Ixx57)
Y:$000xD9/59 Motor integrated current limit (Ixx58)
D:$000xDA/5A Motor integrated current value (X-reg units of Ixx58)
L:$000xDB/5B Motor homing speed (cts/msec; floating point)
D:$000xDC/5C Motor positive software position limit (Ixx13, cts)
D:$000xDD/5D Motor negative software position limit (Ixx14, cts)
D:$000xDE/5E Motor position rollover range (Ixx27, cts)
X:$000xDF/5F Motor backlash slew rate (Ixx85)
Y:$000xDF/5F Motor backlash hysteresis (Ixx87)
Motor # 1 2 3 4 5 6 7 8
Address
$0000Ex $00016x $0001Ex $00026x $0002Ex $00036x $0003Ex $00046x
Motor #
9 10 11 12 13 14 15 16
Address
$0004Ex $00056x $0005Ex $00066x $0006Ex $00076x $0007Ex $00086x
Motor #
17 18 19 20 21 22 23 24
Address
$0008Ex $00096x $0009Ex $000A6x $000AEx $000B6x $000BEx $000C6x
Motor #
25 26 27 28 29 30 31 32
Address
$000CEx $000D6x $000DEx $000E6x $000EEx $000F6x $000FEx $00106x
D:$000xE0/60 Motor backlash saved position
X:$000xE1/61 Motor backlash size (Ixx86)
Y:$000xE1/61 Motor present backlash
X:$000xE2/62 Motor software position limit offset (Ixx41)
D:$000xE3/63 - $000xEA/6A (Reserved for future use)
D:$000xEB/6B - $000xEE/6E Motor spline table
D:$000xEF/6F Motor filtered velocity
Motor # 1 2 3 4 5 6 7 8
Address
$0000Fx $00017x $0001Fx $00027x $0002Fx $00037x $0003Fx $00047x
Motor #
9 10 11 12 13 14 15 16
Address
$0004Fx $00057x $0005Fx $00067x $0006Fx $00077x $0007Fx $00087x
Motor #
17 18 19 20 21 22 23 24
Address
$0008Fx $00097x $0009Fx $000A7x $000AFx $000B7x $000BFx $000C7x
Motor #
25 26 27 28 29 30 31 32
Address
$000CFx $000D7x $000DFx $000E7x $000EFx $000F7x $000FFx $00107x
D:$000xF0/70 - $000xFF/7F Motor position history for filtered velocity
Global Registers
Y:$001080 - $0010CF 80-character display buffer
X:$001080 Running software checksum value (frozen if any error)
X:$001083 VME bus address modifier (I90)
X:$001084 VME bus address modifier dont care bits (I91)
X:$001085 VME bus base address bits A31-A24 (I92)
X:$001086 VME bus mailbox base address bits A23-A16 /
ISA bus DPRAM base address bits A23-A16 (I93)
X:$001087 VME bus mailbox base address bits A15-A08 /
ISA bus DPRAM base address bits A15-A14 & Enable (I94)
X:$001088 VME bus interrupt level (I95)
X:$001089 VME bus interrupt vector (I96)
X:$00108A VME bus DPRAM base address bits A23-A20 (I97)
X:$00108B VME bus DPRAM enable (I98)
X:$00108C VME bus address width control (I99)
X:$00108D Baud-rate / card-address word (I54 / I0)
X:$00108E Multiplexed A/D converter ring size (I5060)
X:$00108F Control-character reporting motor set (I59)
X:$001090 User program reference checksum value (set on CLOSE)
X:$001091 Rotary buffer interrupt start point (I16)
X:$001092 Rotary buffer interrupt stop point (I17)
X:$001093 Fixed buffer full point (I18)
X:$001094 Data gathering mask 1 word (I5049)
X:$001095 Data gathering mask 2 word (I5050)
X:$001096 X:$0010C5 Data gathering addresses (I5001 I5048)
Y:$0010D0 Display setup register
Y:$0010D1 Display setup register
X/Y:$0010F0 - $0010FF Open registers (set to 0 on power-up/reset)
Communication Buffers
X/Y:$001900 - $0019FF Foreground Program Command/Response Buffers
X/Y:$001A00 - $001AFF Background PLC Command/Response Buffers
X/Y:$001B00 - $001BFF DPRAM Command/Response Buffers
X/Y:$001C00 - $001CFF Auxiliary Serial Command/Response Buffers
X/Y:$001D00 - $001DFF MACRO Master-to-Master Command/Response Buffers
X/Y:$001E00 - $001FFF Synchronous M-variable queue (non-lookahead)
(>= V1.939 only; at X/Y:$003600 - $0037FF in older)
X/Y:$001E00 - $001EFF Main Serial Command/Response Buffers
(<= V1.938 only; at X/Y:$003600 - $0036FF in newer)
X/Y:$001F00 - $001FFF Bus Command/Response Buffers
(<= V1.938 only; at X/Y:$003700 - $0037FF in newer)
Coordinate System Registers
C. S. # 1 2 3 4 5 6 7 8
Address
$00200x $00210x $00220x $00230x $00240x $00250x $00260x $00270x
C. S. # 9 10 11 12 13 14 15 16
Address
$00280x $00290x $002A0x $002B0x $002C0x $002D0x $002E0x $002F0x
X:$002x00 C.S. commanded time base value
Y:$002x00 C.S. Q-variable starting address
X:$002x01 C.S. time base source address (Isx93)
Y:$002x01 C.S. time base active address (from Isx93 or feed hold)
X:$002x02 C.S. actual time base value (units of I10)
Y:$002x02 C.S. actual time base slew rate (from Isx94 or Isx95)
X:$002x03 C.S. feed hold slew rate (Isx95)
Y:$002x03 C.S. time base slew rate (Isx94)
D:$002x04 C.S. motor definition word
X:$002x05 C.S. S-curve time (Isx88, TS)
Y:$002x05 C.S. acceleration time (Isx87, TA)
L:$002x06 C.S. feedrate / move time (Isx89, F, TM)
L:$002x07 C.S. velocity time units (Isx90)
D:$002x08 C.S. PRELUDE command buffer
X:$002x09 C.S. coordinate transformation matrix number
Y:$002x09 C.S. PRELUDE command stack pointer
X/Y:$002x0A - $002x0E C.S. execution pointers
L:$002x0F C.S. cutter compensation radius (from CCR)
C. S. # 1 2 3 4 5 6 7 8
Address
$00201x $00211x $00221x $00231x $00241x $00251x $00261x $00271x
C. S. #
9 10 11 12 13 14 15 16
Address
$00281x $00291x $002A1x $002B1x $002C1x $002D1x $002E1x $002F1x
L:$002x10 C.S. maximum feedrate (Isx98)
L:$002x12 C.S. alternate feedrate (Isx86)
L:$002x12 C.S. circle radius error limit (Isx96)
L:$002x13 C.S. cutter compensation break angle cosine (Isx99)
X:$002x14 C.S. move calculation time
Y:$002x14 C.S. run-time error code
= 0: No run-time error
= 1: Insufficient calculation time
= 2: Program counter out of range (too low)
= 3: Program counter out of range (too high)
= 4: Unlinked conditional statement
= 5: Subroutine stack overflow
= 6: Jump to non-existent label
= 7: Cutter compensation interference error
= 8: Forward kinematic execution error
= 9: Inverse kinematic execution error
= 10: No axes remaining in C.S.
X:$002x15 C.S. user countdown timer 1 (Isx11)
Y:$002x15 C.S. user countdown timer 2 (Isx12)
X/Y:$002x16 - $002x1F (Reserved for future use)
C. S. # 1 2 3 4 5 6 7 8
Address
$00202x $00212x $00222x $00232x $00242x $00252x $00262x $00272x
C. S. # 9 10 11 12 13 14 15 16
Address
$00282x $00292x $002A2x $002B2x $002C2x $002D2x $002E2x $002F2x
X/Y:$002x20 - $002x2F (Reserved for future use)
C. S. # 1 2 3 4 5 6 7 8
Address
$00203x $00213x $00223x $00233x $00243x $00253x $00263x $00273x
C. S. # 9 10 11 12 13 14 15 16
Address
$00283x $00293x $002A3x $002B3x $002C3x $002D3x $002E3x $002F3x
X/Y:$002x30 - $002x34 (Reserved for future use)
L:$002x35 C.S. minimum arc angle (Isx97)
X/Y:$002x36 - $002x3D Lookahead internal registers
X:$002x3E C.S. default program number (Isx91)
Y:$002x3E C.S. I-variables
0 Kinematics enable (Isx50)
1-19 Coordinate definition (0=none, 1=A, 2=B, 3=C,
4=UVW, 5=I, 7=XYZ)
20 Line-by-line step mode (Isx53)
21,22 (Reserved for future use)
23 Blend disable (Isx92)
X:$002x3F C.S. program execution address
Y:$002x3F C.S. program execution status
(Second word returned on ?? command. See X:$002x40 for first word)
(Refer to ?? specification in On-Line Commands for detailed description of bit meanings)
0 CIRCLE/SPLINE move mode
1 CCW CIRCLE/RAPID move mode
2 Cutter compensation on
3 Cutter compensation left
4 PVT/SPLINE move mode
5 Segmented move stop request
6 Segmented move acceleration in progress
7 Segmented move in progress
8 Pre Jog move flag
9 Cutter compensation move buffered
10 Cutter compensation move stop request
11 Cutter compensation outside corner
12 Dwell move buffered
13 Synchronous M-variable one-shot
14 End-of-block (/) stop in progress
15 Delayed calculation flag
16 Rotary buffer full
17 In-position (logical AND of motor bits)
18 Warning following error (logical OR of motor bits)
19 Fatal following error (logical OR of motor bits)
20 Amplifier fault error (logical OR of motor bits)
21 Circle radius error
22 Run time error (error code in Y:$002x14)
23 Lookahead in progress
C. S. # 1 2 3 4 5 6 7 8
Address
$00204x $00214x $00224x $00234x $00244x $00254x $00264x $00274x
C. S. # 9 10 11 12 13 14 15 16
Address
$00284x $00294x $002A4x $002B4x $002C4x $002D4x $002E4x $002F4x
X:$002x40 C.S. Status/Control Bits
(First word returned on ?? command. See Y:$002x3F for first word.)
(Refer to ?? specification in On-Line Commands for detailed bit meanings)
0 Program running
1 Single step mode
2 Continuous-motion mode
3 Move-specified-by-time mode
4 Continuous-motion request
5 Radius vector incremental mode
6 A-axis incremental mode
7 A-axis used in feedrate calculations
8 B-axis incremental mode
9 B-axis used in feedrate calculations
10 C-axis incremental mode
11 C-axis used in feedrate calculations
12 U-axis incremental mode
13 U-axis used in feedrate calculations
14 V-axis incremental mode
15 V-axis used in feedrate calculations
16 W-axis incremental mode
17 W-axis used in feedrate calculations
18 X-axis incremental mode
19 X-axis used in feedrate calculations
20 Y-axis incremental mode
21 Y-axis used in feedrate calculations
22 Z-axis incremental mode
23 Z-axis used in feedrate calculations
Y:$002x40 C.S. Internal Status/Control Bits
(Third word returned on ?? command. See Y:$002x3F for second word.)
(Refer to ?? specification in On-Line Commands for detailed bit meanings)
0 In-program PMATCH command
1 Stopped on desired-position limit
2 Program start error
3 Circle radius error
(Bits 8-11 form Isx21)
8 Lookahead reversal in progress
9 Lookahead function running
10 Lookahead buffer active
11 Lookahead state-change command
12 Lookahead buffer last move
13 Lookahead buffer flush
14 Lookahead buffer recalculate
15 Lookahead buffer last segment
16 Lookahead buffer change
17 Lookahead buffer stop
18 Lookahead buffer direction
19 Lookahead synchronous M-variable overflow
20 Lookahead synchronous M-variable assignment
21 Lookahead buffer end
22 Lookahead buffer active
23 Lookahead buffer wrap
L:$002x41 C.S. A-Axis desired move position (floating-point)
L:$002x42 C.S. B-Axis desired move position (floating-point)
L:$002x43 C.S. C-Axis desired move position (floating-point)
L:$002x44 C.S. U-Axis desired move position (floating-point)
L:$002x45 C.S. V-Axis desired move position (floating-point)
L:$002x46 C.S. W-Axis desired move position (floating-point)
L:$002x47 C.S. X-Axis desired move position (floating-point)
L:$002x48 C.S. Y-Axis desired move position (floating-point)
L:$002x49 C.S. Z-Axis desired move position (floating-point)
L:$002x4A C.S. Normal vector I component (floating-point)
L:$002x4B C.S. Normal vector J component (floating-point)
L:$002x4C C.S. Normal vector K component (floating-point)
L:$002x4D - $002x4F C.S. ABC propagated positions (floating-point)
C. S. # 1 2 3 4 5 6 7 8
Address
$00205x $00215x $00225x $00235x $00245x $00255x $00265x $00275x
C. S. # 9 10 11 12 13 14 15 16
Address
$00285x $00295x $002A5x $002B5x $002C5x $002D5x $002E5x $002F5x
L:$002x50 - $002x55 C.S. UVWXYZ propagated positions (floating-point)
L:$002x56 - $002x5E C.S. ABCUVWXYZ buffered positions (floating-point)
L:$002x5F C.S. Arc initial radius (floating-point)
C. S. # 1 2 3 4 5 6 7 8
Address
$00206x $00216x $00226x $00236x $00246x $00256x $00266x $00276x
C. S. # 9 10 11 12 13 14 15 16
Address
$00286x $00296x $002A6x $002B6x $002C6x $002D6x $002E6x $002F6x
L:$002x60 - $002xBF C.S. Internal calculation registers
C. S. # 1 2 3 4 5 6 7 8
Address
$0020Cx $0021Cx $0022Cx $0023Cx $0024Cx $0025Cx $0026Cx $0027Cx
C. S. #
9 10 11 12 13 14 15 16
Address
$0028Cx $0029Cx $002ACx $002BCx $002CCx $002DCx $002ECx $002FCx
L:$002xC0 - $002xFF C.S. Subroutine Stack
Program and Buffer Pointers
X:$003000 First motion program number (low 16 bits)
and entry status (high 8 bits)
Y:$003000 First motion program buffer storage address
X:$003001 - $0030DF Second to 224th program # and entry status
Y:$003001 - $0030DF Second to 224th program buffer storage address
X:$0030E0 - $0030EF C.S.1 C.S.16 forward kinematic buffer start address
Y:$0030E0 - $0030EF C.S.1 C.S.16 forward kinematic buffer storage address
X:$0030F0 - $0030FF C.S.1 C.S.16 inverse kinematic buffer start address
Y:$0030F0 - $0030FF C.S.1 C.S.16 inverse kinematic buffer storage address
X:$003100 PLC 0 execution address
Bits
0 18 PLC execution address
23 PLC execution error
Y:$003100 PLC 0 buffer storage pointer
Bits
0 18 PLC base address
22 PLC disabled
23 PLC open
X:$003101 - $00311F PLC 1 - 31 execution address
Y:$003101 - $00311F PLC 1 - 31 storage pointer
X:$003120 Data gather buffer start address
Y:$003120 Data gather buffer storage address
X:$003121 - $003130 Lookahead buffer 1 16 start address
Y:$003121 - $003130 Lookahead buffer 1 16 storage address
X:$003131 - $003140 Cutter comp buffer 1 16 start address
Y:$003131 - $003140 Cutter comp buffer 1 16 storage address
X:$003141 - $003150 Rotary buffer 1 16 start address
Y:$003141 - $003150 Rotary buffer 1 16 storage address
X:$003151 Transformation matrix buffer start address
Y:$003151 Transformation matrix buffer storage address
X:$003152 - $003171 Motor 1 32 backlash comp table start address
Y:$003152 - $003171 Motor 1 32 backlash comp table storage address
X:$003172 - $003191 Motor 1 32 torque comp table start address
Y:$003172 - $003191 Motor 1 32 torque comp table storage address
X:$003192 - $0031B1 Motor 1 32 leadscrew comp table start address
Y:$003192 - $0031B1 Motor 1 32 leadscrew comp table storage address
X:$0031B2 End of unreserved RAM address
X:$0031EE MACRO auxiliary communications error number
$003300 - $0033FF Background stack
Processed A/D Registers
Y:$003400 - $00341F Processed A/D Table Registers (bits 12-23)
Y:$003400 Processed A/D value from I5061 address low ADC
X:$003400 Processed A/D value from I5061 address high ADC
Y:$003401 Processed A/D value from I5062 address low ADC
X:$003401 Processed A/D value from I5062 address high ADC
Y:$00341F Processed A/D value from I5076 address low ADC
X:$00341F Processed A/D value from I5076 address high ADC
X:$003430 Total MACRO ring error count (from power-up/reset)
Y:$003430 Latest check-cycle MACRO ring error count
X:$00343E MACRO ring test time (I80)
Y:$00343E MACRO ring sync packet count
MACRO Flag Registers
X:$003440 - $00347F MACRO Status Flag Registers
Bit 0 10 (Reserved for future use)
11 Position captured flag
12 MACRO node reset (power-on or command)
13 Ring break detected elsewhere
14 Amplifier enabled at station
15 Amplifier/node shutdown fault
16 Home flag input value
17 Positive limit flag value
18 Negative limit flag value
19 User flag value
20 W flag value
21 V flag value
22 U flag value
23 T flag value
Y:$003440 - $00347F MACRO Command Flag Registers
Bit 0 10 (Reserved for future use)
11 Position capture enable
12 Node position reset flag
13 Ring break detected
14 Amplifier enable
Y:$003440 MACRO IC 0 Node 0 Command Flag Register
X:$003440 MACRO IC 0 Node 0 Status Flag Register
Y:$00344F MACRO IC 0 Node 15 Command Flag Register
X:$00344F MACRO IC 0 Node 15 Status Flag Register
Encoder Conversion Table Registers
Y:$003501 - $0035C0 Conversion Table Setup Registers (I8000 - I8191)
X:$003501 - $0035C0 Conversion Table Result Registers
Buffer Pointers
X/Y:$003600 - $0036FF Main Serial Command/Response Buffers
(>= V1.939 only: at X/Y:$001E00 - $001EFF in older)
X/Y:$003700 - $0037FF Bus Command/Response Buffers
(>= V1.939 only: at X/Y:$001F00 - $001FFF in older)
X/Y:$003600 - $0037FF Synchronous M-variable queue (non-lookahead)
(<= V1.938 only; at X/Y:$001E00 - $001FFF in newer)
Commutation Sine Table
X:$003800 $003FFF Commutation cos table [2
23
*cos((address-$3800)*360
o
/2048)]
Y:$003800 $003FFF Commutation sine table [2
23
*sin((address-$3800)*360
o
/2048)]
User Variable Registers
L:$004000 Variable M0 definition
L:$004001 - $005FFF Variables M1 - M8191 definitions
L:$006000 Standard location for P0 (when I46 = 0 or 2)
L:$006001 - $007FFF Standard location for P1 - P8191 (when I46 = 0 or 2)
L:$006000 Standard location for C.S.1 Q0 (when I46 = 1)
L:$006001 - $007FFF Standard location for C.S.1 Q1 - Q8191 (when I46 = 1)
L:$008000 Standard location for C.S.1 Q0 (when I46 = 0)
L:$008001 - $009FFF Standard location for C.S.1 Q1 - Q8191 (when I46 = 0)
User Program and Buffer Storage
X/Y:$006000 Start of User Memory (when I46 = 3)
X/Y:$008000 Start of User Memory (when I46 = 1 or 2)
X/Y:$00A000 Start of User Memory (when I46 = 0)
X/Y:$0107FF End of User Memory (Option 5C0, standard data memory)
X/Y:$011BFF End of User Memory (Option 5D0, standard data memory)
X/Y:$01BFFF End of User Memory (Option 5E0, standard data memory)
X/Y:$023FFF End of User Memory (Option 5F0, standard data memory)
X/Y:$03FFFF End of User Memory (Option 5x3, extended data memory)
Battery-Backed RAM Registers (Option 16x required)
X/Y:$050000 - $053FFF Standard BBRAM Option (32k x 24 mapped as 16k x 48)
X/Y:$050000 - $05FFFF Extended BBRAM Option (128k x 24 mapped as 64k x 48)
L:$050000 - $051FFF Alternate location for P0 - P8191 (when I46 = 1 or 3)
L:$052000 - $053FFF Alternate location for Q0 - Q8191 (when I46 = 2 or 3)
Dual Ported RAM Registers (Option 2x required)
Note:
This listing of dual-ported RAM addresses assumes a Turbo PMAC base address
of $060000, which is the base address for DPRAM ICs on a Turbo PMAC board,
or on a UMAC CPU board. UMAC accessory boards with DPRAM (such as the
Acc-54E USB/Ethernet board) will have different base addresses for their DPRAM
IC (most commonly $06C000). Turbo PMAC I24 specifies the base address of the
DPRAM IC that can be used for the automatic DPRAM functions and structures
shown here (if I24 is 0, the base address is $060000). Variable I4904 shows where
DPRAM ICs are present in a UMAC system.
X/Y:$060000 - $060FFF Standard DPRAM Option 2 (8k x 16)
Mapped to PMAC as 4k x 32, mapped to host as 16k x 8
X/Y:$060000 - $063FFF Extended DPRAM Option 2B (32k x 16)
Mapped to PMAC as 16k x 32, mapped to host as 64k x 8
Note:
Addresses specified with 0x prefix are host-computer address offsets from the
base address of the DPRAM, as set by I92, I93, I94, and I97.
Motor Data Reporting Buffer Control (used if I48=1 or I57=1)
X:$06001A Motor foreground data reporting control (used if I48=1)
(0x006A) Bit 15 0 = Host ready; 1 = Host accessing buffer
Y:$06001B Servo counter bits 0-15 (from X:$0)
(0x006C)
X:$06001B Motor foreground data reporting control (used if I48=1)
(0x006E) Bit 15 0 = PMAC accessing buffer; 1 = PMAC ready
Bits 0-7 Servo counter bits 16-23 (from X:$0)
Y:$06001C Motor data reporting control mask
(0x0070) Bit 15 0 = Motor 16 not reported; 1 = Motor 16 reported
Bit 14 0 = Motor 15 not reported; 1 = Motor 15 reported

X:$06001C Motor data reporting control mask
(0x0072) Bit 15 0 = Motor 32 not reported; 1 = Motor 32 reported

Motor Data Reporting Buffer (Used if I48 = 1 or I57 = 1)
Note: Turbo PMAC 24-bit registers are copied into the low 24 bits of a 32-bit DPRAM word. Bit 23 is
sign-extended into bits 24 31. Turbo PMAC 48-bit registers are treated as 2 24-bit registers. Each 24-
bit register is copied into the low 24 bits of a 32-bit DPRAM word. Bit 23 is sign-extended into bits 24
31. The host computer must re-assemble these values into a single fixed-point or floating-point value.
Motor # 1 2 3 4 5 6 7 8
Host
Address
0x0074 0x00A4 0x00D4 0x0104 0x0134 0x0164 0x0194 0x01C4
Address
$06001D $060029 $060035 $060041 $06004D $060059 $060065 $060071
Motor # 9 10 11 12 13 14 15 16
Host
Address
0x01F4 0x0224 0x0254 0x0284 0x02B4 0x02E4 0x0314 0x0344
Address
$06007D $060089 $060095 $0600A1 $0600AD $0600B9 $0600C5 $0600D1
Motor # 17 18 19 20 21 22 23 24
Host
Address
0x0374 0x03A4 0x03D4 0x0404 0x0434 0x0464 0x0494 0x04C4
Address
$0600DD $0600E9 $0600F5 $060101 $06010D $060119 $060125 $060131
Motor # 25 26 27 28 29 30 31 32
Host
Address
0x04F4 0x0524 0x0554 0x0584 0x05B4 0x05E4 0x0614 0x0644
Address
$06013D $060149 $060155 $060161 $06016D $060179 $060185 $060191
DP:$060xxx-$060xxx+1 Motor following error (1/[Ixx08*32] cts)
(=CmdPos+MasterPos-CompPos-ActPos)
[from D:$88 + D:$8D + D:$90 D:$8B, etc.]
Motor # 1 2 3 4 5 6 7 8
Host
Address
0x007C 0x00AC 0x00DC 0x010C 0x013C 0x016C 0x019C 0x01CC
Address
$06001F $06002B $060037 $060043 $06004F $06005B $060067 $060073
Motor # 9 10 11 12 13 14 15 16
Host
Address
0x01FC 0x022C 0x025C 0x028C 0x02BC 0x02EC 0x031C 0x034C
Address
$06007F $06008B $060097 $0600A3 $0600AF $0600BB $0600C7 $0600D3
Motor # 17 18 19 20 21 22 23 24
Host
Address
0x037C 0x03AC 0x03DC 0x040C 0x043C 0x046C 0x049C 0x04CC
Address
$0600DF $0600EB $0600F7 $060103 $06010F $06011B $060127 $060133
Motor # 25 26 27 28 29 30 31 32
Host
Address
0x04FC 0x052C 0x055C 0x058C 0x05BC 0x05EC 0x061C 0x064C
Address
$06013F $06014B $060157 $060163 $06016F $06017B $060187 $060193
DP:$060xxx Motor servo command (upper 16 bits have units of 16-bit DAC)
[from X:$BF, etc.]
Motor # 1 2 3 4 5 6 7 8
Host
Address
0x0080 0x00B0 0x00E0 0x0110 0x0140 0x0170 0x01A0 0x01D0
Address
$060020 $06002C $060038 $060044 $060050 $06005C $060068 $060074
Motor # 9 10 11 12 13 14 15 16
Host
Address
0x0200 0x0230 0x0260 0x0290 0x02C0 0x02F0 0x0320 0x0350
Address
$060080 $06008C $060098 $0600A4 $0600B0 $0600BC $0600C8 $0600D4
Motor # 17 18 19 20 21 22 23 24
Host
Address
0x0380 0x03B0 0x03E0 0x0410 0x0440 0x0470 0x04A0 0x04D0
Address
$0600E0 $0600EC $0600F8 $060104 $060110 $06011C $060128 $060134
Motor # 25 26 27 28 29 30 31 32
Host
Address
0x0500 0x0530 0x0560 0x0590 0x05C0 0x05F0 0x0620 0x0650
Address
$060140 $06014C $060158 $060164 $060170 $06017C $060188 $060194
DP:$060xxx Motor servo status (individual bits see $ description)
[from X:$B0, etc]
Motor # 1 2 3 4 5 6 7 8
Host
Address
0x0084 0x00B4 0x00E4 0x0114 0x0144 0x0174 0x01A4 0x01D0
Address
$060021 $06002D $060039 $060045 $060051 $06005D $060069 $060075
Motor # 9 10 11 12 13 14 15 16
Host
Address
0x0204 0x0234 0x0264 0x0294 0x02C4 0x02F4 0x0324 0x0354
Address
$060081 $06008D $060099 $0600A5 $0600B1 $0600BD $0600C9 $0600D5
Motor # 17 18 19 20 21 22 23 24
Host
Address
0x0384 0x03B4 0x03E4 0x0414 0x0444 0x0474 0x04A4 0x04D4
Address
$0600E1 $0600ED $0600F9 $060105 $060111 $06011D $060129 $060135
Motor # 25 26 27 28 29 30 31 32
Host
Address
0x0504 0x0534 0x0564 0x0594 0x05C4 0x05F4 0x0624 0x0654
Address
$060141 $06014D $060159 $060165 $060171 $06017D $060189 $060195

DP:$060xxx Motor general status (individual bits see $ description)
[from Y:$C0, etc]
Motor # 1 2 3 4 5 6 7 8
Host
Address
0x0088 0x00B8 0x00E8 0x0118 0x0148 0x0178 0x01A8 0x01D8
Address
$060022 $06002E $06003A $060046 $060052 $06005E $06006A $060076
Motor # 9 10 11 12 13 14 15 16
Host
Address
0x0208 0x0238 0x0268 0x0298 0x02C8 0x02F8 0x0328 0x0358
Address
$060082 $06008E $06009A $0600A6 $0600B2 $0600BE $0600CA $0600D6
Motor # 17 18 19 20 21 22 23 24
Host
Address
0x0388 0x03B8 0x03E8 0x0418 0x0448 0x0478 0x04A8 0x04D8
Address
$0600E2 $0600EE $0600FA $060106 $060112 $06011E $06012A $060136
Motor # 25 26 27 28 29 30 31 32
Host
Address
0x0508 0x0538 0x0568 0x0598 0x05C8 0x05F8 0x0628 0x0658
Address
$060142 $06014E $06015A $060166 $060172 $06017E $06018A $060196
DP:$060xxx-$060xxx+1 Motor position bias (1/[Ixx08*32] cts)
[from D:$CC, etc]
Motor # 1 2 3 4 5 6 7 8
Host
Address
0x0090 0x00C0 0x00F0 0x0120 0x0150 0x0180 0x01B0 0x01E0
Address
$060024 $060030 $06003C $060048 $060054 $060060 $06006C $060078
Motor # 9 10 11 12 13 14 15 16
Host
Address
0x0210 0x0240 0x0270 0x02A0 0x02D0 0x0300 0x0330 0x0360
Address
$060084 $060090 $06009C $0600A8 $0600B4 $0600C0 $0600CC $0600D8
Motor # 17 18 19 20 21 22 23 24
Host
Address
0x0390 0x03C0 0x03F0 0x0420 0x0450 0x0480 0x04B0 0x04E0
Address
$0600E4 $0600F0 $0600FC $060108 $060114 $060120 $06012C $060138
Motor # 25 26 27 28 29 30 31 32
Host
Address
0x0510 0x0540 0x0570 0x05A0 0x05D0 0x0600 0x0630 0x0660
Address
$060144 $060150 $06015C $060168 $060174 $060180 $06018C $060198

DP:$060xxx Motor filtered actual velocity (1/[Ixx09*32] cts/servo cycle)
[from D:$EF, etc.]
Motor # 1 2 3 4 5 6 7 8
Host
Address
0x0094 0x00C4 0x00F4 0x0124 0x0154 0x0184 0x01B4 0x01E4
Address
$060025 $060031 $06003D $060049 $060055 $060061 $06006D $060079
Motor # 9 10 11 12 13 14 15 16
Host
Address
0x0214 0x0244 0x0274 0x02A4 0x02D4 0x0304 0x0334 0x0364
Address
$060085 $060091 $06009D $0600A9 $0600B5 $0600C1 $0600CD $0600D9
Motor # 17 18 19 20 21 22 23 24
Host
Address
0x0394 0x03C4 0x03F4 0x0424 0x0454 0x0484 0x04B4 0x04E4
Address
$0600E5 $0600F1 $0600FD $060109 $060115 $060121 $06012D $060139
Motor # 25 26 27 28 29 30 31 32
Host
Address
0x0514 0x0544 0x0574 0x05A4 0x05D4 0x0604 0x0634 0x0664
Address
$060145 $060151 $06015B $060169 $060175 $060181 $06018D $060199
DP:$060xxx-$060xxx+1 Motor master position (1/[Ixx08*32] cts)
[from D:$8D, etc.]
Motor # 1 2 3 4 5 6 7 8
Host
Address
0x009C 0x00CC 0x00FC 0x012C 0x015C 0x018C 0x01BC 0x01EC
Address
$060027 $060033 $06003F $06004B $060057 $060063 $06006F $06007B
Motor # 9 10 11 12 13 14 15 16
Host
Address
0x021C 0x024C 0x027C 0x02AC 0x02DC 0x030C 0x033C 0x036C
Address
$060087 $060093 $06009F $0600AB $0600B
7
$0600C3 $0600CF $0600DB
Motor # 17 18 19 20 21 22 23 24
Host
Address
0x039C 0x03CC 0x03FC 0x042C 0x045C 0x048C 0x04BC 0x04EC
Address
$0600E7 $0600F3 $0600FF $06010B $060117 $060123 $06012F $06013B
Motor # 25 26 27 28 29 30 31 32
Host
Address
0x051C 0x054C 0x057C 0x05AC 0x05DC 0x060C 0x063C 0x066C
Address
$060147 $060153 $06015F $06016B $060177 $060183 $06018F $06019B
DP:$060xxx-$060xxx+1 Motor net actual position (1/[Ixx08*32] cts)
(=ActPos+BiasPos+CompPos-MasterPos*OffsetModeBit)
[from D:$8B + D:$CC + D:$90 D:$8D*X:$B0.5, etc.]
Background Data Reporting Buffer Control (used if I49 = 1 or I57 = 1)
Y:$06019D Background data reporting control
(0x0674) Bits 0-4 Number of coordinate systems to report
X:$06019D Background data reporting control
(0x0676) Bit 15 0 = Host ready; 1 = Host accessing buffer
Global Background Data Reporting Buffer (used if I49 = 1)
Y:$06019E Background data reporting time stamp
(0x0678) Servo counter bits 0-15 (from X:$0)
X:$06019E Background data reporting control & time stamp
(0x067A) Bit 15 0 = PMAC accessing buffer; 1 = PMAC ready
Bits 0-7 Servo counter bits 16-23 (from X:$0)
DP:$06019F JPAN control panel port word (PMAC1)
(0x067C) JIO port word bits 0 23 (PMAC2)
DP:$0601A0 JOPTO I/O port word (PMAC1)
(0x0680) JIO port word bits 24 31 (PMAC2)
DP:$0601A1 JTHW multiplexer port word
(0x0684)
DP:$0601A2 Global status word 1 [from X:$6]
(0x0688)
DP:$0601A3 Global status word 2 [from Y:$6]
(0x068C)
DP:$0601A4-$0601A6 (Reserved for future use)
(0x0690 0x069A)
Coordinate System Background Data Reporting Buffer
(used if I49 = 1)
Note:
Turbo PMAC 24-bit registers are copied into the low 24 bits of a 32-bit DPRAM
word. Bit 23 is sign-extended into bits 24 31. Turbo PMAC 48-bit registers are
treated as 2 24-bit registers. Each 24-bit register is copied into the low 24 bits of a
32-bit DPRAM word. Bit 23 is sign-extended into bits 24-31. The host computer
must re-assemble these values into a single fixed-point or floating-point value.
C. S. # 1 2 3 4 5 6 7 8
Host Adr
0x069C 0x071C 0x079C 0x081C 0x089C 0x091C 0x099C 0x0A1C
Address
$0601A7 $0601C7 $0601E7 $060207 $060227 $060247 $060267 $060287
C. S. # 9 10 11 12 13 14 15 16
Host Adr
0x0A9C 0x0B1C 0x0B9C 0x0C1C 0x0C9C 0x0D1C 0x0D9C 0x0E1C
Address
$0602A7 $0602C7 $0602E7 $060307 $060327 $060347 $060367 $060387

DP:$060xx7-$060xx8 C.S. programmed feedrate/move time (engrg. vel. units/msec)
[from L:$2006, etc.]
C. S. # 1 2 3 4 5 6 7 8
Host Adr
0x06A4 0x0724 0x07A4 0x0824 0x08A4 0x0924 0x09A4 0x0A24
Address
$0601A9 $0601C9 $0601E9 $060209 $060229 $060249 $060269 $060289
C. S. # 9 10 11 12 13 14 15 16
Host Adr
0x0AA4 0x0B24 0x0BA4 0x0C24 0x0CA4 0x0D24 0x0DA4 0x0E24
Address
$0602A9 $0602C9 $0602E9 $060309 $060329 $060349 $060369 $060389
DP:$060xx9 C.S. feedrate override (units of I10)
[from X:$2002, etc]
C. S. # 1 2 3 4 5 6 7 8
Host Adr
0x06A8 0x0728 0x07A8 0x0828 0x08A8 0x0928 0x09A8 0x0A28
Address
$0601AA $0601CA $0601EA $06020A $06022A $06024A $06026A $06028A
C. S. # 9 10 11 12 13 14 15 16
Host Adr
0x0AA8 0x0B24 0x0BA8 0x0C28 0x0CA8 0x0D28 0x0DA8 0x0E28
Address
$0602AA $0602CA $0602EA $06030A $06032A $06034A $06036A $06038A
DP:$060xxA C.S. feedrate override source address
[from X:$2001, etc.]
C. S. # 1 2 3 4 5 6 7 8
Host Adr
0x06AC 0x072C 0x07AC 0x082C 0x08AC 0x092C 0x09AC 0x0A2C
Address
$0601AB $0601CB $0601EB $06020B $06022B $06024B $06026B $06028B
C. S. # 9 10 11 12 13 14 15 16
Host Adr
0x0AAC 0x0B2C 0x0BAC 0x0C2C 0x0CAC 0x0D2C 0x0DAC 0x0E2C
Address
$0602AB $0602CB $0602EB $06030B $06032B $06034B $06036B $06038B
DP:$060xxB-$060xxC C.S. status words (individual bits)
[from D:$2040, etc.]
C. S. # 1 2 3 4 5 6 7 8
Host Adr
0x06B4 0x0734 0x07B4 0x0834 0x08B4 0x0934 0x09B4 0x0A34
Address
$0601AD $0601CD $0601ED $06020D $06022D $06024D $06026D $06028D
C. S. # 9 10 11 12 13 14 15 16
Host Adr
0x0AB4 0x0B34 0x0BB4 0x0C34 0x0CB4 0x0D34 0x0DB4 0x0E34
Address
$0602AD $0602CD $0602ED $06030D $06032D $06034D $06036D $06038D
DP:$060xxD-$060xxE C.S. A-axis target position (engineering units)
C. S. # 1 2 3 4 5 6 7 8
Host Adr
0x06BC 0x073C 0x07BC 0x083C 0x08BC 0x093C 0x09BC 0x0A3C
Address
$0601AF $0601CF $0601EF $06020F $06022F $06024F $06026F $06028F
C. S. # 9 10 11 12 13 14 15 16
Host Adr
0x0ABC 0x0B3C 0x0BBC 0x0C3C 0x0CBC 0x0D3C 0x0DBC 0x0E3C
Address
$0602AF $0602CF $0602EF $06030F $06032F $06034F $06036F $06038F

DP:$060xxF-$060xy0 C.S. B-axis target position (engineering units)
C. S. # 1 2 3 4 5 6 7 8
Host Adr
0x06C4 0x0744 0x07C4 0x0844 0x08C4 0x0944 0x09C4 0x0A44
Address
$0601B1 $0601D1 $0601F1 $060211 $060231 $060251 $060271 $060291
C. S. # 9 10 11 12 13 14 15 16
Host Adr
0x0AC4 0x0B44 0x0BC4 0x0C44 0x0CC4 0x0D44 0x0DC4 0x0E44
Address
$0602B1 $0602D1 $0602F1 $060311 $060331 $060351 $060371 $060391
DP:$060xx1-$060xx2 C.S. C-axis target position (engineering units)
C. S. # 1 2 3 4 5 6 7 8
Host Adr
0x06CC 0x074C 0x07CC 0x084C 0x08CC 0x094C 0x09CC 0x0A4C
Address
$0601B3 $0601D3 $0601F3 $060213 $060233 $060253 $060273 $060293
C. S. # 9 10 11 12 13 14 15 16
Host Adr
0x0ACC 0x0B4C 0x0BCC 0x0C4C 0x0CCC 0x0D4C 0x0DCC 0x0E4C
Address
$0602B3 $0602D3 $0602F3 $060313 $060333 $060353 $060373 $060393
DP:$060xx3-$060xx4 C.S. U-axis target position( engineering units)
C. S. # 1 2 3 4 5 6 7 8
Host Adr
0x06D4 0x0754 0x07D4 0x0854 0x08D4 0x0954 0x09D4 0x0A54
Address
$0601B5 $0601D5 $0601F5 $060215 $060235 $060255 $060275 $060295
C. S. # 9 10 11 12 13 14 15 16
Host Adr
0x0AD4 0x0B54 0x0BD4 0x0C54 0x0CD4 0x0D54 0x0DD4 0x0E54
Address
$0602B5 $0602D5 $0602F5 $060315 $060335 $060355 $060375 $060395
DP:$060xx5-$060xx6 C.S. V-axis target position (engineering units)
C. S. # 1 2 3 4 5 6 7 8
Host Adr
0x06DC 0x075C 0x07DC 0x085C 0x08DC 0x095C 0x09DC 0x0A5C
Address
$0601B7 $0601D7 $0601F7 $060217 $060237 $060257 $060277 $060297
C. S. # 9 10 11 12 13 14 15 16
Host Adr
0x0ADC 0x0B5C 0x0BDC 0x0C5C 0x0CDC 0x0D5C 0x0DDC 0x0E5C
Address
$0602B7 $0602D7 $0602F7 $060317 $060337 $060357 $060377 $060397
DP:$060xx7-$060xx8 C.S. W-axis target position (engineering units)
C. S. # 1 2 3 4 5 6 7 8
Host Adr 0x06E4 0x0764 0x07E4 0x0864 0x08E4 0x0964 0x09E4 0x0A64
Address $0601B9 $0601D9 $0601F9 $060219 $060239 $060259 $060279 $060299
C. S. # 9 10 11 12 13 14 15 16
Host Adr 0x0AE4 0x0B64 0x0BE4 0x0C64 0x0CE4 0x0D64 0x0DE4 0x0E64
Address $0602B9 $0602D9 $0602F9 $060319 $060339 $060359 $060379 $060399

DP:$060xx9-$060xxA C.S. X-axis target position (engineering units)
C. S. # 1 2 3 4 5 6 7 8
Host Adr
0x06EC 0x076C 0x07EC 0x086C 0x08EC 0x096C 0x09EC 0x0A6C
Address
$0601BB $0601DB $0601FB $06021B $06023B $06025B $06027B $06029B
C. S. # 9 10 11 12 13 14 15 16
Host Adr
0x0AEC 0x0B6C 0x0BEC 0x0C6C 0x0CEC 0x0D6C 0x0DEC 0x0E6C
Address
$0602BB $0602DB $0602FB $06031B $06033B $06035B $06037B $06039B
DP:$060xxB-$060xxC C.S. Y-axis target position (engineering units)
C. S. # 1 2 3 4 5 6 7 8
Host Adr
0x06F4 0x0774 0x07F4 0x0874 0x08F4 0x0974 0x09F4 0x0A74
Address
$0601BD $0601DD $0601FD $06021D $06023D $06025D $06027D $06029D
C. S. # 9 10 11 12 13 14 15 16
Host Adr
0x0AF4 0x0B74 0x0BF4 0x0C74 0x0CF4 0x0D74 0x0DF4 0x0E74
Address
$0602BD $0602DD $0602FD $06031D $06033D $06035D $06037D $06039D
DP:$060xxD-$060xxE C.S. Z-axis target position (engineering units)
C. S. # 1 2 3 4 5 6 7 8
Host Adr
0x06FC 0x077C 0x07FC 0x087C 0x08FC 0x097C 0x09FC 0x0A7C
Address
$0601BF $0601DF $0601FF $06021F $06023F $06025F $06027F $06029F
C. S. # 9 10 11 12 13 14 15 16
Host Adr
0x0AFC 0x0B7C 0x0BFC 0x0C7C 0x0CFC 0x0D7C 0x0DFC 0x0E7C
Address
$0602BF $0602DF $0602FF $06031F $06033F $06035F $06037F $06039F
DP:$060xxF C.S. program status (individual bits)
[from Y:$203F, etc.]
C. S. # 1 2 3 4 5 6 7 8
Host
Address
0x0700 0x0780 0x0800 0x0880 0x0900 0x0980 0x0A00 0x0A80
Address
$0601C0 $0601E0 $060200 $060220 $060240 $060260 $060280 $0602A0
C. S. # 9 10 11 12 13 14 15 16
Host
Addess
0x0B00 0x0B80 0x0C00 0x0C80 0x0D00 0x0D80 0x0E00 0x0E80
Address
$0602C0 $0602E0 $060300 $060320 $060340 $060360 $060380 $0603A0
DP:$060xx0 C.S. program lines remaining in buffer
C. S. # 1 2 3 4 5 6 7 8
Host Adr
0x0704 0x0784 0x0804 0x0884 0x0904 0x0984 0x0A04 0x0A84
Address
$0601C1 $0601E1 $060201 $060221 $060241 $060261 $060281 $0602A1
C. S. # 9 10 11 12 13 14 15 16
Host Adr
Address
$0602C1 $0602E1 $060301 $060321 $060341 $060361 $060381 $0603A1

DP:$060xx1 C.S. time remaining in move
C. S. # 1 2 3 4 5 6 7 8
Host
Adr
0x0708 0x0788 0x0808 0x0888 0x0908 0x0988 0x0A08 0x0A88
Address
$0601C2 $0601E2 $060202 $060222 $060242 $060262 $060282 $0602A2
C. S. # 9 10 11 12 13 14 15 16
Host
Adr
Address
$0602C2 $0602E2 $060302 $060322 $060342 $060362 $060382 $0603A2
DP:$060xx2 C.S. time remaining in accel/decel
C. S. # 1 2 3 4 5 6 7 8
Host
Address
0x070C 0x078C 0x080C 0x088C 0x090C 0x098C 0x0A0C 0x0A8C
Address
$0601C3 $0601E3 $060203 $060223 $060243 $060263 $060283 $0602A3
C. S. # 9 10 11 12 13 14 15 16
Host
Address
0x0B0C 0x0B8C 0x0C0C 0x0C8C 0x0D0C 0x0D8C 0x0E0C 0x0E8C
Address
$0602C3 $0602E3 $060303 $060323 $060343 $060363 $060383 $0603A3
DP:$060xx3 C.S. program execution address offset
C. S. # 1 2 3 4 5 6 7 8
Host
Adr
0x0710 0x0790 0x0810 0x0890 0x0910 0x0990 0x0A10 0x0A90
Address
$0601C4 $0601E4 $060204 $060224 $060244 $060264 $060284 $0602A4
C. S. # 9 10 11 12 13 14 15 16
Host
Adr
Address
$0602C4 $0602E4 $060304 $060324 $060344 $060364 $060384 $0603A4
DP:$060xx4-$060xx6 (Reserved for future use)
DPRAM ASCII Buffers (used if I58 = 1)
Y:$0603A7 DPRAM ASCII Command Buffer Control
(0x0E9C) Bit 0= 1: Data ready from host
X:$0603A7 DPRAM ASCII Command Buffer Control Character (Bits 0 7)
(0x0E9E)
DP:$0603A8-$0603CF DPRAM ASCII Command Buffer
(0x0EA0 0x0F3E) <= 159 characters, null terminated
Y:$0603D0 DPRAM ASCII Response Buffer Control Characters
(0x0F40) Bits 0 7 Response handshake control character
Bits 8 14 Response type (0 = host, 1 = CMDR, 2 = SENDR)
Bit 15 (0 = valid command, 1 = error in command)
X:$0603D0 DPRAM ASCII Response Buffer: No. of characters + 1
(0x0F42)
DP:$0603D1-$060410 DPRAM ASCII Response Buffer
(0x0F44 0x1040) <= 255 characters, null terminated
Background Variable Read and Write Buffer Control (used if I55 = 1)
Y:$060411 Background Variable-Read Control
(0x1044) Bit 0 (0 = no new data ready; 1 = new data ready)
X:$060411 Background Variable-Read Servo Time (from X:$0)
(0x1046)
Y:$060412 Background Variable-Read Buffer Size
(0x1048)
X:$060412 Background Variable-Read Buffer Start Address Offset
(0x104A)
Y:$060413 Background Variable-Write Buffer Size
(0x104C)
X:$060413 Background Variable-Write Buffer Start Address Offset
(0x104E)
Binary Rotary Program Buffer Control (used after OPEN BIN ROT)
C. S. # 1 2 3 4 5 6 7 8
Host Adr
0x1050 0x105C 0x1068 0x1074 0x1080 0x108C 0x1098 0x10A4
Address
$060414 $060417 $06041A $06041D $060420 $060423 $060426 $060429
C. S. # 9 10 11 12 13 14 15 16
Host Adr
0x10B0 0x10BC 0x10C8 0x10D4 0x10E0 0x10EC 0x10F8 0x1104
Address
$06042C $06042F $060432 $060435 $060438 $06043B $06043E $060441
Y:$0604xx C.S. Binary Rotary Buffer Status
X:$0604xx C.S. Binary Rotary Buffer C.S. # and Enable
C. S. # 1 2 3 4 5 6 7 8
Host Adr
0x1054 0x1060 0x106C 0x1078 0x1084 0x1090 0x109C 0x10A8
Address
$060415 $060418 $06041B $06041E $060421 $060424 $060427 $06042A
C. S. # 9 10 11 12 13 14 15 16
Host Adr
0x10B4 0x10C0 0x10CC 0x10D8 0x10E4 0x10F0 0x10FC 0x1108
Address
$06042D $060430 $060433 $060436 $060439 $06043C $06043F $060442
Y:$0604xx C.S. Binary Rotary Buffer Host Index
X:$0604xx C.S. Binary Rotary Buffer PMAC Index
C. S. # 1 2 3 4 5 6 7 8
Host Adr
0x1058 0x1064 0x1070 0x107C 0x1088 0x1094 0x10A0 0x10AC
Address
$060416 $060419 $06041C $06041F $060422 $060425 $060428 $06042A
C. S. # 9 10 11 12 13 14 15 16
Host Adr
0x10B8 0x10C4 0x10D0 0x10DC 0x10E8 0x10F4 0x1100 0x110C
Address
$06042E $060431 $060434 $060437 $06043A $06043D $060440 $060443
Y:$0604xx C.S. Binary Rotary Buffer Size
X:$0604xx C.S. Binary Rotary Buffer Start Address Offset
DP:$060444-$06044E (Reserved for future use)
(0x1110 0x113A)
Data Gathering Control (used if I5000 = 2 or 3)
Y:$06044F DPRAM Data Gathering Buffer Size
(0x113C)
X:$06044F DPRAM Data Gathering Buffer Start Address Offset
(0x113E)
Variable-Sized Buffers/Open-Use Space
DP:$060450 DPRAM variable-size buffers start
(0x1140)
DP:$060FFF DPRAM end address (Option 2: 8K x 16)
(0x3FFC)
DP:$063FFF DPRAM end address (Option 2B: 32K x 16)
(0xFFFC)
VME Bus/DPRAM Interface Registers
$070000 - $077FFF Used for VME-bus/DPRAM functions
X:$070006 VME Active Address Modifier (Bits 0-7; from I90)
X:$070007 VME Active Address Modifier Dont Care Bits
(Bits 0-7; from I91)
X:$070008 VME Active Base Address Bits A31-A24 (Bits 0-7; from I92)
X:$070009 VME Active Mailbox Base Address Bits A23-A16
ISA Active DPRAM Base Address bits A23-A16
X:$07000A VME Active Mailbox Base Address Bits A15-A08
ISA Active DPRAM Base Address bits A15-A14, Enable &
Bank Select
X:$07000B VME Active Interrupt Level (Bits 0-7; from I95)
X:$07000C VME Active Interrupt Vector (Bits 0-7; from I96)
X:$07000D VME Active DPRAM Base Address Bits A23-A20
X:$07000E VME Active DPRAM Enable State (Bits 0-7; from I98)
X:$07000F VME Active Address Width Control (Bits 0-7; from I99)
Y:$070000 VME Mailbox Register 0 (Bits 0-7)
Y:$07000A VME Mailbox Register A (Bits 0-7)
Y:$07000B VME Mailbox Register B (Bits 0-7)
Y:$07000C VME Mailbox Register C (Bits 0-7)
Y:$07000D VME Mailbox Register D (Bits 0-7)
Y:$07000E VME Mailbox Register E (Bits 0-7)
Y:$07000F VME Mailbox Register F (Bits 0-7)
Turbo PMAC2 I/O Control Registers
Note:
These registers can be addressed either as X or Y registers)
PC/ISA Bus Turbo PMAC2 Versions (PMAC2 PC, PMAC2-Lite, PMAC2 PC UltraLite):
X/Y:$070800 I/O Buffer IC Direction Control
Bits: 0 OUT0: Buffer direction control for I/O00 to I/O07 on JIO
1 OUT1: Buffer direction control for I/O08 to I/O15 on JIO
4 OUT4: Buffer direction control for DAT0 to DAT7 on JTHW
5 OUT5: Buffer direction control for SEL0 to SEL7 on JTHW
6 OUT6: Buffer direction control for DISP0 to DISP7 on JDISP,
inverted as R/W- output on JDISP (pin 5)
7 OUT7: Inverted as E output on JDISP
16 ACC_FLT8: Channel 8 Accessory Fault
Bits: 0 OUT8: Inverted as RS output on JDISP
1 XIN_1: Jumper E1 input; phase/servo clock direction status
2 XIN_2: Jumper E2 input (40/60 MHz control)
3 XIN_3: Jumper E3 input (re-initialize on reset)
4 XIN_4: Jumper E4 input
7 XIN_7: Option 12 ADC convert status
VME Bus Turbo PMAC2 Versions (PMAC2 VME, PMAC2 VME UltraLite):
Bits: 0 OUT0: Buffer direction control for I/O00 to I/O07 on JIO
Bits: 0 OUT8: Inverted as RS output on JDISP
1 XIN_1: Jumper E1 input; phase/servo clock direction status
2 XIN_2: Jumper E2 input (40/60 MHz control)
3 XIN_3: Jumper E3 input (re-initialize on reset)
0 OUT4: Buffer direction control for DAT0 to DAT7 on JTHW
1 OUT5: Buffer direction control for SEL0 to SEL7 on JTHW
2 OUT6: Buffer direction control for DISP0 to DISP7 on JDISP,
inverted as R/W- output on JDISP (pin 5)
3 OUT7: Inverted as E output on JDISP
3 XIN_7: Option 12 ADC convert status
PMAC-Style Servo ASIC Registers
IC# - Chan#
0-1 0-2 0-3 0-4 1-1 1-2 1-3 1-4
Board -
Chan#
PMAC - 1 PMAC - 2 PMAC - 3 PMAC - 4 PMAC - 5 PMAC - 6 PMAC - 7 PMAC - 8
Address
$078000 $078004 $078008 $07800C $078100 $078104 $078108 $07810C
IC# - Chan#
2-1 2-2 2-3 2-4 3-1 3-2 3-3 3-4
Board -
Chan#
24P/V
#1 - 1
24P/V
#1 - 2
24P/V
#1 - 3
24P/V
#1 - 4
24P/V
#1 - 5
24P/V
#1 - 6
24P/V
#1 - 7
24P/V
#1 - 8
Address
$078200 $078204 $078208 $07820C $078300 $078304 $078308 $07830C
IC# - Chan#
4-1 4-2 4-3 4-4 5-1 5-2 5-3 5-4
Board -
Chan#
24P/V
#2 - 1
24P/V
#2 - 2
24P/V
#2 - 3
24P/V
#2 - 4
24P/V
#2 - 5
24P/V
#2 - 6
24P/V
#2 - 7
24P/V
#2 - 8
Address
$079200 $079204 $079208 $07920C $079300 $079304 $079308 $07930C
IC# - Chan#
6-1 6-2 6-3 6-4 7-1 7-2 7-3 7-4
Board -
Chan#
24P/V
#3 - 1
24P/V
#3 - 2
24P/V
#3 - 3
24P/V
#3 - 4
24P/V
#3 - 5
24P/V
#3 - 6
24P/V
#3 - 7
24P/V
#3 - 8
Address
$07A200 $07A204 $07A208 $07A20C $07A300 $07A304 $07A308 $07A30C
IC# - Chan#
8-1 8-2 8-3 8-4 9-1 9-2 9-3 9-4
Board -
Chan#
24P/V
#4 - 1
24P/V
#4 - 2
24P/V
#4 - 3
24P/V
#4 - 4
24P/V
#4 - 5
24P/V
#4 - 6
24P/V
#4 - 7
24P/V
#4 - 8
Address
$07B200 $07B204 $07B208 $07B20C $07B300 $07B304 $07B308 $07B30C
Y:$07xx0x Time between last two encoder counts (SCLK cycles)
X:$07xx0x Encoder Status/Control Bits
(Bits 0-15: control; Bits 16-23: status)
0-3 Decode control (I7mn0)
4-7 Position capture control (I7mn2)
8-9 Flag select control (I7mn3)
10 Count write enable
11 Compare equal flag latch control
12 Compare-equal output enable
13 EQU output invert enable
14 OUT value (AENAn)
15 Digital delay filter disable (I7mn1)
16 Compare-equal flag
17 Position-captured flag
18 Count error flag
19 Encoder C Channel Status
20 Flag 1 Status (HMFLn)
21 Flag 2 Status (-LIMn)
22 Flag 3 Status (+LIMn)
23 Flag 4 Status (FAULTn)
IC# - Chan#
0-1 0-2 0-3 0-4 1-1 1-2 1-3 1-4
Board -
Chan#
Address
$078001 $078005 $078009 $07800D $078101 $078105 $078109 $07810D
IC# - Chan#
2-1 2-2 2-3 2-4 3-1 3-2 3-3 3-4
Board -
Chan#
24P/V
#1 - 1
24P/V
#1 - 2
24P/V
#1 - 3
24P/V
#1 - 4
24P/V
#1 - 5
24P/V
#1 - 6
24P/V
#1 - 7
24P/V
#1 - 8
Address
$078201 $078205 $078209 $07820D $078301 $078305 $078309 $07830D
IC# - Chan#
4-1 4-2 4-3 4-4 5-1 5-2 5-3 5-4
Board -
Chan#
24P/V
#2 - 1
24P/V
#2 - 2
24P/V
#2 - 3
24P/V
#2 - 4
24P/V
#2 - 5
24P/V
#2 - 6
24P/V
#2 - 7
24P/V
#2 - 8
Address
$079201 $079205 $079209 $07920D $079301 $079305 $079309 $07930D
IC# - Chan#
6-1 6-2 6-3 6-4 7-1 7-2 7-3 7-4
Board -
Chan#
24P/V
#3 - 1
24P/V
#3 - 2
24P/V
#3 - 3
24P/V
#3 - 4
24P/V
#3 - 5
24P/V
#3 - 6
24P/V
#3 - 7
24P/V
#3 - 8
Address
$07A201 $07A205 $07A209 $07A20D $07A301 $07A305 $07A309 $07A30D
IC# - Chan#
8-1 8-2 8-3 8-4 9-1 9-2 9-3 9-4
Board -
Chan#
24P/V
#4 - 1
24P/V
#4 - 2
24P/V
#4 - 3
24P/V
#4 - 4
24P/V
#4 - 5
24P/V
#4 - 6
24P/V
#4 - 7
24P/V
#4 - 8
Address
$07B201 $07B205 $07B209 $07B20D $07B301 $07B305 $07B309 $07B30D
Y:$07xx0x Time since last encoder count (SCLK cycles)
X:$07xx0x Encoder phase position (counts)
IC# - Chan#
0-1 0-2 0-3 0-4 1-1 1-2 1-3 1-4
Board -
Chan#
Address
$078002 $078006 $07800A $07800E $078102 $078106 $07810A $07810E
IC# - Chan#
2-1 2-2 2-3 2-4 3-1 3-2 3-3 3-4
Board -
Chan#
24P/V
#1 - 1
24P/V
#1 - 2
24P/V
#1 - 3
24P/V
#1 - 4
24P/V
#1 - 5
24P/V
#1 - 6
24P/V
#1 - 7
24P/V
#1 - 8
Address
$078202 $078206 $07820A $07820E $078302 $078306 $07830A $07830E
IC# - Chan#
4-1 4-2 4-3 4-4 5-1 5-2 5-3 5-4
Board -
Chan#
24P/V
#2 - 1
24P/V
#2 - 2
24P/V
#2 - 3
24P/V
#2 - 4
24P/V
#2 - 5
24P/V
#2 - 6
24P/V
#2 - 7
24P/V
#2 - 8
Address
$079202 $079206 $07920A $07920E $079302 $079306 $07930A $07930E
IC# - Chan#
6-1 6-2 6-3 6-4 7-1 7-2 7-3 7-4
Board -
Chan#
24P/V
#3 - 1
24P/V
#3 - 2
24P/V
#3 - 3
24P/V
#3 - 4
24P/V
#3 - 5
24P/V
#3 - 6
24P/V
#3 - 7
24P/V
#3 - 8
Address
$07A202 $07A206 $07A20A $07A20E $07A302 $07A306 $07A30A $07A30E
IC# - Chan#
8-1 8-2 8-3 8-4 9-1 9-2 9-3 9-4
Board -
Chan#
24P/V
#4 - 1
24P/V
#4 - 2
24P/V
#4 - 3
24P/V
#4 - 4
24P/V
#4 - 5
24P/V
#4 - 6
24P/V
#4 - 7
24P/V
#4 - 8
Address
$07B202 $07B206 $07B20A $07B20E $07B302 $07B306 $07B30A $07B30E
X:$07xx0x Encoder servo position (2*counts; LSB is direction)
IC# - Chan#
0-1 0-2 0-3 0-4 1-1 1-2 1-3 1-4
Board -
Chan#
Address
$078003 $078002 $07800B $07800A $078103 $078102 $07810B $07810A
IC# - Chan#
2-1 2-2 2-3 2-4 3-1 3-2 3-3 3-4
Board -
Chan#
24P/V
#1 - 1
24P/V
#1 - 2
24P/V
#1 - 3
24P/V
#1 - 4
24P/V
#1 - 5
24P/V
#1 - 6
24P/V
#1 - 7
24P/V
#1 - 8
Address
$078203 $078202 $07820B $07820A $078303 $078302 $07830B $07830A
IC# - Chan#
4-1 4-2 4-3 4-4 5-1 5-2 5-3 5-4
Board -
Chan#
24P/V
#2 - 1
24P/V
#2 - 2
24P/V
#2 - 3
24P/V
#2 - 4
24P/V
#2 - 5
24P/V
#2 - 6
24P/V
#2 - 7
24P/V
#2 - 8
Address
$079203 $079202 $07920B $07920A $079303 $079302 $07930B $07930A
IC# - Chan#
6-1 6-2 6-3 6-4 7-1 7-2 7-3 7-4
Board -
Chan#
24P/V
#3 - 1
24P/V
#3 - 2
24P/V
#3 - 3
24P/V
#3 - 4
24P/V
#3 - 5
24P/V
#3 - 6
24P/V
#3 - 7
24P/V
#3 - 8
Address
$07A203 $07A202 $07A20B $07A20A $07A303 $07A302 $07A30B $07A30A
IC# - Chan#
8-1 8-2 8-3 8-4 9-1 9-2 9-3 9-4
Board -
Chan#
24P/V
#4 - 1
24P/V
#4 - 2
24P/V
#4 - 3
24P/V
#4 - 4
24P/V
4 - 5
24P/V
#4 - 6
24P/V
#4 - 7
24P/V
#4 - 8
Address
$07B203 $07B202 $07B20B $07B20A $07B303 $07B302 $07B30B $07B30A
Y:$07xx0x DAC output value (high 16 bits)
IC# - Chan#
0-1 0-2 0-3 0-4 1-1 1-2 1-3 1-4
Board -
Chan#
Address
$078006 $078007 $07800E $07800F $078106 $078107 $07810E $07810F
IC# - Chan#
2-1 2-2 2-3 2-4 3-1 3-2 3-3 3-4
Board -
Chan#
24P/V
#1 - 1
24P/V
#1 - 2
24P/V
#1 - 3
24P/V
#1 - 4
24P/V
#1 - 5
24P/V
#1 - 6
24P/V
#1 - 7
24P/V
#1 - 8
Address
$078206 $078207 $07820E $07820F $078306 $078307 $07830E $07830F
IC# - Chan#
4-1 4-2 4-3 4-4 5-1 5-2 5-3 5-4
Board -
Chan#
24P/V
#2 - 1
24P/V
#2 - 2
24P/V
#2 - 3
24P/V
#2 - 4
24P/V
#2 - 5
24P/V
#2 - 6
24P/V
#2 - 7
24P/V
#2 - 8
Address
$079206 $079207 $07920E $07920F $079306 $079307 $07930E $07930F
IC# - Chan#
6-1 6-2 6-3 6-4 7-1 7-2 7-3 7-4
Board -
Chan#
24P/V
#3 - 1
24P/V
#3 - 2
24P/V
#3 - 3
24P/V
#3 - 4
24P/V
#3 - 5
24P/V
#3 - 6
24P/V
#3 - 7
24P/V
#3 - 8
Address
$07A206 $07A207 $07A20E $07A20F $07A306 $07A307 $07A30E $07A30F
IC# - Chan#
8-1 8-2 8-3 8-4 9-1 9-2 9-3 9-4
Board -
Chan#
24P/V
#4 - 1
24P/V
#4 - 2
24P/V
#4 - 3
24P/V
#4 - 4
24P/V
#4 - 5
24P/V
#4 - 6
24P/V
#4 - 7
24P/V
#4 - 8
Address
$07B206 $07B207 $07B20E $07B20F $07B306 $07B307 $07B30E $07B30F
Y:$07xx0x ADC input value (high 16 bits)

IC# - Chan#
0-1 0-2 0-3 0-4 1-1 1-2 1-3 1-4
Board -
Chan#
Address
$078003 $078007 $07800B $07800F $078103 $078107 $07810B $07810F
IC# - Chan#
2-1 2-2 2-3 2-4 3-1 3-2 3-3 3-4
Board -
Chan#
24P/V
#1 - 1
24P/V
#1 - 2
24P/V
#1 - 3
24P/V
#1 - 4
24P/V
#1 - 5
24P/V
#1 - 6
24P/V
#1 - 7
24P/V
#1 - 8
Address
$078203 $078207 $07820B $07820F $078303 $078307 $07830B $07830F
IC# - Chan#
4-1 4-2 4-3 4-4 5-1 5-2 5-3 5-4
Board -
Chan#
24P/V
#2 - 1
24P/V
#2 - 2
24P/V
#2 - 3
24P/V
#2 - 4
24P/V
#2 - 5
24P/V
#2 - 6
24P/V
#2 - 7
24P/V
#2 - 8
Address
$079203 $079207 $07920B $07920F $079303 $079307 $07930B $07930F
IC# - Chan#
6-1 6-2 6-3 6-4 7-1 7-2 7-3 7-4
Board -
Chan#
24P/V
#3 - 1
24P/V
#3 - 2
24P/V
#3 - 3
24P/V
#3 - 4
24P/V
#3 - 5
24P/V
#3 - 6
24P/V
#3 - 7
24P/V
#3 - 8
Address
$07A203 $07A207 $07A20B $07A20F $07A303 $07A307 $07A30B $07A30F
IC# - Chan#
8-1 8-2 8-3 8-4 9-1 9-2 9-3 9-4
Board -
Chan#
24P/V
#4 - 1
24P/V
#4 - 2
24P/V
#4 - 3
24P/V
#4 - 4
24P/V
#4 - 5
24P/V
#4 - 6
24P/V
#4 - 7
24P/V
#4 - 8
Address
$07B203 $07B207 $07B20B $07B20F $07B303 $07B307 $07B30B $07B30F
X:$07xx0x Encoder Capture/Compare position
(Capture register is read-only; compare register is write-only)
PMAC2-Style Servo ASIC Registers
Note:
For addressing of alternate Servo ICs n* on the UBUS expansion port, add $20 to
the addresses for Servo IC n shown in these tables.
IC# - Chan#
0-1 0-2 0-3 0-4 1-1 1-2 1-3 1-4
Board -
Chan#
PMAC2-1 PMAC2-2 PMAC2-3 PMAC2-4 PMAC2-5 PMAC2-6 PMAC2-7 PMAC2-8
Address
$078000 $078008 $078010 $078018 $078100 $078108 $078110 $078118
IC# - Chan#
2-1 2-2 2-3 2-4 3-1 3-2 3-3 3-4
Board -
Chan#
24P/V/E2
#1 - 1
24P/V/E2 #1
- 2
24P/V/E2
#1 - 3
24P/V/E2
#1 - 4
24P/V/E2
#1 - 5
24P/V/E2
#1 - 6
24P/V/E2
#1 - 7
24P/V/E2
#1 - 8
Address
$078200 $078208 $078210 $078218 $078300 $078308 $078310 $078318
IC# - Chan#
4-1 4-2 4-3 4-4 5-1 5-2 5-3 5-4
Board -
Chan#
24P/V/E2
#2 - 1
24P/V/E2
#2 - 2
24P/V/E2
#2 - 3
24P/V/E2
#2 - 4
24P/V/E2
#2 - 5
24P/V/E2
#2 - 6
24P/V/E2
#2 - 7
24P/V/E2
#2 - 8
Address
$079200 $079208 $079210 $079218 $079300 $079308 $079310 $079318
IC# - Chan#
6-1 6-2 6-3 6-4 7-1 7-2 7-3 7-4
Board -
Chan#
24P/V/E2
#3 - 1
24P/V/E2
#3 - 2
24P/V/E2
#3 - 3
24P/V/E2
#3 - 4
24P/V/E2
#3 - 5
24P/V/E2
#3 - 6
24P/V/E2
#3 - 7
24P/V/E2
#3 - 8
Address
$07A200 $07A208 $07A210 $07A218 $07A300 $07A308 $07A310 $07A318
IC# - Chan#
8-1 8-2 8-3 8-4 9-1 9-2 9-3 9-4
Board -
Chan#
24P/V/E2
#4 - 1
24P/V/E2
#4 - 2
24P/V/E2
#4 - 3
24P/V/E2
#4 - 4
24P/V/E2
#4 - 5
24P/V/E2
#4 - 6
24P/V/E2
#4 - 7
24P/V/E2
#4 - 8
Address
$07B200 $07B208 $07B210 $07B218 $07B300 $07B308 $07B310 $07B318
Y:$07x0xx. Channel n Time between last two encoder counts (SCLK cycles)
Bits: 0-22: Timer (units of SCLK cycles)
23: Change-of-direction flag
Alternate use if Channel Control Word bit 18 set to 1 (Rev D or newer IC only):
Channel n Timer-Based Fractional Count Data (unsigned)
Bits: 0-11 Compare B fractional count (bit 11 = -count; bit 10 = -count; etc.)
12-23 Flag-captured fractional count (bit 23 = -count; bit 22 = -count; etc.)
X:$07xx0x Channel n Status Word
Bits: 0-2 Capture Hall Effect Device State
3 Invalid demultiplex of C, U, V, & W
4-7 Reserved for future use (reports as 0)
8 Encoder Count Error (0 on counter reset, 1 on illegal transition)
9 Position Compare (EQUn) output value
10 Position-Captured-On-Gated-Index Flag
(=0 on read of captured position register, =1 on trigger capture)
11 Position-Captured Flag (on any trigger)
12 Encoder Channel A (CHAn) Input Value
13 Encoder Channel B (CHBn) Input Value
14 Encoder Channel C (Index, CHCn) Input Value (ungated)
15 Amplifier Fault (FAULTn) Input Value
16 Home Flag (HMFLn) Input Value
17 Positive End Limit (PLIMn) Input Value
18 Negative End Limit (MLIMn) Input Value
19 User Flag (USERn) Input Value
20 FlagWn Input Value
21 FlagVn Input Value
22 FlagUn Input Value
23 FlagTn Input Value
IC# - Chan# 0-1 0-2 0-3 0-4 1-1 1-2 1-3 1-4
Board - Chan#
PMAC2-1
PMAC2-
2
PMAC2-3 PMAC2-4 PMAC2-5 PMAC2-6
PMAC2-
7
PMAC2-8
Address $078001 $078009 $078011 $078019 $078101 $078109 $078111 $078119
IC# - Chan# 2-1 2-2 2-3 2-4 3-1 3-2 3-3 3-4
Board - Chan#
24P/V/E2
#1 - 1
24P/V/E2
#1 - 2
24P/V/E2
#1 - 3
24P/V/E2
#1 - 4
24P/V/E2
#1 - 5
24P/V/E2
#1 - 6
24P/V/E2
#1 - 7
24P/V/E2
#1 - 8
Address $078201 $078209 $078211 $078219 $078301 $078309 $078311 $078319
IC# - Chan# 4-1 4-2 4-3 4-4 5-1 5-2 5-3 5-4
Board - Chan#
24P/V/E2
#2 - 1
24P/V/E2
#2 - 2
24P/V/E2
#2 - 3
24P/V/E2
#2 - 4
24P/V/E2
#2 - 5
24P/V/E2
#2 - 6
24P/V/E2
#2 - 7
24P/V/E2
#2 - 8
Address $079201 $079209 $079211 $079219 $079301 $079309 $079311 $079319
IC# - Chan# 6-1 6-2 6-3 6-4 7-1 7-2 7-3 7-4
Board - Chan#
24P/V/E2
#3 - 1
24P/V/E2
#3 - 2
24P/V/E2
#3 - 3
24P/V/E2
#3 - 4
24P/V/E2
#3 - 5
24P/V/E2
#3 - 6
24P/V/E2
#3 - 7
24P/V/E2
#3 - 8
Address $07A201 $07A209 $07A211 $07A219 $07A301 $07A309 $07A311 $07A319
IC# - Chan# 8-1 8-2 8-3 8-4 9-1 9-2 9-3 9-4
Board - Chan#
24P/V/E2
#4 - 1
24P/V/E2
#4 - 2
24P/V/E2
#4 - 3
24P/V/E2
#4 - 4
24P/V/E2
#4 - 5
24P/V/E2
#4 - 6
24P/V/E2
#4 - 7
24P/V/E2
#4 - 8
Address $07B201 $07B209 $07B211 $07B219 $07B301 $07B309 $07B311 $07B319

Y:$07x0xx. Channel n Time between last two encoder counts (SCLK cycles)
Bits: 0-22: Timer (units of SCLK cycles)
23: Change-of-direction flag
Alternate use if Channel Control Word bit 18 set to 1 (Rev D or newer IC only):
Channel n Timer-Based Fractional Count Data (unsigned)
Bits: 0-11 Compare B fractional count (bit 11 = -count; bit 10 = -count; etc.)
12-23 Flag-captured fractional count (bit 23 = -count; bit 22 = -count; etc.)
X:$07xx0x Channel n Encoder phase position (counts)
IC# - Chan#
0-1 0-2 0-3 0-4 1-1 1-2 1-3 1-4
Board -
Chan#
Address
$078002 $07800A $078012 $07801A $078102 $07810A $078112 $07811A
IC# - Chan#
2-1 2-2 2-3 2-4 3-1 3-2 3-3 3-4
Board -
Chan#
24P/V/E2
#1 - 1
24P/V/E2
#1 - 2
24P/V/E2
#1 - 3
24P/V/E2
#1 - 4
24P/V/E2
#1 - 5
24P/V/E2
#1 - 6
24P/V/E2
#1 - 7
24P/V/E2
#1 - 8
Address
$078202 $07820A $078212 $07821A $078302 $07830A $078312 $07831A
IC# - Chan#
4-1 4-2 4-3 4-4 5-1 5-2 5-3 5-4
Board -
Chan#
24P/V/E2
#2 - 1
24P/V/E2
#2 - 2
24P/V/E2
#2 - 3
24P/V/E2
#2 - 4
24P/V/E2
#2 - 5
24P/V/E2
#2 - 6
24P/V/E2
#2 - 7
24P/V/E2
#2 - 8
Address
$079202 $07920A $079212 $07921A $079302 $07930A $079312 $07931A
IC# - Chan#
6-1 6-2 6-3 6-4 7-1 7-2 7-3 7-4
Board -
Chan#
24P/V/E2
#3 - 1
24P/V/E2
#3 - 2
24P/V/E2
#3 - 3
24P/V/E2
#3 - 4
24P/V/E2
#3 - 5
24P/V/E2
#3 - 6
24P/V/E2
#3 - 7
24P/V/E2
#3 - 8
Address
$07A202 $07A20A $07A212 $07A21A $07A302 $07A30A $07A312 $07A31A
IC# - Chan#
8-1 8-2 8-3 8-4 9-1 9-2 9-3 9-4
Board -
Chan#
24P/V/E2
#4 - 1
24P/V/E2
#4 - 2
24P/V/E2
#4 - 3
24P/V/E2
#4 - 4
24P/V/E2
#4 - 5
24P/V/E2
#4 - 6
24P/V/E2
#4 - 7
24P/V/E2
#4 - 8
Address
$07B202 $07B20A $07B212 $07B21A $07B302 $07B30A $07B312 $07B31A
Y:$07xx0x Channel n Output A Command Value
Bits: 8-23: PWM Command Value
6-23: Serial DAC Command Value
0-5: Not Used
X:$07xx0x Channel n Encoder Servo Position Capture Register
Bits: 0: Direction of last count (0=up, 1=down)
1-23: Position counter (units of counts)

IC# - Chan#
0-1 0-2 0-3 0-4 1-1 1-2 1-3 1-4
Board -
Chan#
Address
$078003 $07800B $078013 $07801B $078103 $07810B $078113 $07811B
IC# - Chan#
2-1 2-2 2-3 2-4 3-1 3-2 3-3 3-4
Board -
Chan#
24P/V/E2
#1 - 1
24P/V/E2
#1 - 2
24P/V/E2
#1 - 3
24P/V/E2
#1 - 4
24P/V/E2
#1 - 5
24P/V/E2
#1 - 6
24P/V/E2
#1 - 7
24P/V/E2
#1 - 8
Address
$078203 $07820B $078213 $07821B $078303 $07830B $078313 $07831B
IC# - Chan#
4-1 4-2 4-3 4-4 5-1 5-2 5-3 5-4
Board -
Chan#
24P/V/E2
#2 - 1
24P/V/E2
#2 - 2
24P/V/E2
#2 - 3
24P/V/E2
#2 - 4
24P/V/E2
#2 - 5
24P/V/E2
#2 - 6
24P/V/E2
#2 - 7
24P/V/E2
#2 - 8
Address
$079203 $07920B $079213 $07921B $079303 $07930B $079313 $07931B
IC# - Chan#
6-1 6-2 6-3 6-4 7-1 7-2 7-3 7-4
Board -
Chan#
24P/V/E2
#3 - 1
24P/V/E2
#3 - 2
24P/V/E2
#3 - 3
24P/V/E2
#3 - 4
24P/V/E2
#3 - 5
24P/V/E2
#3 - 6
24P/V/E2
#3 - 7
24P/V/E2
#3 - 8
Address
$07A203 $07A20B $07A213 $07A21B $07A303 $07A30B $07A313 $07A31B
IC# - Chan#
8-1 8-2 8-3 8-4 9-1 9-2 9-3 9-4
Board -
Chan#
24P/V/E2
#4 - 1
24P/V/E2
#4 - 2
24P/V/E2
#4 - 3
24P/V/E2
#4 - 4
24P/V/E2
#4 - 5
24P/V/E2
#4 - 6
24P/V/E2
#4 - 7
24P/V/E2
#4 - 8
Address
$07B203 $07B20B $07B213 $07B21B $07B303 $07B30B $07B313 $07B31B
Y:$07xx0x Channel n Output B Command Value
6-23: Serial DAC Command Value
0-5: Not used
X:$07xx0x Channel n Flag Position Capture Value; 24 bits, units of counts
IC# - Chan#
0-1 0-2 0-3 0-4 1-1 1-2 1-3 1-4
Board -
Chan#
Address
$078004 $07800C $078014 $07801C $078104 $07810C $078114 $07811C
IC# - Chan#
2-1 2-2 2-3 2-4 3-1 3-2 3-3 3-4
Board -
Chan#
24P/V/E2
#1 - 1
24P/V/E2
#1 - 2
24P/V/E2
#1 - 3
24P/V/E2
#1 - 4
24P/V/E2
#1 - 5
24P/V/E2
#1 - 6
24P/V/E2
#1 - 7
24P/V/E2
#1 - 8
Address
$078204 $07820C $078214 $07821C $078304 $07830C $078314 $07831C
IC# - Chan#
4-1 4-2 4-3 4-4 5-1 5-2 5-3 5-4
Board -
Chan#
24P/V/E2
#2 - 1
24P/V/E2
#2 - 2
24P/V/E2
#2 - 3
24P/V/E2
#2 - 4
24P/V/E2
#2 - 5
24P/V/E2
#2 - 6
24P/V/E2
#2 - 7
24P/V/E2
#2 - 8
Address
$079204 $07920C $079214 $07921C $079304 $07930C $079314 $07931C
IC# - Chan#
6-1 6-2 6-3 6-4 7-1 7-2 7-3 7-4
Board -
Chan#
24P/V/E2
#3 - 1
24P/V/E2
#3 - 2
24P/V/E2
#3 - 3
24P/V/E2
#3 - 4
24P/V/E2
#3 - 5
24P/V/E2
#3 - 6
24P/V/E2
#3 - 7
24P/V/E2
#3 - 8
Address
$07A204 $07A20C $07A214 $07A21C $07A304 $07A30C $07A314 $07A31C
IC# - Chan#
8-1 8-2 8-3 8-4 9-1 9-2 9-3 9-4
Board -
Chan#
24P/V/E2
#4 - 1
24P/V/E2
#4 - 2
24P/V/E2
#4 - 3
24P/V/E2
#4 - 4
24P/V/E2
#4 - 5
24P/V/E2
#4 - 6
24P/V/E2
#4 - 7
24P/V/E2
#4 - 8
Address
$07B204 $07B20C $07B214 $07B21C $07B304 $07B30C $07B314 $07B31C

Y:$07xx0x Channel n Output C Command Value
0-23: PFM Command Value
IC# - Chan#
0-1 1-1
Board - Chan#
PMAC2-1 PMAC2-5
Address
$078004 $078104
IC# - Chan#
2-1 3-1
Board - Chan#
24P/V/E2
#1 - 1
24P/V/E2
#1 - 5
Address
$078204 $078304
IC# - Chan#
4-1 5-1
Board - Chan#
24P/V/E2
#2 - 1
24P/V/E2
#2 - 5
Address
$079204 $079304
IC# - Chan#
6-1 7-1
Board - Chan#
24P/V/E2
#3 - 1
24P/V/E2
#3 - 5
Address
$07A204 $07A304
IC# - Chan#
8-1 9-1
Board - Chan#
24P/V/E2
#4 - 1
24P/V/E2
#4 - 5
Address
$07B204 $07B304
X:$07xx04 Servo IC Clock Control Word
Bits
(Bits 0-11 form I7m03)
0-2: SCLK Frequency Control n (f=39.3216MHz / 2
n
, n=0-7)
3-5: PFM Clock Frequency Control n (f=39.3216MHz / 2
n
, n=0-7)
6-8: DAC Clock Frequency Control n (f=39.3216MHz / 2
n
, n=0-7)
9-11: ADC Clock Frequency Control n (f=39.3216MHz / 2
n
, n=0-7)
12: Phase Clock Direction (0=output, 1=input)
(This must be 0 in X:$C004; 1 in X:$C024--if 2nd ASIC is used)
13: Servo Clock Direction (0=output, 1=input)
(This must be 0 in X:$C004; 1 in X:$C024--if 2nd ASIC is used)
14-15: Reserved for future use (report as zero)
16-19: Phase Clock Frequency Control n (f = MaxPhase / [n+1], n=0-15)
20-23: Servo Clock Frequency Control n (f = Phase / [n+1], n=0--15)
IC# - Chan#
0-2 1-2
Board - Chan#
PMAC2-2 PMAC2-6
Address
$07800C $07810C
IC# - Chan#
2-2 3-2
Board - Chan#
24P/V/E2
#1 - 2
24P/V/E2 #1
- 6
Address
$07820C $07830C
IC# - Chan#
4-2 5-2
Board - Chan#
24P/V/E2
#2 - 2
24P/V/E2 #2
- 6
Address
$07920C $07930C
IC# - Chan#
6-2 7-2
Board - Chan#
24P/V/E2
#3 - 2
24P/V/E2 #3
- 6
Address
$07A20C $07A30C
IC# - Chan#
8-2 9-2
Board - Chan#
24P/V/E2
#4 - 2
24P/V/E2 #4
- 6
Address
$07B20C $07B30C
X:$07xx0C DAC Strobe Word, 24 bits (I7m05)
(Shifted out MSB first one bit per DAC_CLK cycle, starting on rising
edge of phase clock)
IC# - Chan#
0-3 1-3
Board - Chan#
PMAC2-3 PMAC2-7
Address
$078014 $078114
IC# - Chan#
2-3 3-3
Board - Chan#
24P/V/E2 #1
- 3
24P/V/E2
#1 - 7
Address
$078214 $078314
IC# - Chan#
4-3 5-3
Board - Chan#
24P/V/E2 #2
- 3
24P/V/E2
#2 - 7
Address
$079214 $079314
IC# - Chan#
6-3 7-3
Board - Chan#
24P/V/E2 #3
- 3
24P/V/E2
#3 - 7
Address
$07A214 $07A314
IC# - Chan#
8-3 9-3
Board - Chan#
24P/V/E2 #4
- 3
24P/V/E2
#4 - 7
Address
$07B214 $07B314
X:$07xx14 Servo IC ADC Strobe Word, 24 bits (I7m06)
(Shifted out MSB first one bit per ADC_CLK cycle, starting on rising
edge of phase clock)
IC# - Chan# 0-4 1-4
Board - Chan#
PMAC2-4 PMAC2-8
Address
$07801C $07811C
IC# - Chan#
2-4 3-4
Board - Chan#
24P/V/E2
#1 - 4
24P/V/E2
#1 - 8
Address
$07821C $07831C
IC# - Chan#
4-4 5-4
Board - Chan#
24P/V/E2
#2 - 4
24P/V/E2
#2 - 8
Address
$07921C $07931C
IC# - Chan#
6-4 7-4
Board - Chan#
24P/V/E2
#3 - 4
24P/V/E2
#3 - 8
Address
$07A21C $07A31C
IC# - Chan#
8-4 9-4
Board - Chan#
24P/V/E2
#4 - 4
24P/V/E2
#4 - 8
Address
$07B21C $07B31C
X:$07xx1C Servo IC PWM, PFM, MaxPhase Control Word
Bits: 0-7: PWM Dead Time (16*PWM CLK cycles)
also PFM pulse width (PFM CLK cycles)
8-23: PWM MaxCount Value
PWM Frequency = 117.9648 MHz / [4*MaxCount + 6]
"MaxPhase" Frequency = 2*PWM Frequency
= 117.9648 MHz / [2*MaxCount + 3]
IC# - Chan#
0-1 0-2 0-3 0-4 1-1 1-2 1-3 1-4
Board -
Chan#
Address
$078005 $07800D $078015 $07801D $078105 $07810D $078115 $07811D
IC# - Chan#
2-1 2-2 2-3 2-4 3-1 3-2 3-3 3-4
Board -
Chan#
24P/V/E2
#1 - 1
24P/V/E2
#1 - 2
24P/V/E2
#1 - 3
24P/V/E2
#1 - 4
24P/V/E2
#1 - 5
24P/V/E2
#1 - 6
24P/V/E2
#1 - 7
24P/V/E2
#1 - 8
Address
$078205 $07820D $078215 $07821D $078305 $07830D $078315 $07831D
IC# - Chan#
4-1 4-2 4-3 4-4 5-1 5-2 5-3 5-4
Board -
Chan#
24P/V/E2
#2 - 1
24P/V/E2
#2 - 2
24P/V/E2
#2 - 3
24P/V/E2
#2 - 4
24P/V/E2
#2 - 5
24P/V/E2
#2 - 6
24P/V/E2
#2 - 7
24P/V/E2
#2 - 8
Address
$079205 $07920D $079215 $07921D $079305 $07930D $079315 $07931D
IC# - Chan#
6-1 6-2 6-3 6-4 7-1 7-2 7-3 7-4
Board -
Chan#
24P/V/E2
#3 - 1
24P/V/E2
#3 - 2
24P/V/E2
#3 - 3
24P/V/E2
#3 - 4
24P/V/E2
#3 - 5
24P/V/E2
#3 - 6
24P/V/E2
#3 - 7
24P/V/E2
#3 - 8
Address
$07A205 $07A20D $07A215 $07A21D $07A305 $07A30D $07A315 $07A31D
IC# - Chan#
8-1 8-2 8-3 8-4 9-1 9-2 9-3 9-4
Board -
Chan#
24P/V/E2
#4 - 1
24P/V/E2
#4 - 2
24P/V/E2
#4 - 3
24P/V/E2
#4 - 4
24P/V/E2
#4 - 5
24P/V/E2
#4 - 6
24P/V/E2
#4 - 7
24P/V/E2
#4 - 8
Address
$07B205 $07B20D $07B215 $07B21D $07B305 $07B30D $07B315 $07B31D

Y:$07xx0x Channel n ADC A Input Value
Bits: 6-23: Serial ADC Value
0-5: Not used
X:$07xx0x Channel n Control Word
(Bits 0-3 form I7mn0)
Bits......0-3: Encoder/Timer Decode Control
0000: External pulse-and-direction decode, clockwise
0001: External x1 quadrature decode, clockwise
0100: External pulse-and-direction decode, counter-clockwise
0101: External x1 quadrature decode, counter-clockwise
1000: Internal pulse-and-direction decode (clockwise)
1001: (Reserved for future use)
1011: External x6 hall-sensor decode, clockwise
1110: MLDT timer mode
1111: External x6 hall-sensor decode, clockwise
(Bits 4-7 form I7mn2)
4-5: Position Capture Control
00: Immediate capture
01: Use encoder index alone
10: Use capture flag alone
11: Use encoder index and capture flag
6: Index Capture Invert Control (0=no inversion, 1=inversion)
7: Flag Capture Invert Control (0=no inversion, 1=inversion)
8-9: Capture Flag Select Control (I7mn3)
00: Home Flag (HMFLn)
01: Positive End Limit (PLIMn)
10: Negative End Limit (MLIMn)
11: User Flag (USERn)
10: Encoder Counter Reset Control (1=reset)
11: Position Compare Initial State Write Enable
12: Position Compare Initial State Value
13: Position Compare Channel Select (I7mn1)
(0= use this channel's encoder; 1=use first encoder on IC)
14: AENAn output value
15: Gated Index Select for Position Capture (I7mn4)
(0=ungated index, 1=gated index)
16: Invert AB for Gated Index (I7mn5)
(0: Gated Signal=A&B&C; 1: Gated Signal=A/&B/&C)
17: Demultiplex Index Channel Control
(0=no demux; 1=demux hall signals from index input)
18: Hardware 1/T Enable (I7mn9)
19: Invert PFM Direction Control (0=no inversion, 1=invert) (I7mn8)
(Bits 20-21: I7mn7)
20: Invert A & B Output Control (0=no inversion, 1=invert)
21: Invert C Output Control (0=no inversion, 1=invert)
(Bits 22-23: I7mn6)
22: Output A and B Mode Select (0=PWM, 1=DAC)
23: Output C Mode Select (0=PWM, 1=PFM)
IC# - Chan#
0-1 0-2 0-3 0-4 1-1 1-2 1-3 1-4
Board -
Chan#
Address
$078006 $07800E $078016 $07801E $078106 $07810E $078116 $07811E
IC# - Chan#
2-1 2-2 2-3 2-4 3-1 3-2 3-3 3-4
Board -
Chan#
24P/V/E2
#1 - 1
24P/V/E2
#1 - 2
24P/V/E2
#1 - 3
24P/V/E2
#1 - 4
24P/V/E2
#1 - 5
24P/V/E2
#1 - 6
24P/V/E2
#1 - 7
24P/V/E2
#1 - 8
Address
$078206 $07820E $078216 $07821E $078306 $07830E $078316 $07831E
IC# - Chan#
4-1 4-2 4-3 4-4 5-1 5-2 5-3 5-4
Board -
Chan#
24P/V/E2
#2 - 1
24P/V/E2
#2 - 2
24P/V/E2
#2 - 3
24P/V/E2
#2 - 4
24P/V/E2
#2 - 5
24P/V/E2
#2 - 6
24P/V/E2
#2 - 7
24P/V/E2
#2 - 8
Address
$079206 $07920E $079216 $07921E $079306 $07930E $079316 $07931E
IC# - Chan#
6-1 6-2 6-3 6-4 7-1 7-2 7-3 7-4
Board -
Chan#
24P/V/E2
#3 - 1
24P/V/E2
#3 - 2
24P/V/E2
#3 - 3
24P/V/E2
#3 - 4
24P/V/E2
#3 - 5
24P/V/E2
#3 - 6
24P/V/E2
#3 - 7
24P/V/E2
#3 - 8
Address
$07A206 $07A20E $07A216 $07A21E $07A306 $07A30E $07A316 $07A31E
IC# - Chan#
8-1 8-2 8-3 8-4 9-1 9-2 9-3 9-4
Board -
Chan#
24P/V/E2
#4 - 1
24P/V/E2
#4 - 2
24P/V/E2
#4 - 3
24P/V/E2
#4 - 4
24P/V/E2
#4 - 5
24P/V/E2
#4 - 6
24P/V/E2
#4 - 7
24P/V/E2
#4 - 8
Address
$07B206 $07B20E $07B216 $07B21E $07B306 $07B30E $07B316 $07B31E
Y:$07xx0x Channel n ADC B Input Value
0-5: Not used
X:$07xx0x Channel n Encoder Compare Auto-increment value (24 bits, units of counts)
IC# - Chan#
0-1 0-2 0-3 0-4 1-1 1-2 1-3 1-4
Board -
Chan#
Address
$078007 $07800F $078017 $07801F $078107 $07810F $078117 $07811F
IC# - Chan#
2-1 2-2 2-3 2-4 3-1 3-2 3-3 3-4
Board -
Chan#
24P/V/E2
#1 - 1
24P/V/E2
#1 - 2
24P/V/E2
#1 - 3
24P/V/E2
#1 - 4
24P/V/E2
#1 - 5
24P/V/E2
#1 - 6
24P/V/E2
#1 - 7
24P/V/E2
#1 - 8
Address
$078207 $07820F $078217 $07821F $078307 $07830F $078317 $07831F
IC# - Chan#
4-1 4-2 4-3 4-4 5-1 5-2 5-3 5-4
Board -
Chan#
24P/V/E2
#2 - 1
24P/V/E2
#2 - 2
24P/V/E2
#2 - 3
24P/V/E2
#2 - 4
24P/V/E2
#2 - 5
24P/V/E2
#2 - 6
24P/V/E2
#2 - 7
24P/V/E2
#2 - 8
Address
$079207 $07920F $079217 $07921F $079307 $07930F $079317 $07931F
IC# - Chan#
6-1 6-2 6-3 6-4 7-1 7-2 7-3 7-4
Board -
Chan#
24P/V/E2
#3 - 1
24P/V/E2
#3 - 2
24P/V/E2
#3 - 3
24P/V/E2
#3 - 4
24P/V/E2
#3 - 5
24P/V/E2
#3 - 6
24P/V/E2
#3 - 7
24P/V/E2
#3 - 8
Address
$07A207 $07A20F $07A217 $07A21F $07A307 $07A30F $07A317 $07A31F
IC# - Chan#
8-1 8-2 8-3 8-4 9-1 9-2 9-3 9-4
Board -
Chan#
24P/V/E2
#4 - 1
24P/V/E2
#4 - 2
24P/V/E2
#4 - 3
24P/V/E2
#4 - 4
24P/V/E2
#4 - 5
24P/V/E2
#4 - 6
24P/V/E2
#4 - 7
24P/V/E2
#4 - 8
Address
$07B207 $07B20F $07B217 $07B21F $07B307 $07B30F $07B317 $07B31F
Y:$07xx0x Channel n Encoder Compare A Value (24 bits, units of counts)
X:$07xx0x Channel n Encoder Compare B Value (24 bits, units of counts)
Turbo PMAC2 MACRO and I/O ASIC Registers
Note:
Starting with firmware version 1.936, it is possible to assign any of 16 possible
base addresses to MACRO ICs with I20, I21, I22, and I23. This is useful only for
certain extended UMAC Turbo systems.
Turbo PMAC2 boards that are not Ultralite and not UMAC have only one MACRO IC with a fixed base
address of $078400. Turbo PMAC2 Ultralite boards may have up to four MACRO ICs, with base
addresses of $078400, $078500, $078600, and $078700.
UMAC Turbo systems may have up to 16 MACRO ICs, although only 4 at any given time can support
automatic firmware functions by designation as MACRO ICs 0 3 with I20 I23. The 16 possible base
addresses are $07xy00, where x can be 8, 9, A, or B, and y can be 4, 5, 6, or 7.
This section assumes that MACRO ICs 0 3 have the default base addresses of $078400, $078500,
$078600, and $078700.
I/O Control and Data Registers (MACRO IC 0 only)
Y:$078400 JI/O Port Data Register (Input or output; when used as general I/O; see
Y:$078404)
Bits: 0 I/O00 Data Value
...
23 I/O23 Data Value
X:$078400 JI/O Port Data Direction Control Register (when used as general I/O; see
Y:$078404)
Bits: 0 I/O00 Direction Control
...
23 I/O23 Direction Control
(All bits: 0=Input; 1=Output)
Y:$078401 JI/O Port Data Register (Input or output; when used as general I/O; see Y:$078405)
Bits: 0 I/O24 Data Value
...
7 I/O31 Data Value
8 I/O24 Latched Data Value
...
15 I/O31 Latched Data Value
16-23 Not used
X:$078401 JI/O Port Data Direction Control Register (when used as general I/O; see
Y:$078405)
Bits: 0 I/O24 Direction Control
...
7 I/O31 Direction Control
8-23 Not used
Y:$078402 JTHW Port Data Register (Input or output; when used as general I/O; see
Y:$078406)
Bits: 0 DAT0 Data Value
...
7 DAT7 Data Value
8 SEL0 Data Value
...
15 SEL7 Data Value
16-23 Not used
X:$078402 JTHW Port Data Direction Control Register (when used as general I/O; see
Y:$078406)
Bits: 0 DAT0 Direction Control (Must be 0 to use standard port accessories)
...
7 DAT7 Direction Control (Must be 0 to use standard port accessories)
8 SEL0 Direction Control (Must be 1 to use standard port accessories)
...
15 SEL7 Direction Control (Must be 1 to use standard port accessories)
16-23 Not used
Y:$078403 JDISP, J??? Port Data Register
Bits: 0 DISP0 Data Value
...
7 DISP7 Data Value
8 CTRL0 Data Value
...
11 CTRL3 Data Value
12-23 Not used
X:$078403 JDISP, J??? Port Data Direction Control Register
Bits: 0 DISP0 Direction Control (Must be 1 for display to function)
...
7 DISP7 Direction Control (Must be 1 for display to function)
8 CTRL0 Direction Control (Must be 1 for ??? to function)
...
11 CTRL3 Direction Control (Must be 1 for ??? to function)
12-23 Not used
Y:$078404 JI/O Port Data Type Control Register
Bits: 0 I/O00 Data Type Control (0=FlagW1*; 1=I/O00)
1 I/O01 Data Type Control (0=FlagV1*; 1=I/O01)
2 I/O02 Data Type Control (0=FlagU1*; 1=I/O02)
3 I/O03 Data Type Control (0=FlagT1*; 1=I/O03)
4 I/O04 Data Type Control (0=USER1*; 1=I/O04)
5 I/O05 Data Type Control (0=MLIM1*; 1=I/O05)
6 I/O06 Data Type Control (0=PLIM1*; 1=I/O06)
7 I/O07 Data Type Control (0=HMFL1*; 1=I/O07)
8 I/O08 Data Type Control (0=PWM_B_BOT1*; 1=I/O08)
9 I/O09 Data Type Control (0=PWM_B_TOP1*; 1=I/O09)
10 I/O10 Data Type Control (0=PWM_A_BOT1*; 1=I/O10)
11 I/O11 Data Type Control (0=PWM_A_TOP1*; 1=I/O11)
12 I/O12 Data Type Control (0=PWM_B_BOT2*; 1=I/O12)
13 I/O13 Data Type Control (0=PWM_B_TOP2*; 1=I/O13)
14 I/O14 Data Type Control (0=PWM_A_BOT2*; 1=I/O14)
15 I/O15 Data Type Control (0=PWM_A_TOP2*; 1=I/O15)
16 I/O16 Data Type Control (0=HMFL2*; 1=I/O16)
17 I/O17 Data Type Control (0=PLIM2*; 1=I/O17)
18 I/O18 Data Type Control (0=MLIM2*; 1=I/O18)
19 I/O19 Data Type Control (0=USER2*; 1=I/O19)
20 I/O20 Data Type Control (0=FlagT2*; 1=I/O20)
21 I/O21 Data Type Control (0=FlagU2*; 1=I/O21)
22 I/O22 Data Type Control (0=FlagV2*; 1=I/O22)
23 I/O23 Data Type Control (0=FlagW2*; 1=I/O23)
(All bits: 0=dedicated hardware I/O; 1=general I/O)
(All bits must be 1 for JI/O Port to function as general I/O)
X:$078404 JI/O Port Data Inversion Control Register (when used as general I/O; see
Y:$078404)
Bits: 0 I/O00 Inversion Control
...
23 I/O23 Inversion Control
(All bits: 0=Non-inverting; 1=Inverting)
Y:$078405 JI/O Port Data Type Control Register
Bits: 0 I/O24 Data Type Control
...
7 I/O31 Data Type Control
(These bits are always 1; there is no alternate mode for these lines)
8-23 Not used
X:$078405 JI/O Port Data Inversion Control
Bits: 0 I/O24 Inversion Control
...
7 I/O31 Inversion Control
8-23 Not used
Y:$078406 JTHW Port Data Type Control Register
Bits: 0 DAT0 Data Type Control (0=HWC1; 1 =DAT0)
1 DAT1 Data Type Control (0=HWC2; 1 =DAT1)
2 DAT2 Data Type Control (0=Fault1*; 1 =DAT2)
3 DAT3 Data Type Control (0=Fault2*; 1 =DAT3)
4 DAT4 Data Type Control (0=EQU1*; 1 =DAT4)
5 DAT5 Data Type Control (0=EQU2*; 1 =DAT5)
6 DAT6 Data Type Control (0=AENA1*; 1 =DAT6)
7 DAT7 Data Type Control (0=AENA2*; 1 =DAT7)
8 SEL0 Data Type Control (0=ADC_STROB*; 1=SEL0)
9 SEL1 Data Type Control (0=ADC_CLK*; 1=SEL1)
10 SEL2 Data Type Control (0=ADC_A1*; 1=SEL2)
11 SEL3 Data Type Control (0=ADC_B1*; 1=SEL3)
12 SEL4 Data Type Control (0=ADC_A2*; 1=SEL4)
13 SEL5 Data Type Control (0=ADC_B2*; 1=SEL5)
14 SEL6 Data Type Control (0=SCLK*; 1=SEL6)
15 SEL7 Data Type Control (0=SCLK_DIR*; 1=SEL7)
(All bits: 0=dedicated hardware I/O; 1=general I/O)
(All bits must be 1 for JTHW Port to function as general I/O or with
multiplexed accessories)
16-23 Not used
X:$078406 JTHW Port Data Inversion Control Register (when used as general I/O; see
Y:$078406)
Bits: 0 DAT0 Inversion Control
...
7 DAT7 Inversion Control
8 SEL0 Inversion Control
...
15 SEL7 Inversion Control
(All bits must be 0 to use standard port accessories)
16-23 Not used
Y:$078407 JDISP, J??? Port Data Type Control Register
Bits: 0 DISP0 Data Type Control
...
7 DISP7 Data Type Control
8 CTRL0 Data Type Control
...
11 CTRL3 Data Type Control
(These bits are always 1; there is no alternate mode for these pins)
12-23 Not used
X:$078407 JDISP, J??? Port Data Inversion Control Register
Bits: 0 DISP0 Inversion Control
...
7 DISP7 Inversion Control
8 CTRL0 Inversion Control
...
11 CTRL3 Inversion Control
(All bits must be 0 to use standard port accessories)
12-23 Not used
Y:$078408-$07840B Not used
X:$078408-$07840B Not used
Y:$07840C Pure binary conversion from gray code input on I/O00 to I/O23
X:$07840C Not used
Y:$07840D Gray-to-binary conversion bit-length control
Bits: 0-3 Bit length of less significant word portion (I/O00 - I/Onn)
4 =1 specifies 16-bit lower / 8-bit upper conversion
5-23 Not used
X:$07840D Not used
MACRO Ring Control Registers
MACRO IC#
0 1 2 3
Address
$07840E $07940E $07A40E $07B40E
Y:$07x40E MACRO Node Enable Control (I6841, I689 I6941, I6991)
Bits: 0 Node 0 enable control
...
15 Node 15 enable control
(0=node disable; 1=node enable)
16-19 Sync packet slave node number control
20-23 Master number control
X:$07840E Not used
MACRO IC#
0 1 2 3
Address
$07840F $07940F $07A40F $07B40F
Y:$07x40F MACRO Ring Status and Control (I6840, I6890, I6940, I6990)
Bits: 0 Data overrun error (cleared when read)
1 Byte violation error (cleared when read)
2 Packet parity error (cleared when read)
3 Data underrun error (cleared when read)
4 Master station enable
5 Synchronizing master station enable
6 Sync packet received (cleared when read)
7 Sync packet phase lock enable
8 Node 8 master address check disable
X:$07x40F MACRO IC clock control register
Bits (Bits 0-11 form I6803 MACRO IC 0 only)
0-2: Handwheel SCLK* Frequency Control n (f=39.3216MHz/2
n
, n=0-7)
3-5: JHW/PD PFM Clock* Frequency Control n (f=39.3216MHz/2
n
, n=0-7)
6-8: DAC Clock* Frequency Control n (f=39.3216MHz / 2
n
, n=0-7)
9-11: ADC Clock* Frequency Control n (f=39.3216MHz / 2
n
, n=0-7)
(Bits 12-13 form I6807, I6857, I6907, I6957)
12: Phase Clock Direction (0=output, 1=input)
(This must be 1)
13: Servo Clock Direction (0=output, 1=input)
(This must be 1)
14-15: Not used (report as zero)
(Bits 16-19 form I6801, I6851, I6901, I6951)
16-19: Phase Clock* Frequency Control n
(f = MAXPHASE* / [n+1], n=0-15)
(Bits 20-23 form I6802 MACRO IC 0 only)
20-23: Servo Clock* Frequency Control n
(f = PHASE* / [n+1], n=0-15)
Supplemental Servo Channel Registers (MACRO IC 0 only)
Chan #
1* 2*
Address
$078410 $078418
Y:$07841x Handwheel n Time between last two encoder counts (SCLK cycles)
X:$07841x Supplementary Channel n* (Handwheel n) Status Word
Bits: 0-2 Captured Hall Effect Device (UVW) State
3-7 Not used (reports as 0)
8 Encoder Count Error (0 on counter reset, 1 on illegal transition)
9 Position Compare (EQUn*) output value
10 Position-Captured-On-Gated-Index Flag
11 Position-Captured Flag (on any trigger)
12 Handwheel 1 Channel A (HWAn) Input Value
13 Handwheel 1 Channel B (HWBn) Input Value
14 Handwheel 1 Channel C (Index, HWCn) Input Value (ungated)
15 Amplifier Fault (FAULTn*) Input Value
16 Home Flag (HMFLn*) Input Value
17 Positive End Limit (PLIMn*) Input Value
18 Negative End Limit (MLIMn*) Input Value
19 User Flag (USERn*) Input Value
20 FlagWn* Input Value
21 FlagVn* Input Value
22 FlagUn* Input Value
2 3 FlagTn* Input Value
Chan #
1* 2*
Address
$078411 $078419
Y:$07841x Handwheel n Time Since Last Encoder Count (SCLK cycles)
X:$07841x Handwheel n Phase Position Capture Register (counts)
Chan #
1* 2*
Address
$078412 $07841A
Y:$07841x Supplementary Channel n* Output A Command Value
(appears on I/O10 & I/O11 if in dedicated mode)
0-5: Not Used
X:$07841x Handwheel n* Servo Position Capture Register
Bits: 0: Direction of last count (0=up, 1=down)
1-23: Position counter (units of counts)
Chan #
1* 2*
Address
$078413 $07841B
Y:$07841x Supplementary Channel n* Output B Command Value
(appears on I/O08 & I/O09 if in dedicated mode)
0-5: Not used
X:$07841x Handwheel n Flag Position Capture Value; 24 bits, units of counts
Chan #
1* 2*
Address
$078414 $07841C
Y:$07841x Supplementary Channel n* Output C Command Value
Bits: 8-23: PWM Command Value (appears on PUL1 & DIR1 if in PWM mode)
0-23: PFM Command Value (appears on PUL1 & DIR1 if in PFM mode)
X:$078414 Supplementary ADC Strobe Word, 24 bits
(Shifted out MSB first one bit per DAC_CLK cycle, starting on rising
edge of phase clock; appears on SEL0 if in dedicated mode)
X:$07841C Supplementary PWM, PFM, MaxPhase* Control Word
Bits: 0-7: PWM* Dead Time (16*PWM* CLK cycles) (I6804)
also PFM* pulse width (PFM* CLK cycles)
8-23: PWM* Max Count Value (I6800)
PWM* Frequency = 117.96MHz / [2*(MaxCount+1)]
"MaxPhase*" Frequency = 2*PWM* Frequency
Chan #
1* 2*
Address
$078415 $07841D
Y:$07841x Supplementary Channel n* ADC A Input Value (uses SEL2 in dedicated mode)
0-5: Not used
X:$07841x Supplementary Channel n* (Handwheel n) Control Word
(Bits 0-3 form I68n0)
Bits 0-1: Encoder Decode Control
00: Pulse and direction decode
01: x1 quadrature decode
2-3: Direction & Timer Control
00: Standard timer control, external signal source, no inversion
01: Standard timer control, external signal source, invert direction
10: Standard timer control, internal PFM source, no inversion
11: Alternate timer control, external signal source
4-5: Position Capture Control
00: Software capture (by setting bit 6)
01: Use encoder index alone
10: Use capture flag alone
11: Use encoder index and capture flag
6: Index Capture Invert Control (0=no inversion, 1=inversion)
7: Flag Capture Invert Control (0=no inversion, 1=inversion)
8-9: Capture Flag Select Control (I68n3)
00: Home Flag (HMFLn*)
01: Positive Limit (PLIMn*)
10: Negative Limit (MLIMn*)
11: User Flag (USERn*)
10: Encoder Counter Reset Control (1=reset)
11: Position Compare Initial State Write Enable
12: Position Compare Initial State Value
13: Position Compare Channel Select (I68n1)
(0= use this channel's encoder; 1=use first encoder on IC)
14: AENAn* output value
15: Gated Index Select for Position Capture (I68n4)
(0=ungated index, 1=gated index)
16: Invert AB for Gated Index (I68n5)
(0: Gated Signal=A&B&C; 1: Gated Signal=A/&B/&C)
17: De-multiplex Index Channel Control
(0=no demux; 1=demux hall signals from index input)
18: Reserved for future use (reports as 0)
19: Invert PFM Direction Control (0=no inversion, 1=invert) (I68n8)
20: Invert A & B Output Control (0=no inversion, 1=invert)
21: Invert C Output Control (0=no inversion, 1=invert)
22: Output A & B Mode Select (0=PWM, 1=DAC)
23: Output C Mode Select (0=PWM, 1=PFM)
Chan #
1* 2*
Address
$078416 $07841E
Y:$07841x Supplementary Channel n* ADC B Input Value (uses SEL3 in dedicated mode)
0-5: Not used
X:$07841x Handwheel n Compare Auto-increment value (24 bits, units of counts)
Chan #
1* 2*
Address
$078417 $07841F
Y:$07841x Handwheel n Compare A Value (24 bits, units of counts)
X:$07841x Handwheel n Compare B Value (24 bits, units of counts)
Turbo PMAC2 MACRO Node Registers
MACRO IC#
0 1 2 3
Address
$07842x $07942x $07A42x $07B42x
Y:$07x420 MACRO Node 0 24-bit command(write) and feedback (read) register
X:$07x420 MACRO Node 2 24-bit command(write) and feedback (read) register
Y:$07x421 MACRO Node 0 first 16-bit command(write) and feedback (read) register
(bits 8-23; bits 0-7 not used)
X:$07x421 MACRO Node 2 first 16-bit command(write) and feedback (read) register
X:$07x422 MACRO Node 2 second 16-bit command(write) and feedback (read) register
Y:$07x423 MACRO Node 0 third 16-bit command(write) and feedback (read) register
X:$07x423 MACRO Node 2 third 16-bit command(write) and feedback (read) register
Y:$07x42A MACRO Node 4 first 16-bit command(write) and feedback (read) register
X:$07x42A MACRO Node 6 second 16-bit command(write) and feedback (read) register
Y:$07x42B MACRO Node 4 third 16-bit command(write) and feedback (read) register
X:$07x42B MACRO Node 6 third 16-bit command(write) and feedback (read) register
Y:$07x42C MACRO Node 5 24-bit command(write) and feedback (read) register
X:$07x42C MACRO Node 7 24-bit command(write) and feedback (read) register
Y:$07x42D MACRO Node 5 first 16-bit command(write) and feedback (read) register
X:$07x42D MACRO Node 7 first 16-bit command(write) and feedback (read) register
Y:$07x42E MACRO Node 5 first 16-bit command(write) and feedback (read) register
X:$07x42E MACRO Node 7 second 16-bit command(write) and feedback (read) register
Y:$07x42F MACRO Node 5 third 16-bit command(write) and feedback (read) register
X:$07x42F MACRO Node 7 third 16-bit command(write) and feedback (read) register
MACRO IC#
0 1 2 3
Address
$07843x $07943x $07A43x $07B43x
Y:$07x43A MACRO Node 12 first 16-bit command(write) and feedback (read) register
X:$07x43A MACRO Node 14 second 16-bit command(write) and feedback (read) register
Y:$07x43B MACRO Node 12 third 16-bit command(write) and feedback (read) register
X:$07x43B MACRO Node 14 third 16-bit command(write) and feedback (read) register
Y:$07x43C MACRO Node 13 24-bit command(write) and feedback (read) register
X:$07x43C MACRO Node 15 24-bit command(write) and feedback (read) register
Y:$07x43D MACRO Node 13 first 16-bit command(write) and feedback (read) register
X:$07x43D MACRO Node 15 first 16-bit command(write) and feedback (read) register
Y:$07x43E MACRO Node 13 first 16-bit command(write) and feedback (read) register
X:$07x43E MACRO Node 15 second 16-bit command(write) and feedback (read) register
Y:$07x43F MACRO Node 13 third 16-bit command(write) and feedback (read) register
X:$07x43F MACRO Node 15 third 16-bit command(write) and feedback (read) register
Turbo PMAC I/O Registers
Bits
Y:$078800 0-7 Display & EAROM I/O (dedicated)
8 Jog Minus Input (J2-4)
9 Jog Plus Input (J2-6)
10 Prejog Input (J2-7)
11 Start (Run) Input (J2-8)
12 Step/Quit Input (J2-9)
13 Stop (Abort) Input (J2-10)
14 Home Command Input (J2-11)
15 Feed Hold Input (J2-12)
16 Motor/CoordSys Select Inp. Bit 0 (J2-3)
20 E51 Jumper (Reinitialize on power-on)
21 E50 Jumper: EAROM Write Enable
22 E49 Jumper: Wait State Control
23 E48 Jumper: Parity Control
Y:$078801 0 Thumbwheel Port Inp. Bit 0 (DAT0:J3-3)
1 Thumbwheel Port Inp. Bit 1 (DAT1:J3-5)
8 Thumbwheel Port Out. Bit 0 (SEL0:J3-4)
16 Jumper E40: Software Card Address Bit 0
20 Jumper E44: Baud Rate Select Bit 0
Y:$078802 0 Machine Input 1 (MI1) (J5-15)
1 Machine Input 2 (MI2) (J5-13)
8 Machine Output 1 (MO1) (J5-31)
16 D_RS Line (dedicated use)
17 Read/Write Line (dedicated use)
18 EACLK (EAROM Clock -- dedicated)
19 ENA422 (Enable RS422 -- dedicated)
20 INPOS (In Position Status Line)
21 BFUL (Buffer Full Status Line)
22 EROR (Error Status Line)
23 F1ER (Following Error Status Line)
Turbo PMAC2 Option 12 A/D Register
Y:$078800 Option 12 Multiplexed A/D register
Bits 0-11: Option 12; Bits 12-23: Option 12A
Configuration Register (write-only)
Converted Data (read-only)
3U Turbo PMAC2 Stack I/O Registers
Y:$078800 Acc-1E/6E Analog-to-Digital Converters (low 12 bits)
Write operation: channel select (Channels 0-7) and mode;
Read operation: converted value of selected channel
Acc-1E/6E Analog-to-Digital Converters (high 12 bits)
Write operation: channel select (Channels 8-15) and mode;
Read operation: converted value of selected channel
Y:$078800 Acc-3E/4E Board with Jumper E1 selected
Y:$078A00 Acc-3E/4E Board with Jumper E3 selected
Y:$078B00 Acc-3E/4E Board with Jumper E4 selected
Bits: 0 7 Acc-4E IN00 IN07
0 7 Acc-3E I/O00 I/O07
8 15 Acc-3E I/O48 I/O55
16 23 Acc-3E I/O96 I/O103
0 7 Acc-3E I/O08 I/O15
8 15 Acc-3E I/O56 I/O63
16 23 Acc-3E I/O104 I/O111
0 7 Acc-3E I/O16 I/O23
8 15 Acc-3E I/O64 I/O71
16 23 Acc-3E I/O112 I/O119
0 7 Acc-3E I/O24 I/O31
8 15 Acc-3E I/O72 I/O79
16 23 Acc-3E I/O120 I/O127
0 7 Acc-3E I/O32 I/O39
8 15 Acc-3E I/O80 I/O87
16 23 Acc-3E I/O128 I/O135
0 7 Acc-3E I/O40 I/O47
8 15 Acc-3E I/O88 I/O95
16 23 Acc-3E I/O136 I/O143

JEXP Expansion Port I/O Registers
X/Y:$078A00 First Expansion Port I/O Base Address (CS04)
Y:$078A00 First Accessory-36 (configuration write only, data read only)
Y:$078A00 First Accessory-14 Port A
Y:$078A01 First Accessory-14 Port B
Y:$078A02 First Accessory-14 Multimodule
Y:$078A03 First Accessory-14 Control Word
X/Y:$078B00 Second Expansion Port I/O Base Address (CS06)
Y:$078B00 Second Accessory-36 (configuration write only, data read only)
Y:$078B00 Second Accessory-14 Port A
Y:$078B01 Second Accessory-14 Port B
Y:$078B02 Second Accessory-14 Multimodule
Y:$078B03 Second Accessory-14 Control Word
X/Y:$078C00 Third Expansion Port I/O Base Address (CS10)
Y:$078C00 Third Accessory-36 (configuration write only, data read only)
Y:$078C00 Third Accessory-14 Port A
Y:$078C01 Third Accessory-14 Port B
Y:$078C02 Third Accessory-14 Multimodule
Y:$078C03 Third Accessory-14 Control Word
X/Y:$078D00 Fourth Expansion Port I/O Base Address (CS12)
Y:$078D00 Fourth Accessory-36 (configuration write only, data read only)
Y:$078D01 Fourth Accessory-14 Port A
Y:$078D02 Fourth Accessory-14 Port B
Y:$078D03 Fourth Accessory-14 Multimodule
Y:$078D04 Fourth Accessory-14 Control Word
X/Y:$078E00 Fifth Expansion Port I/O Base Address (CS14)
Y:$078E00 Fifth Accessory-36 (configuration write only, data read only)
Y:$078E00 Fifth Accessory-14 Port A
Y:$078E01 Fifth Accessory-14 Port B
Y:$078E02 Fifth Accessory-14 Multimodule
Y:$078E03 Fifth Accessory-14 Control Word
X/Y:$078F00 Sixth Expansion Port I/O Base Address (CS16)
Y:$078F00 Sixth Accessory-36 (configuration write only, data read only)
Y:$078F00 Sixth Accessory-14 Port A
Y:$078F01 Sixth Accessory-14 Port B
Y:$078F02 Sixth Accessory-14 Multimodule
Y:$078F03 Sixth Accessory-14 Control Word
UMAC UBUS Expansion Port I/O Registers
Note:
Presently, Acc-9E, 10E, 11E, and 12E boards make no distinction between A, B,
C, and D base addresses, because they do not use address lines A13 and A12.. If
one of these boards is set up for a certain base address 0, 2, 4, or 6, it will respond
to any of the four possible settings for this address (A, B, C, or D), and no other
board may be placed at any of the settings for this numerical base address.
X/Y:$078C00 UBUS Port I/O Base Address 0A (CS10, A13=0, A12=0)
X/Y:$078D00 UBUS Port I/O Base Address 2A (CS12, A13=0, A12=1)
X/Y:$078E00 UBUS Port I/O Base Address 4A (CS14, A13=1, A12=0)
X/Y:$078F00 UBUS Port I/O Base Address 6A (CS16, A13=1, A12=1)
X/Y:$079C00 UBUS Port I/O Base Address 0B (CS10, A13=0, A12=0)
X/Y:$079D00 UBUS Port I/O Base Address 2B (CS12, A13=0, A12=1)
X/Y:$079E00 UBUS Port I/O Base Address 4B (CS14, A13=1, A12=0)
X/Y:$079F00 UBUS Port I/O Base Address 6B (CS16, A13=1, A12=1)
X/Y:$07AC00 UBUS Port I/O Base Address 0C (CS10, A13=0, A12=0)
X/Y:$07AD00 UBUS Port I/O Base Address 2C (CS12, A13=0, A12=1)
X/Y:$07AE00 UBUS Port I/O Base Address 4C (CS14, A13=1, A12=0)
X/Y:$07AF00 UBUS Port I/O Base Address 6C (CS16, A13=1, A12=1)
X/Y:$07BC00 UBUS Port I/O Base Address 0D (CS10, A13=0, A12=0)
X/Y:$07BD00 UBUS Port I/O Base Address 2D (CS12, A13=0, A12=1)
X/Y:$07BE00 UBUS Port I/O Base Address 4D (CS14, A13=1, A12=0)
X/Y:$07BF00 UBUS Port I/O Base Address 6D (CS16, A13=1, A12=1)

568 Mathematical Functions
TURBO PMAC MATHEMATICAL FEATURES
Mathematical Operators
+
Function: Addition
The + sign implements the addition of the numerical values preceding and following it.
Multiplication, division, modulo (remainder), and bit-by-bit and operations have higher priority than
addition, subtraction, bit-by-bit or, and bit-by-bit exclusive-or operations. Operations of the same priority
are implemented from left to right.
The + sign may not be used as a unary operator to emphasize that the positive value of the following
variable or constant is to be used (e.g. P1=+P2). This syntax will be rejected with an error.
Execution time, 80 MHz CPU: 2.9 sec interpreted, 1.2 sec compiled floating-point, 0.08 sec compiled
fixed-point.
-
Function: Subtraction, negation
The - sign implements the subtraction of the numerical value following it from the numerical value
preceding it. If there is no numerical value preceding it, it causes the negation of the numerical value
following it.
fixed-point
*
Function: Multiplication
The * sign implements the multiplication of the numerical values preceding and following it.
fixed-point
/
Function: Division
The / sign implements the division of the numerical value preceding it by the numerical value following
it. Unless the division is executed in a compiled PLC on a line with only L-variables and integers, the
division operation is always a floating-point calculation (even if integer values are used). The quotient is
computed as a floating-point value and used as such in subsequent calculations in the same expression; if
it is then stored to an integer, it is rounded at the time of storage.
If the division operation is performed as an integer operation in a compiled PLC (only L-variables and
integer constants on the line), the quotient is computed as an integer (rounded to the nearest integer value)
and used as such in subsequent calculations in the same expression.
Mathematical Functions 569
If the divisor is equal to 0, the result will saturate at +/-2
47
(+/-2
23
for an integer division in a compiled
PLC). No error will be reported, and the program will not stop. It is the programmers responsibility to
check for possible division-by-zero errors.
fixed-point
Examples:
(L1 and M1 are integer variables; P1 is a floating-point variable)
Command Result
P1=10*2/3 6.666666667
P1=10*(2/3) 6.666666667
M1=10*2/3 7
M1=10*(2/3) 7
L1=10*2/3 7
L1=10*(2/3) 10
%
Function: Modulo (remainder)
The % sign causes the calculation of the remainder due to the division of the numerical value preceding it
by the numerical value following it. Unless the division is executed in a compiled PLC on a line with
only L-variables and integers, the division operation is always a floating-point calculation (even if integer
values are used). The quotient is computed as a floating-point value, then truncated to the next lowest
(i.e. toward -) integer so the remainder can be computed.
If the divisor n is a positive value, the modulo result is in the range 0 Result < n. If the divisor n is
a negative value, the modulo result is in the range n Result < n.
If the divisor is equal to 0, the division will saturate and the modulo result will be 0. No error will be
reported, and the program will not stop. It is the programmers responsibility to check for possible
division-by-zero errors.
fixed-point
Examples:
Operation Result
11%4 3
-11%4 1
11%-4 3
-11%-4 -3
3%2.5 0.5
-3%2.5 2
3%-2.5 -2
-3%-2.5 2

&
Function: Bit-by-bit and
The & sign implements the bit-by-bit logical and of the numerical value preceding it and the numerical
value following it. A given bit of the result is equal to 1 if and only if the matching bits of both operands
are equal to 1. The operation is done both on integer bits and fractional bits (if any).
This bit-by-bit and operator that logically combines the bits of numerical values is not to be confused with
the AND command, which logically combines conditions.
fixed-point
Examples:
Operation Result
3&1 1
3&2 2
3&3 3
3&4 0
3&-3 1
0.875&1.75 0.75
0.875&-1.75 0.25
|
Function: Bit-by-bit or
The | sign implements the bit-by-bit logical o of the numerical value preceding it and the numerical
value following it. A given bit of the result is equal to 1 if the matching bit of either operand is equal to
1. The operation is done both on integer bits and fractional bits (if any).
This bit-by-bit or operator that logically combines the bits of numerical values is not to be confused with
the OR command, which logically combines conditions.
fixed-point
Examples:
Operation Result
4|3 7
3|2 3
3|3 3
$F0|$4 $F4
3|-3 -1
0.5|0.375 0.875
0.875|-1.75 -0.375

^
Function: Bit-by-bit exclusive or
The ^ sign implements the bit-by-bit logical exclusive or (xor) of the numerical value preceding it and the
numerical value following it. A given bit of the result is equal to 1 if and only if the matching bits of the
two operands are different from each other. The operation is done both on integer bits and fractional bits
(if any).
fixed-point
Examples:
Operation Result
2^1 3
2^2 0
5^7 2
$AA^$55 $FF
3^-3 -2
0.5^0.875 0.375
Mathematical Functions
ABS
Function: Absolute value
Syntax: ABS({expression})
Domain: All real numbers
Domain units: User-determined
Range: Non-negative real numbers
Range units: User-determined
ABS implements the absolute value, or magnitude, function, of the mathematical expression contained
inside the following parentheses.
Execution time, 80 MHz CPU: 3.1 sec interpreted, 0.6 sec compiled
Examples:
P8=ABS(P7) ; Computes magnitude of P7
IF(Q200!=0) ; Divide by 0 check
Q240=ABS(Q200)/Q200 ; Computes sign (-1 or 1) of Q200
ELSE
Q240=0 ; Sign value is 0
ENDIF
ACOS
Function: Trigonometric arc-cosine
Syntax: ACOS({expression})
Domain: -1.0 to +1.0
Domain units: none
Range: 0 to Pi radians (0 to 180 degrees)
Range units: Radians/degrees
ACOS implements the inverse cosine, or arc-cosine, function, of the mathematical expression contained
inside the following parentheses.
This function returns values in degrees if I15 is set to the default value of 0; it returns values in radians if
I15 is set to 1.
If the argument inside the parentheses is outside of the legal domain of 1.0 to +1.0, an arbitrary value
will be returned. No error will be reported, and the program will not stop. It is the programmers
responsibility to check for possible domain errors.
Examples:
P50=ACOS(P48/P49) ; Computes angle whose cos is P48/P49
C(ACOS(Q70/10)) ; Move C axis to specified angle
ASIN
Function: Trigonometric arc-sine
Syntax: ASIN({expression})
Domain: -1.0 to +1.0
Domain units: none
Range: 0 to Pi radians (0 to 180 degrees)
ASIN implements the inverse sine, or arc-sine, function, of the mathematical expression contained inside
the following parentheses.
I15 is set to 1.
If the argument inside the parentheses is outside of the legal domain of 1.0 to +1.0, an arbitrary value
will be returned. No error will be reported, and the program will not stop. It is the programmers
responsibility to check for possible domain errors.
Examples:
P50=ASIN(P48/P49) ; Computes angle whose sin is P48/P49
C(ASIN(Q70/10)) ; Move C axis to specified angle
ATAN
Function: Trigonometric arc-tangent
Syntax: ATAN({expression})
Domain units: none
Range: -Pi/2 to +Pi/2 radians (-90 to +90 degrees)
ATAN implements the standard inverse tangent, or arc-tangent, function, of the mathematical expression
contained inside the following parentheses. This standard arc-tangent function returns values only in the
+/-90-degree range; if a full +/-180-degree range is desired, the ATAN2 function should be used instead.
I15 is set to 1.
Examples:
P50=ATAN(P48/P49) ; Computes angle whose tan is P48/P49
C(ATAN(Q70/10)) ; Move C axis to specified angle
ATAN2
Function: Two-argument trigonometric arc-tangent
Syntax: ATAN2({expression})
Domain: All real numbers in both arguments
Domain units: none
Range: -Pi to +Pi radians (-180 to +180 degrees)
ATAN2 implements the expanded (two-argument) inverse tangent, or arc-tangent, function, of the
mathematical expression contained inside the following parentheses, and the value of variable Q0 for the
coordinate system used. (If this function is used inside a PLC program, make sure the desired coordinate
system has been selected with the ADDRESS command.)
This expanded arc-tangent function returns values in the full +/-180-degree range; if only the +/-90-
degree range is desired, the standard ATAN function should be used instead. The ATAN2 function makes
use of the signs of both arguments, as well as the ratio of their magnitudes, to extend the range to a full
360 degrees. The value in the parentheses following ATAN2 is the sine argument; the value in Q0 is the
cosine argument.
I15 is set to 1.
If both arguments for the ATAN2 function are equal to exactly 0.0, an internal division-by-zero error will
result, and an arbitrary value will be returned. No error will be reported, and the program will not stop. It
is the programmers responsibility to check for these possible domain errors.
Examples:
Q30=-0.707 ; Cosine argument
Q31=-0.707 ; Sine argument
Q32=ATAN(Q31/Q30) ; Single-argument arctangent
Q32 ; Query resulting value
45 ; Returns value in +/-90 range
Q0=Q30 ; Prepare cosine for ATAN2
Q33=ATAN2(Q31) ; Two-argument arctangent
Q33 ; Query resulting value
-135 ; Note different result
Q0=M163-M161 ; X target X present position
Q1=M263-M261 ; Y target Y present position
IF (ABS(Q0)>0.001 OR ABS(Q1)>0.001) ; Div by 0 check
Q2=ATAN2(Q1) ; Calculate directed angle
ENDIF
COS
Function: Trigonometric cosine
Syntax: COS({expression})
Domain units: Radians/degrees
Range: -1.0 to +1.0
Range units: none
COS implements the trigonometric cosine function of the mathematical expression contained inside the
following parentheses.
This function interprets its argument in degrees if I15 is set to the default value of 0; it interprets its
argument in radians if I15 is set to 1.
Examples:
P60=COS(30) ; Computes cosine of 30
X(Q80*COS(Q81)) ; Move X axis to calculated value
EXP
Function: Exponentiation (e
x
)
Syntax: EXP({expression})
Range: Positive real numbers
EXP implements the standard exponentiation function of the mathematical expression contained inside
the following parentheses, raising e to the power of this expression.
To implement the y
x
function, use e
x ln(y)
instead.
Examples:
P20=EXP(P19) ; Raises e to the power of P19
P3=EXP(P2*LN(P1)) ; Raises P1 to the power of P2
INT
Function: Truncation to integer
Syntax: INT({expression})
Range: All integers
INT implements the truncation to integer function of the mathematical expression contained inside the
following parentheses. The truncation is always done in the negative direction.
Note that while the result is an integer number, it is still represented as a floating-point value.
Examples:
P50=2.5 ;
P51=INT(P50) ; Take INT of positive value
P51 ; Query resulting value
2 ; Next lower integer value
P52=INT(-P50) ; Take INT of negative value
P52 ; Query resulting value
-3 ; Next lower integer value
LN
Function: Natural logarithm
Syntax: EXP({expression})
Domain: Positive real numbers
Range: All real numbers
LN implements the natural logarithm (logarithm base e) function of the mathematical expression
contained inside the following parentheses.
To implement the logarithm using another base, divide the natural logarithm of the value by the natural
logarithm of the base (log
y
x = ln x / ln y). The natural logarithm of 10 is equal to 2.302585.
If the argument inside the parentheses is outside of the legal domain of positive numbers, a 0 value will be
returned. No error will be reported, and the program will not stop. It is the programmers responsibility
to check for possible domain errors.
Examples:
P19=LN(P20) ; Takes the natural log of P20
P6=LN(P5)/LN(10) ; Takes the log base 10 of P5
SIN
Function: Trigonometric sine
Syntax: SIN({expression})
Range: -1.0 to +1.0
Range units: none
SIN implements the trigonometric sine function of the mathematical expression contained inside the
Examples:
P60=SIN(30) ; Computes cosine of 30
Y(Q80*SIN(Q81)) ; Move Y axis to calculated value
SQRT
Function: Square root
Syntax: SQRT({expression})
Domain: Non-negative real numbers
Range: Non-negative real numbers
SQRT implements the positive square-root function of the mathematical expression contained inside the
If the argument inside the parentheses is outside of the legal domain of non-negative numbers, an
arbitrary value will be returned. No error will be reported, and the program will not stop. It is the
programmers responsibility to check for possible domain errors.
Examples:
P19=SQRT(P20) ; Takes the square root of P20
P50=SQRT(P8*P8+P9*P9) ; Pythagorean theorem calculation
TAN
Function: Trigonometric tangent
Syntax: TAN({expression})
Domain: All real numbers except +/-(2N-1)*90 degrees
Range: All real numbers
Range units: none
TAN implements the trigonometric tangent function of the mathematical expression contained inside the
If the argument inside the parentheses approaches +/-(2N-1)*90 degrees (+/-90, 270, 450, etc.), the TAN
function will blow up and a very large value will be returned. If the argument inside the parentheses is
exactly equal to one of these quantities, an internal division-by-zero error will occur and the resulting
value will saturate at +/-2
47
. No error will be reported, and the program will not stop. It is the
programmers responsibility to check for possible domain errors.
Execution time, 80 MHz CPU: 6.8sec interpreted, 4.5 sec compiled
Examples:
P60=TAN(30) ; Computes cosine of 30
Y(Q80*TAN(Q81)) ; Move Y axis to calculated value


578 Turbo PMAC(1) Suggested M-Variable Definitions
TURBO PMAC SUGGESTED M-VARIABLE DEFINITIONS
This file contains suggested definitions for M-variables on the Turbo PMAC. Note that these are only
suggestions; the user is free to make whatever definitions are desired.
Clear Existing Definitions
CLOSE ; Make sure no buffer is open
M0..8191->* ; All M-variables are now self-referenced
M0->X:$000000,0,24,U ; Servo cycle counter
JOPTO Port General Purpose Inputs and Outputs
M1->Y:$078802,8,1 ; Machine Output 1
M9->Y:$078802,8,8,U ; Machine Outputs 1-8 treated as byte
M11->Y:$078802,0,1 ; Machine Input 1
M12->Y:$078802,1,1 ; Machine Input 2
M13->Y:$078802,2,1 ; Machine Input 3
M14->Y:$078802,3,1 ; Machine Input 4
M15->Y:$078802,4,1 ; Machine Input 5
M16->Y:$078802,5,1 ; Machine Input 6
M17->Y:$078802,6,1 ; Machine Input 7
M18->Y:$078802,7,1 ; Machine Input 8
M19->Y:$078802,0,8,U ; Machine Inputs 1-8 treated as byte
Control Panel Port Input Bits (so they can be used as general I/O if I2=1)
M20->Y:$078800,8,1 ; Jog Minus Input
M21->Y:$078800,9,1 ; Jog Plus Input
M22->Y:$078800,10,1 ; Prejog Input
M23->Y:$078800,11,1 ; Start (Run) Input
M24->Y:$078800,12,1 ; Step/Quit Input
M25->Y:$078800,13,1 ; Stop (Abort) Input
M26->Y:$078800,14,1 ; Home Command Input
M27->Y:$078800,15,1 ; Feed Hold Input
M28->Y:$078800,16,1 ; Motor/C.S. Select Input Bit 0
M32->Y:$078800,16,4,C ; Selected Motor/C.S. Number
Thumbwheel Port Bits (So they can be used as general-purpose I/O)
M40->Y:$078801,8,1 ; SEL0 Output
M41->Y:$078801,9,1 ; SEL1 Output
M42->Y:$078801,10,1 ; SEL2 Output
M43->Y:$078801,11,1 ; SEL3 Output
M44->Y:$078801,12,1 ; SEL4 Output
M45->Y:$078801,13,1 ; SEL5 Output
M46->Y:$078801,14,1 ; SEL6 Output
M47->Y:$078801,15,1 ; SEL7 Output
M48->Y:$078801,8,8,U ; SEL0-7 Outputs treated as a byte
Turbo PMAC(1) Suggested M-Variable Definitions 579
M50->Y:$078801,0,1 ; DAT0 Input
M51->Y:$078801,1,1 ; DAT1 Input
M52->Y:$078801,2,1 ; DAT2 Input
M53->Y:$078801,3,1 ; DAT3 Input
M54->Y:$078801,4,1 ; DAT4 Input
M55->Y:$078801,5,1 ; DAT5 Input
M56->Y:$078801,6,1 ; DAT6 Input
M57->Y:$078801,7,1 ; DAT7 Input
M58->Y:$078801,0,8,U ; DAT0-7 Inputs treated as a byte
Miscellaneous Global Registers
M70->X:$FFFF8C,0,24 ; Time between phase interrupts (CPU cycles/2)
M71->X:$000037,0,24 ; Time for phase tasks (CPU cycles/2)
M72->Y:$000037,0,24 ; Time for servo tasks (CPU cycles/2)
M73->X:$00000B,0,24 ; Time for RTI tasks (CPU cycles/2)
M80->X:$000025,0,24 ; Minimum watchdog timer count
M81->X:$000024,0,24 ; Pointer to display buffer
M82->Y:$001080,0,8 ; First character of display buffer
M83->X:$000006,12,1 ; Firmware checksum error bit
M84->X:$000006,13,1 ; Any memory checksum error bit
M85->X:$000006,5,1 ; MACRO auxiliary communications error bit
M86->X:$000006,6,1 ; Acc-34 serial parity error bit
VME/DPRAM Active Setup Registers
M90->X:$070006,0,8 ; VME Active Address Modifier (Bits 0-7; from I90)
M91->X:$070007,0,8 ; VME Active Address Modifier Dont Care Bits (Bits 0-7; from I91)
M92->X:$070008,0,8 ; VME Active Base Address Bits A31-A24 (Bits 0-7; from I92)
M93->X:$070009,0,8 ; VME Active Mailbox Base Address Bits A23-A16
; ISA Active DPRAM Base Address bits A23-A16 (Bits 0-7; from I93)
M94->X:$07000A,0,8 ; VME Active Mailbox Base Address Bits A15-A08, ISA Active
; DPRAM Base Address bits A15-A14, Enable and Bank
; Select (Bits 0-7; from I94)
M95->X:$07000B,0,8 ; VME Active Interrupt Level (Bits 0-7; from I95)
M96->X:$07000C,0,8 ; VME Active Interrupt Vector (Bits 0-7; from I96)
M97->X:$07000D,0,8 ; VME Active DPRAM Base Address Bits A23-A20 (Bits 0-7; from I97)
M98->X:$07000E,0,8 ; VME Active DPRAM Enable State (Bits 0-7; from I98)
M99->X:$07000F,0,8 ; VME Active Address Width Control (Bits 0-7; from I99)
Servo IC 0 Registers for PMAC Channel 1 (usually for Motor #1)
M101->X:$078001,0,24,S ; ENC1 24-bit counter position
M102->Y:$078003,8,16,S ; DAC1 16-bit analog output
M103->X:$078003,0,24,S ; ENC1 capture/compare position register
M105->Y:$078006,8,16,S ; ADC1 16-bit analog input
M106->Y:$078000,0,24,U ; ENC1 time between counts (SCLK cycles)
M110->X:$078000,10,1 ; ENC1 count-write enable control
M111->X:$078000,11,1 ; EQU1 compare flag latch control
M112->X:$078000,12,1 ; EQU1 compare output enable
M113->X:$078000,13,1 ; EQU1 compare invert enable
M114->X:$078000,14,1 ; AENA1/DIR1 Output
M116->X:$078000,16,1 ; EQU1 compare flag
M117->X:$078000,17,1 ; ENC1 position-captured flag
M118->X:$078000,18,1 ; ENC1 Count-error flag
M119->X:$078000,19,1 ; ENC1 3rd channel input status
M120->X:$078000,20,1 ; HMFL1 input status
M121->X:$078000,21,1 ; -LIM1 (positive end) input status
M122->X:$078000,22,1 ; +LIM1 (negative end) input status
M123->X:$078000,23,1 ; FAULT1 input status
Motor #1 Status Bits
M130->Y:$0000C0,11,1 ; #1 Stopped-on-position-limit bit
M131->X:$0000B0,21,1 ; #1 Positive-end-limit-set bit
M132->X:$0000B0,22,1 ; #1 Negative-end-limit-set bit
M133->X:$0000B0,13,1 ; #1 Desired-velocity-zero bit
M135->X:$0000B0,15,1 ; #1 Dwell-in-progress bit
M137->X:$0000B0,17,1 ; #1 Running-program bit
M138->X:$0000B0,18,1 ; #1 Open-loop-mode bit
M139->X:$0000B0,19,1 ; #1 Amplifier-enabled status bit
M140->Y:$0000C0,0,1 ; #1 Background in-position bit
M141->Y:$0000C0,1,1 ; #1 Warning-following error bit
M142->Y:$0000C0,2,1 ; #1 Fatal-following-error bit
M143->Y:$0000C0,3,1 ; #1 Amplifier-fault-error bit
M144->Y:$0000C0,13,1 ; #1 Foreground in-position bit
M145->Y:$0000C0,10,1 ; #1 Home-complete bit
M146->Y:$0000C0,6,1 ; #1 Integrated following error fault bit
M147->Y:$0000C0,5,1 ; #1 I2T fault bit
M148->Y:$0000C0,8,1 ; #1 Phasing error fault bit
M149->Y:$0000C0,9,1 ; #1 Phasing search-in-progress bit
Motor #1 Move Registers
M161->D:$000088 ; #1 Commanded position (1/[Ixx08*32] cts)
M162->D:$00008B ; #1 Actual position (1/[Ixx08*32] cts)
M163->D:$0000C7 ; #1 Target (end) position (1/[Ixx08*32] cts)
M164->D:$0000CC ; #1 Position bias (1/[Ixx08*32] cts)
M166->X:$00009D,0,24,S ; #1 Actual velocity (1/[Ixx09*32] cts/cyc)
M167->D:$00008D ; #1 Present master pos (1/[Ixx07*32] cts)
M168->X:$0000BF,8,16,S ; #1 Filter Output (16-bit DAC bits)
M169->D:$000090 ; #1 Compensation correction (1/[Ixx08*32] cts)
M170->D:$0000B4 ; #1 Present phase position (including fraction)
M171->X:$0000B4,24,S ; #1 Present phase position (counts *Ixx70)
M172->L:$0000D7 ; #1 Variable jog position/distance (cts)
M173->Y:$0000CE,0,24,S ; #1 Encoder home capture position (cts)
M174->D:$0000EF ; #1 Averaged actual velocity (1/[Ixx09*32] cts/cyc)
M175->X:$0000B9,8,16,S ; #1 Actual quadrature current
M176->Y:$0000B9,8,16,S ; #1 Actual direct current
M177->X:$0000BC,8,16,S ; #1 Quadrature current-loop integrator output
M178->Y:$0000BC,8,16,S ; #1 Direct current-loop integrator output
M179->X:$0000AE,8,16,S ; #1 PID internal filter result (16-bit DAC bits)
Motor #1 Axis Definition Registers
M191->L:$0000CF ; #1 X/U/A/B/C-Axis scale factor (cts/unit)
M192->L:$0000D0 ; #1 Y/V-Axis scale factor (cts/unit)
M193->L:$0000D1 ; #1 Z/W-Axis scale factor (cts/unit)
M194->L:$0000D2 ; #1 Axis offset (cts)
M230->Y:$000140,11,1 ; #2 Stopped-on-position-limit bit
M231->X:$000130,21,1 ; #2 Positive-end-limit-set bit
M232->X:$000130,22,1 ; #2 Negative-end-limit-set bit
M233->X:$000130,13,1 ; #2 Desired-velocity-zero bit
M235->X:$000130,15,1 ; #2 Dwell-in-progress bit
M237->X:$000130,17,1 ; #2 Running-program bit
M238->X:$000130,18,1 ; #2 Open-loop-mode bit
M239->X:$000130,19,1 ; #2 Amplifier-enabled status bit
M240->Y:$000140,0,1 ; #2 Background in-position bit
M241->Y:$000140,1,1 ; #2 Warning-following error bit
M242->Y:$000140,2,1 ; #2 Fatal-following-error bit
M243->Y:$000140,3,1 ; #2 Amplifier-fault-error bit
M244->Y:$000140,13,1 ; #2 Foreground in-position bit
M245->Y:$000140,10,1 ; #2 Home-complete bit
M246->Y:$000140,6,1 ; #2 Integrated following error fault bit
M247->Y:$000140,5,1 ; #2 I2T fault bit
M248->Y:$000140,8,1 ; #2 Phasing error fault bit
M249->Y:$000140,9,1 ; #2 Phasing search-in-progress bit
M263->D:$000147 ; #2 Target (end) position (1/[Ixx08*32] cts)
M264->D:$00014C ; #2 Position bias (1/[Ixx08*32] cts)
M268->X:$00013F,8,16,S ; #2 Filter Output (16-bit DAC bits)
M270->D:$000134 ; #2 Present phase position (including fraction)
M271->X:$000134,24,S ; #2 Present phase position (counts *Ixx70)
M272->L:$000157 ; #2 Variable jog position/distance (cts)
M273->Y:$00014E,0,24,S ; #2 Encoder home capture position (cts)
M274->D:$00016F ; #2 Averaged actual velocity (1/[Ixx09*32] cts/cyc)
M275->X:$000139,8,16,S ; #2 Actual quadrature current
M276->Y:$000139,8,16,S ; #2 Actual direct current
M277->X:$00013C,8,16,S ; #2 Quadrature current-loop integrator output
M278->Y:$00013C,8,16,S ; #2 Direct current-loop integrator output
M279->X:$00012E,8,16,S ; #2 PID internal filter result (16-bit DAC bits)
M291->L:$00014F ; #2 X/U/A/B/C-Axis scale factor (cts/unit)
M292->L:$000150 ; #2 Y/V-Axis scale factor (cts/unit)
M293->L:$000151 ; #2 Z/W-Axis scale factor (cts/unit)
M294->L:$000152 ; #2 Axis offset (cts)
M302->Y:$07800B,8,16,S ; DAC3 16-bit analog output
M303->X:$07800B,0,24,S ; ENC3 capture/compare position register
M305->Y:$07800E,8,16,S ; ADC3 16-bit analog input
M347->Y:$0001C0,5,1 ; #3 I2T fault bit
M401->X:$07800D,0,24,S ; ENC4 24-bit counter position
M402->Y:$07800A,8,16,S ; DAC4 16-bit analog output
M403->X:$07800F,0,24,S ; ENC4 capture/compare position register
M405->Y:$07800F,8,16,S ; ADC4 16-bit analog input
M406->Y:$07800C,0,24,U ; ENC4 time between counts (SCLK cycles)
M410->X:$07800C,10,1 ; ENC4 count-write enable control
M411->X:$07800C,11,1 ; EQU4 compare flag latch control
M412->X:$07800C,12,1 ; EQU4 compare output enable
M413->X:$07800C,13,1 ; EQU4 compare invert enable
M414->X:$07800C,14,1 ; AENA4/DIR4 Output
M416->X:$07800C,16,1 ; EQU4 compare flag
M417->X:$07800C,17,1 ; ENC4 position-captured flag
M418->X:$07800C,18,1 ; ENC4 Count-error flag
M419->X:$07800C,19,1 ; ENC4 3rd channel input status
M420->X:$07800C,20,1 ; HMFL4 input status
M421->X:$07800C,21,1 ; -LIM4 (positive end) input status
M422->X:$07800C,22,1 ; +LIM4 (negative end) input status
M423->X:$07800C,23,1 ; FAULT4 input status
M447->Y:$000240,5,1 ; #4 I2T fault bit
M547->Y:$0002C0,5,1 ; #5 I2T fault bit
M647->Y:$000340,5,1 ; #6 I2T fault bit
M747->Y:$0003C0,5,1 ; #7 I2T fault bit
M847->Y:$000440,5,1 ; #8 I2T fault bit
Servo IC 2 Registers for First Acc-24 Channel 1 (usually for Motor #9)
M947->Y:$0004C0,5,1 ; #9 I2T fault bit
M1047->Y:$000540,5,1 ; #10 I2T fault bit
M1147->Y:$0005C0,5,1 ; #11 I2T fault bit
M1247->Y:$000640,5,1 ; #12 I2T fault bit
M1347->Y:$0006C0,5,1 ; #13 I2T fault bit
M1447->Y:$000740,5,1 ; #14 I2T fault bit
M1547->Y:$0007C0,5,1 ; #15 I2T fault bit
M1647->Y:$000840,5,1 ; #16 I2T fault bit
Servo IC 4 Registers for Second Acc-24 Channel 1 (usually for Motor #17)
M1747->Y:$0008C0,5,1 ; #17 I2T fault bit
M1847->Y:$000940,5,1 ; #18 I2T fault bit
M1947->Y:$0009C0,5,1 ; #19 I2T fault bit
M2004->Y:$000A40,13,1 ; #20 Foreground in-position bit
M2030->Y:$000A40,11,1 ; #20 Stopped-on-position-limit bit
M2031->X:$000A30,21,1 ; #20 Positive-end-limit-set bit
M2032->X:$000A30,22,1 ; #20 Negative-end-limit-set bit
M2033->X:$000A30,13,1 ; #20 Desired-velocity-zero bit
M2035->X:$000A30,15,1 ; #20 Dwell-in-progress bit
M2037->X:$000A30,17,1 ; #20 Running-program bit
M2038->X:$000A30,18,1 ; #20 Open-loop-mode bit
M2039->X:$000A30,19,1 ; #20 Amplifier-enabled status bit
M2040->Y:$000A40,0,1 ; #20 Background in-position bit
M2041->Y:$000A40,1,1 ; #20 Warning-following error bit
M2042->Y:$000A40,2,1 ; #20 Fatal-following-error bit
M2043->Y:$000A40,3,1 ; #20 Amplifier-fault-error bit
M2045->Y:$000A40,10,1 ; #20 Home-complete bit
M2046->Y:$000A40,6,1 ; #20 Integrated following error fault bit
M2047->Y:$000A40,5,1 ; #20 I2T fault bit
M2048->Y:$000A40,8,1 ; #20 Phasing error fault bit
M2049->Y:$000A40,9,1 ; #20 Phasing search-in-progress bit
M2061->D:$000A08 ; #20 Commanded position (1/[Ixx08*32] cts)
M2062->D:$000A0B ; #20 Actual position (1/[Ixx08*32] cts)
M2063->D:$000A47 ; #20 Target (end) position (1/[Ixx08*32] cts)
M2064->D:$000A4C ; #20 Position bias (1/[Ixx08*32] cts)
M2066->X:$000A1D,0,24,S ; #20 Actual velocity (1/[Ixx09*32] cts/cyc)
M2067->D:$000A0D ; #20 Present master pos (1/[Ixx07*32] cts)
M2068->X:$000A3F,8,16,S ; #20 Filter Output (16-bit DAC bits)
M2069->D:$000A10 ; #20 Compensation correction (1/[Ixx08*32] cts)
M2070->D:$000A34 ; #20 Present phase position (including fraction)
M2071->X:$000A34,24,S ; #20 Present phase position (counts *Ixx70)
M2072->L:$000A57 ; #20 Variable jog position/distance (cts)
M2073->Y:$000A4E,0,24,S ; #20 Encoder home capture position (cts)
M2074->D:$000A6F ; #20 Averaged actual velocity (1/[Ixx09*32] cts/cyc)
M2075->X:$000A39,8,16,S ; #20 Actual quadrature current
M2076->Y:$000A39,8,16,S ; #20 Actual direct current
M2077->X:$000A3C,8,16,S ; #20 Quadrature current-loop integrator output
M2078->Y:$000A3C,8,16,S ; #20 Direct current-loop integrator output
M2079->X:$000A2E,8,16,S ; #20 PID internal filter result (16-bit DAC bits)
M2091->L:$000A4F ; #20 X/U/A/B/C-Axis scale factor (cts/unit)
M2092->L:$000A50 ; #20 Y/V-Axis scale factor (cts/unit)
M2093->L:$000A51 ; #20 Z/W-Axis scale factor (cts/unit)
M2094->L:$000A52 ; #20 Axis offset (cts)
M2130->Y:$000AC0,11,1 ; #21 Stopped-on-position-limit bit
M2131->X:$000AB0,21,1 ; #21 Positive-end-limit-set bit
M2132->X:$000AB0,22,1 ; #21 Negative-end-limit-set bit
M2133->X:$000AB0,13,1 ; #21 Desired-velocity-zero bit
M2135->X:$000AB0,15,1 ; #21 Dwell-in-progress bit
M2137->X:$000AB0,17,1 ; #21 Running-program bit
M2138->X:$000AB0,18,1 ; #21 Open-loop-mode bit
M2139->X:$000AB0,19,1 ; #21 Amplifier-enabled status bit
M2140->Y:$000AC0,0,1 ; #21 Background in-position bit
M2141->Y:$000AC0,1,1 ; #21 Warning-following error bit
M2142->Y:$000AC0,2,1 ; #21 Fatal-following-error bit
M2143->Y:$000AC0,3,1 ; #21 Amplifier-fault-error bit
M2144->Y:$000AC0,13,1 ; #21 Foreground in-position bit
M2145->Y:$000AC0,10,1 ; #21 Home-complete bit
M2146->Y:$000AC0,6,1 ; #21 Integrated following error fault bit
M2147->Y:$000AC0,5,1 ; #21 I2T fault bit
M2148->Y:$000AC0,8,1 ; #21 Phasing error fault bit
M2149->Y:$000AC0,9,1 ; #21 Phasing search-in-progress bit
M2163->D:$000AC7 ; #21 Target (end) position (1/[Ixx08*32] cts)
M2164->D:$000ACC ; #21 Position bias (1/[Ixx08*32] cts)
M2168->X:$000ABF,8,16,S ; #21 Filter Output (16-bit DAC bits)
M2170->D:$000AB4 ; #21 Present phase position (including fraction)
M2171->X:$000AB4,24,S ; #21 Present phase position (counts *Ixx70)
M2172->L:$000AD7 ; #21 Variable jog position/distance (cts)
M2173->Y:$000ACE,0,24,S ; #21 Encoder home capture position (cts)
M2174->D:$000AEF ; #21 Averaged actual velocity (1/[Ixx09*32] cts/cyc)
M2175->X:$000AB9,8,16,S ; #21 Actual quadrature current
M2176->Y:$000AB9,8,16,S ; #21 Actual direct current
M2177->X:$000ABC,8,16,S ; #21 Quadrature current-loop integrator output
M2178->Y:$000ABC,8,16,S ; #21 Direct current-loop integrator output
M2179->X:$000AAE,8,16,S ; #21 PID internal filter result (16-bit DAC bits)
M2191->L:$000ACF ; #21 X/U/A/B/C-Axis scale factor (cts/unit)
M2192->L:$000AD0 ; #21 Y/V-Axis scale factor (cts/unit)
M2193->L:$000AD1 ; #21 Z/W-Axis scale factor (cts/unit)
M2194->L:$000AD2 ; #21 Axis offset (cts)
M2230->Y:$000B40,11,1 ; #22 Stopped-on-position-limit bit
M2240->Y:$000B40,0,1 ; #22 Background in-position bit
M2241->Y:$000B40,1,1 ; #22 Warning-following error bit
M2242->Y:$000B40,2,1 ; #22 Fatal-following-error bit
M2243->Y:$000B40,3,1 ; #22 Amplifier-fault-error bit
M2244->Y:$000B40,13,1 ; #22 Foreground in-position bit
M2245->Y:$000B40,10,1 ; #22 Home-complete bit
M2246->Y:$000B40,6,1 ; #22 Integrated following error fault bit
M2247->Y:$000B40,5,1 ; #22 I2T fault bit
M2248->Y:$000B40,8,1 ; #22 Phasing error fault bit
M2249->Y:$000B40,9,1 ; #22 Phasing search-in-progress bit
M2261->D:$000B08 ; #22 Commanded position (1/[Ixx08*32] cts)
M2262->D:$000B0B ; #22 Actual position (1/[Ixx08*32] cts)
M2263->D:$000B47 ; #22 Target (end) position (1/[Ixx08*32] cts)
M2264->D:$000B4C ; #22 Position bias (1/[Ixx08*32] cts)
M2266->X:$000B1D,0,24,S ; #22 Actual velocity (1/[Ixx09*32] cts/cyc)
M2267->D:$000B0D ; #22 Present master pos (1/[Ixx07*32] cts)
M2268->X:$000B3F,8,16,S ; #22 Filter Output (16-bit DAC bits)
M2269->D:$000B10 ; #22 Compensation correction (1/[Ixx08*32] cts)
M2272->L:$000B57 ; #22 Variable jog position/distance (cts)
M2273->Y:$000B4E,0,24,S ; #22 Encoder home capture position (cts)
M2274->D:$000B6F ; #22 Averaged actual velocity (1/[Ixx09*32] cts/cyc)
M2277->X:$000B3C,8,16,S ; #22 Quadrature current-loop integrator output
M2278->Y:$000B3C,8,16,S ; #22 Direct current-loop integrator output
M2279->X:$000B2E,8,16,S ; #22 PID internal filter result (16-bit DAC bits)
M2291->L:$000B4F ; #22 X/U/A/B/C-Axis scale factor (cts/unit)
M2292->L:$000B50 ; #22 Y/V-Axis scale factor (cts/unit)
M2293->L:$000B51 ; #22 Z/W-Axis scale factor (cts/unit)
M2294->L:$000B52 ; #22 Axis offset (cts)
M2330->Y:$000BC0,11,1 ; #23 Stopped-on-position-limit bit
M2331->X:$000BB0,21,1 ; #23 Positive-end-limit-set bit
M2332->X:$000BB0,22,1 ; #23 Negative-end-limit-set bit
M2333->X:$000BB0,13,1 ; #23 Desired-velocity-zero bit
M2335->X:$000BB0,15,1 ; #23 Dwell-in-progress bit
M2337->X:$000BB0,17,1 ; #23 Running-program bit
M2338->X:$000BB0,18,1 ; #23 Open-loop-mode bit
M2339->X:$000BB0,19,1 ; #23 Amplifier-enabled status bit
M2340->Y:$000BC0,0,1 ; #23 Background in-position bit
M2341->Y:$000BC0,1,1 ; #23 Warning-following error bit
M2342->Y:$000BC0,2,1 ; #23 Fatal-following-error bit
M2343->Y:$000BC0,3,1 ; #23 Amplifier-fault-error bit
M2344->Y:$000BC0,13,1 ; #23 Foreground in-position bit
M2345->Y:$000BC0,10,1 ; #23 Home-complete bit
M2346->Y:$000BC0,6,1 ; #23 Integrated following error fault bit
M2347->Y:$000BC0,5,1 ; #23 I2T fault bit
M2348->Y:$000BC0,8,1 ; #23 Phasing error fault bit
M2349->Y:$000BC0,9,1 ; #23 Phasing search-in-progress bit
M2363->D:$000BC7 ; #23 Target (end) position (1/[Ixx08*32] cts)
M2364->D:$000BCC ; #23 Position bias (1/[Ixx08*32] cts)
M2368->X:$000BBF,8,16,S ; #23 Filter Output (16-bit DAC bits)
M2370->D:$000BB4 ; #23 Present phase position (including fraction)
M2371->X:$000BB4,24,S ; #23 Present phase position (counts *Ixx70)
M2372->L:$000BD7 ; #23 Variable jog position/distance (cts)
M2373->Y:$000BCE,0,24,S ; #23 Encoder home capture position (cts)
M2374->D:$000BEF ; #23 Averaged actual velocity (1/[Ixx09*32] cts/cyc)
M2375->X:$000BB9,8,16,S ; #23 Actual quadrature current
M2376->Y:$000BB9,8,16,S ; #23 Actual direct current
M2377->X:$000BBC,8,16,S ; #23 Quadrature current-loop integrator output
M2378->Y:$000BBC,8,16,S ; #23 Direct current-loop integrator output
M2379->X:$000BAE,8,16,S ; #23 PID internal filter result (16-bit DAC bits)
M2391->L:$000BCF ; #23 X/U/A/B/C-Axis scale factor (cts/unit)
M2392->L:$000BD0 ; #23 Y/V-Axis scale factor (cts/unit)
M2393->L:$000BD1 ; #23 Z/W-Axis scale factor (cts/unit)
M2394->L:$000BD2 ; #23 Axis offset (cts)

M2431->X:$000C30,21,1 ; #24 Positive-end-limit-set bit
M2432->X:$000C30,22,1 ; #24 Negative-end-limit-set bit
M2433->X:$000C30,13,1 ; #24 Desired-velocity-zero bit
M2435->X:$000C30,15,1 ; #24 Dwell-in-progress bit
M2437->X:$000C30,17,1 ; #24 Running-program bit
M2438->X:$000C30,18,1 ; #24 Open-loop-mode bit
M2439->X:$000C30,19,1 ; #24 Amplifier-enabled status bit
M2447->Y:$000C40,5,1 ; #24 I2T fault bit
M2461->D:$000C08 ; #24 Commanded position (1/[Ixx08*32] cts)
M2462->D:$000C0B ; #24 Actual position (1/[Ixx08*32] cts)
M2464->D:$000C4C ; #24 Position bias (1/[Ixx08*32] cts)
M2466->X:$000C1D,0,24,S ; #24 Actual velocity (1/[Ixx09*32] cts/cyc)
M2467->D:$000C0D ; #24 Present master pos (1/[Ixx07*32] cts)
M2468->X:$000C3F,8,16,S ; #24 Filter Output (16-bit DAC bits)
M2469->D:$000C10 ; #24 Compensation correction (1/[Ixx08*32] cts)
M2470->D:$000C34 ; #24 Present phase position (including fraction)
M2471->X:$000C34,24,S ; #24 Present phase position (counts *Ixx70)
M2472->L:$000C57 ; #24 Variable jog position/distance (cts)
M2473->Y:$000C4E,0,24,S ; #24 Encoder home capture position (cts)
M2474->D:$000C6F ; #24 Averaged actual velocity (1/[Ixx09*32] cts/cyc)
M2475->X:$000C39,8,16,S ; #24 Actual quadrature current
M2476->Y:$000C39,8,16,S ; #24 Actual direct current
M2477->X:$000C3C,8,16,S ; #24 Quadrature current-loop integrator output
M2478->Y:$000C3C,8,16,S ; #24 Direct current-loop integrator output
M2479->X:$000C2E,8,16,S ; #24 PID internal filter result (16-bit DAC bits)
M2491->L:$000C4F ; #24 X/U/A/B/C-Axis scale factor (cts/unit)
M2492->L:$000C50 ; #24 Y/V-Axis scale factor (cts/unit)
M2493->L:$000C51 ; #24 Z/W-Axis scale factor (cts/unit)
M2494->L:$000C52 ; #24 Axis offset (cts)
Servo IC 6 Registers for Third Acc-24 Channel 1 (usually for Motor #25)
M2501->X:$07A201,0,24,S ; ENC1 24-bit counter position
M2502->Y:$07A203,8,16,S ; DAC1 16-bit analog output
M2503->X:$07A203,0,24,S ; ENC1 capture/compare position register
M2505->Y:$07A206,8,16,S ; ADC1 16-bit analog input
M2506->Y:$07A200,0,24,U ; ENC1 time between counts (SCLK cycles)
M2510->X:$07A200,10,1 ; ENC1 count-write enable control
M2511->X:$07A200,11,1 ; EQU1 compare flag latch control
M2512->X:$07A200,12,1 ; EQU1 compare output enable
M2513->X:$07A200,13,1 ; EQU1 compare invert enable
M2514->X:$07A200,14,1 ; AENA1/DIR1 Output
M2516->X:$07A200,16,1 ; EQU1 compare flag
M2517->X:$07A200,17,1 ; ENC1 position-captured flag
M2518->X:$07A200,18,1 ; ENC1 Count-error flag
M2519->X:$07A200,19,1 ; ENC1 3rd channel input status
M2520->X:$07A200,20,1 ; HMFL1 input status
M2521->X:$07A200,21,1 ; -LIM1 (positive end) input status
M2522->X:$07A200,22,1 ; +LIM1 (negative end) input status
M2523->X:$07A200,23,1 ; FAULT1 input status
M2530->Y:$000CC0,11,1 ; #25 Stopped-on-position-limit bit
M2531->X:$000CB0,21,1 ; #25 Positive-end-limit-set bit
M2532->X:$000CB0,22,1 ; #25 Negative-end-limit-set bit
M2533->X:$000CB0,13,1 ; #25 Desired-velocity-zero bit
M2535->X:$000CB0,15,1 ; #25 Dwell-in-progress bit
M2537->X:$000CB0,17,1 ; #25 Running-program bit
M2538->X:$000CB0,18,1 ; #25 Open-loop-mode bit
M2539->X:$000CB0,19,1 ; #25 Amplifier-enabled status bit
M2540->Y:$000CC0,0,1 ; #25 Background in-position bit
M2541->Y:$000CC0,1,1 ; #25 Warning-following error bit
M2542->Y:$000CC0,2,1 ; #25 Fatal-following-error bit
M2543->Y:$000CC0,3,1 ; #25 Amplifier-fault-error bit
M2544->Y:$000CC0,13,1 ; #25 Foreground in-position bit
M2545->Y:$000CC0,10,1 ; #25 Home-complete bit
M2546->Y:$000CC0,6,1 ; #25 Integrated following error fault bit
M2547->Y:$000CC0,5,1 ; #25 I2T fault bit
M2548->Y:$000CC0,8,1 ; #25 Phasing error fault bit
M2549->Y:$000CC0,9,1 ; #25 Phasing search-in-progress bit
M2563->D:$000CC7 ; #25 Target (end) position (1/[Ixx08*32] cts)
M2564->D:$000CCC ; #25 Position bias (1/[Ixx08*32] cts)
M2568->X:$000CBF,8,16,S ; #25 Filter Output (16-bit DAC bits)
M2570->D:$000CB4 ; #25 Present phase position (including fraction)
M2571->X:$000CB4,24,S ; #25 Present phase position (counts *Ixx70)
M2572->L:$000CD7 ; #25 Variable jog position/distance (cts)
M2573->Y:$000CCE,0,24,S ; #25 Encoder home capture position (cts)
M2574->D:$000CEF ; #25 Averaged actual velocity (1/[Ixx09*32] cts/cyc)
M2575->X:$000CB9,8,16,S ; #25 Actual quadrature current
M2576->Y:$000CB9,8,16,S ; #25 Actual direct current
M2577->X:$000CBC,8,16,S ; #25 Quadrature current-loop integrator output
M2578->Y:$000CBC,8,16,S ; #25 Direct current-loop integrator output
M2579->X:$000CAE,8,16,S ; #25 PID internal filter result (16-bit DAC bits)
M2591->L:$000CCF ; #25 X/U/A/B/C-Axis scale factor (cts/unit)
M2592->L:$000CD0 ; #25 Y/V-Axis scale factor (cts/unit)
M2593->L:$000CD1 ; #25 Z/W-Axis scale factor (cts/unit)
M2594->L:$000CD2 ; #25 Axis offset (cts)
M2630->Y:$000D40,11,1 ; #26 Stopped-on-position-limit bit
M2631->X:$000D30,21,1 ; #26 Positive-end-limit-set bit
M2632->X:$000D30,22,1 ; #26 Negative-end-limit-set bit
M2633->X:$000D30,13,1 ; #26 Desired-velocity-zero bit
M2635->X:$000D30,15,1 ; #26 Dwell-in-progress bit
M2637->X:$000D30,17,1 ; #26 Running-program bit
M2638->X:$000D30,18,1 ; #26 Open-loop-mode bit
M2639->X:$000D30,19,1 ; #26 Amplifier-enabled status bit
M2640->Y:$000D40,0,1 ; #26 Background in-position bit
M2641->Y:$000D40,1,1 ; #26 Warning-following error bit
M2642->Y:$000D40,2,1 ; #26 Fatal-following-error bit
M2643->Y:$000D40,3,1 ; #26 Amplifier-fault-error bit
M2644->Y:$000D40,13,1 ; #26 Foreground in-position bit
M2645->Y:$000D40,10,1 ; #26 Home-complete bit
M2646->Y:$000D40,6,1 ; #26 Integrated following error fault bit
M2647->Y:$000D40,5,1 ; #26 I2T fault bit
M2648->Y:$000D40,8,1 ; #26 Phasing error fault bit
M2649->Y:$000D40,9,1 ; #26 Phasing search-in-progress bit
M2661->D:$000D08 ; #26 Commanded position (1/[Ixx08*32] cts)
M2662->D:$000D0B ; #26 Actual position (1/[Ixx08*32] cts)
M2663->D:$000D47 ; #26 Target (end) position (1/[Ixx08*32] cts)
M2664->D:$000D4C ; #26 Position bias (1/[Ixx08*32] cts)
M2666->X:$000D1D,0,24,S ; #26 Actual velocity (1/[Ixx09*32] cts/cyc)
M2667->D:$000D0D ; #26 Present master pos (1/[Ixx07*32] cts)
M2668->X:$000D3F,8,16,S ; #26 Filter Output (16-bit DAC bits)
M2669->D:$000D10 ; #26 Compensation correction (1/[Ixx08*32] cts)
M2670->D:$000D34 ; #26 Present phase position (including fraction)
M2671->X:$000D34,24,S ; #26 Present phase position (counts *Ixx70)
M2673->Y:$000D4E,0,24,S ; #26 Encoder home capture position (cts)
M2674->D:$000D6F ; #26 Averaged actual velocity (1/[Ixx09*32] cts/cyc)
M2675->X:$000D39,8,16,S ; #26 Actual quadrature current
M2676->Y:$000D39,8,16,S ; #26 Actual direct current
M2677->X:$000D3C,8,16,S ; #26 Quadrature current-loop integrator output
M2678->Y:$000D3C,8,16,S ; #26 Direct current-loop integrator output
M2679->X:$000D2E,8,16,S ; #26 PID internal filter result (16-bit DAC bits)
M2691->L:$000D4F ; #26 X/U/A/B/C-Axis scale factor (cts/unit)
M2702->Y:$07A20B,8,16,S ; DAC3 16-bit analog output
M2703->X:$07A20B,0,24,S ; ENC3 capture/compare position register
M2705->Y:$07A20E,8,16,S ; ADC3 16-bit analog input
M2730->Y:$000DC0,11,1 ; #27 Stopped-on-position-limit bit
M2731->X:$000DB0,21,1 ; #27 Positive-end-limit-set bit
M2732->X:$000DB0,22,1 ; #27 Negative-end-limit-set bit
M2733->X:$000DB0,13,1 ; #27 Desired-velocity-zero bit
M2735->X:$000DB0,15,1 ; #27 Dwell-in-progress bit
M2737->X:$000DB0,17,1 ; #27 Running-program bit
M2738->X:$000DB0,18,1 ; #27 Open-loop-mode bit
M2739->X:$000DB0,19,1 ; #27 Amplifier-enabled status bit
M2740->Y:$000DC0,0,1 ; #27 Background in-position bit
M2741->Y:$000DC0,1,1 ; #27 Warning-following error bit
M2742->Y:$000DC0,2,1 ; #27 Fatal-following-error bit
M2743->Y:$000DC0,3,1 ; #27 Amplifier-fault-error bit
M2744->Y:$000DC0,13,1 ; #27 Foreground in-position bit
M2745->Y:$000DC0,10,1 ; #27 Home-complete bit
M2746->Y:$000DC0,6,1 ; #27 Integrated following error fault bit
M2747->Y:$000DC0,5,1 ; #27 I2T fault bit
M2748->Y:$000DC0,8,1 ; #27 Phasing error fault bit
M2749->Y:$000DC0,9,1 ; #27 Phasing search-in-progress bit
M2763->D:$000DC7 ; #27 Target (end) position (1/[Ixx08*32] cts)
M2764->D:$000DCC ; #27 Position bias (1/[Ixx08*32] cts)
M2768->X:$000DBF,8,16,S ; #27 Filter Output (16-bit DAC bits)
M2770->D:$000DB4 ; #27 Present phase position (including fraction)
M2771->X:$000DB4,24,S ; #27 Present phase position (counts *Ixx70)
M2772->L:$000DD7 ; #27 Variable jog position/distance (cts)
M2773->Y:$000DCE,0,24,S ; #27 Encoder home capture position (cts)
M2774->D:$000DEF ; #27 Averaged actual velocity (1/[Ixx09*32] cts/cyc)
M2775->X:$000DB9,8,16,S ; #27 Actual quadrature current
M2776->Y:$000DB9,8,16,S ; #27 Actual direct current
M2777->X:$000DBC,8,16,S ; #27 Quadrature current-loop integrator output
M2778->Y:$000DBC,8,16,S ; #27 Direct current-loop integrator output
M2779->X:$000DAE,8,16,S ; #27 PID internal filter result (16-bit DAC bits)
M2791->L:$000DCF ; #27 X/U/A/B/C-Axis scale factor (cts/unit)
M2792->L:$000DD0 ; #27 Y/V-Axis scale factor (cts/unit)
M2793->L:$000DD1 ; #27 Z/W-Axis scale factor (cts/unit)
M2794->L:$000DD2 ; #27 Axis offset (cts)
M2801->X:$07A20D,0,24,S ; ENC4 24-bit counter position
M2802->Y:$07A20A,8,16,S ; DAC4 16-bit analog output
M2803->X:$07A20F,0,24,S ; ENC4 capture/compare position register
M2805->Y:$07A20F,8,16,S ; ADC4 16-bit analog input
M2806->Y:$07A20C,0,24,U ; ENC4 time between counts (SCLK cycles)
M2810->X:$07A20C,10,1 ; ENC4 count-write enable control
M2811->X:$07A20C,11,1 ; EQU4 compare flag latch control
M2812->X:$07A20C,12,1 ; EQU4 compare output enable
M2813->X:$07A20C,13,1 ; EQU4 compare invert enable
M2814->X:$07A20C,14,1 ; AENA4/DIR4 Output
M2816->X:$07A20C,16,1 ; EQU4 compare flag
M2817->X:$07A20C,17,1 ; ENC4 position-captured flag
M2818->X:$07A20C,18,1 ; ENC4 Count-error flag
M2819->X:$07A20C,19,1 ; ENC4 3rd channel input status
M2820->X:$07A20C,20,1 ; HMFL4 input status
M2821->X:$07A20C,21,1 ; -LIM4 (positive end) input status
M2822->X:$07A20C,22,1 ; +LIM4 (negative end) input status
M2823->X:$07A20C,23,1 ; FAULT4 input status
M2830->Y:$000E40,11,1 ; #28 Stopped-on-position-limit bit
M2831->X:$000E30,21,1 ; #28 Positive-end-limit-set bit
M2832->X:$000E30,22,1 ; #28 Negative-end-limit-set bit
M2833->X:$000E30,13,1 ; #28 Desired-velocity-zero bit
M2835->X:$000E30,15,1 ; #28 Dwell-in-progress bit
M2837->X:$000E30,17,1 ; #28 Running-program bit
M2838->X:$000E30,18,1 ; #28 Open-loop-mode bit
M2839->X:$000E30,19,1 ; #28 Amplifier-enabled status bit
M2840->Y:$000E40,0,1 ; #28 Background in-position bit
M2841->Y:$000E40,1,1 ; #28 Warning-following error bit
M2842->Y:$000E40,2,1 ; #28 Fatal-following-error bit
M2843->Y:$000E40,3,1 ; #28 Amplifier-fault-error bit
M2844->Y:$000E40,13,1 ; #28 Foreground in-position bit
M2845->Y:$000E40,10,1 ; #28 Home-complete bit
M2846->Y:$000E40,6,1 ; #28 Integrated following error fault bit
M2847->Y:$000E40,5,1 ; #28 I2T fault bit
M2848->Y:$000E40,8,1 ; #28 Phasing error fault bit
M2849->Y:$000E40,9,1 ; #28 Phasing search-in-progress bit
M2861->D:$000E08 ; #28 Commanded position (1/[Ixx08*32] cts)
M2862->D:$000E0B ; #28 Actual position (1/[Ixx08*32] cts)
M2863->D:$000E47 ; #28 Target (end) position (1/[Ixx08*32] cts)
M2864->D:$000E4C ; #28 Position bias (1/[Ixx08*32] cts)
M2866->X:$000E1D,0,24,S ; #28 Actual velocity (1/[Ixx09*32] cts/cyc)
M2867->D:$000E0D ; #28 Present master pos (1/[Ixx07*32] cts)
M2868->X:$000E3F,8,16,S ; #28 Filter Output (16-bit DAC bits)
M2869->D:$000E10 ; #28 Compensation correction (1/[Ixx08*32] cts)
M2870->D:$000E34 ; #28 Present phase position (including fraction)
M2871->X:$000E34,24,S ; #28 Present phase position (counts *Ixx70)
M2872->L:$000E57 ; #28 Variable jog position/distance (cts)
M2873->Y:$000E4E,0,24,S ; #28 Encoder home capture position (cts)
M2874->D:$000E6F ; #28 Averaged actual velocity (1/[Ixx09*32] cts/cyc)
M2875->X:$000E39,8,16,S ; #28 Actual quadrature current
M2876->Y:$000E39,8,16,S ; #28 Actual direct current
M2877->X:$000E3C,8,16,S ; #28 Quadrature current-loop integrator output
M2878->Y:$000E3C,8,16,S ; #28 Direct current-loop integrator output
M2879->X:$000E2E,8,16,S ; #28 PID internal filter result (16-bit DAC bits)
M2891->L:$000E4F ; #28 X/U/A/B/C-Axis scale factor (cts/unit)
M2892->L:$000E50 ; #28 Y/V-Axis scale factor (cts/unit)
M2893->L:$000E51 ; #28 Z/W-Axis scale factor (cts/unit)
M2894->L:$000E52 ; #28 Axis offset (cts)
M2930->Y:$000EC0,11,1 ; #29 Stopped-on-position-limit bit
M2931->X:$000EB0,21,1 ; #29 Positive-end-limit-set bit
M2932->X:$000EB0,22,1 ; #29 Negative-end-limit-set bit
M2933->X:$000EB0,13,1 ; #29 Desired-velocity-zero bit
M2935->X:$000EB0,15,1 ; #29 Dwell-in-progress bit
M2937->X:$000EB0,17,1 ; #29 Running-program bit
M2938->X:$000EB0,18,1 ; #29 Open-loop-mode bit
M2939->X:$000EB0,19,1 ; #29 Amplifier-enabled status bit
M2940->Y:$000EC0,0,1 ; #29 Background in-position bit
M2941->Y:$000EC0,1,1 ; #29 Warning-following error bit
M2942->Y:$000EC0,2,1 ; #29 Fatal-following-error bit
M2943->Y:$000EC0,3,1 ; #29 Amplifier-fault-error bit
M2944->Y:$000EC0,13,1 ; #29 Foreground in-position bit
M2945->Y:$000EC0,10,1 ; #29 Home-complete bit
M2946->Y:$000EC0,6,1 ; #29 Integrated following error fault bit
M2947->Y:$000EC0,5,1 ; #29 I2T fault bit
M2948->Y:$000EC0,8,1 ; #29 Phasing error fault bit
M2949->Y:$000EC0,9,1 ; #29 Phasing search-in-progress bit
M2963->D:$000EC7 ; #29 Target (end) position (1/[Ixx08*32] cts)
M2964->D:$000ECC ; #29 Position bias (1/[Ixx08*32] cts)
M2968->X:$000EBF,8,16,S ; #29 Filter Output (16-bit DAC bits)
M2970->D:$000EB4 ; #29 Present phase position (including fraction)
M2971->X:$000EB4,24,S ; #29 Present phase position (counts *Ixx70)
M2972->L:$000ED7 ; #29 Variable jog position/distance (cts)
M2973->Y:$000ECE,0,24,S ; #29 Encoder home capture position (cts)
M2974->D:$000EEF ; #29 Averaged actual velocity (1/[Ixx09*32] cts/cyc)
M2975->X:$000EB9,8,16,S ; #29 Actual quadrature current
M2976->Y:$000EB9,8,16,S ; #29 Actual direct current
M2977->X:$000EBC,8,16,S ; #29 Quadrature current-loop integrator output
M2978->Y:$000EBC,8,16,S ; #29 Direct current-loop integrator output
M2979->X:$000EAE,8,16,S ; #29 PID internal filter result (16-bit DAC bits)
M2991->L:$000ECF ; #29 X/U/A/B/C-Axis scale factor (cts/unit)
M2992->L:$000ED0 ; #29 Y/V-Axis scale factor (cts/unit)
M2993->L:$000ED1 ; #29 Z/W-Axis scale factor (cts/unit)
M2994->L:$000ED2 ; #29 Axis offset (cts)
M3030->Y:$000F40,11,1 ; #30 Stopped-on-position-limit bit
M3031->X:$000F30,21,1 ; #30 Positive-end-limit-set bit
M3032->X:$000F30,22,1 ; #30 Negative-end-limit-set bit
M3033->X:$000F30,13,1 ; #30 Desired-velocity-zero bit
M3035->X:$000F30,15,1 ; #30 Dwell-in-progress bit
M3037->X:$000F30,17,1 ; #30 Running-program bit
M3038->X:$000F30,18,1 ; #30 Open-loop-mode bit
M3039->X:$000F30,19,1 ; #30 Amplifier-enabled status bit
M3040->Y:$000F40,0,1 ; #30 Background in-position bit
M3041->Y:$000F40,1,1 ; #30 Warning-following error bit
M3042->Y:$000F40,2,1 ; #30 Fatal-following-error bit
M3043->Y:$000F40,3,1 ; #30 Amplifier-fault-error bit
M3044->Y:$000F40,13,1 ; #30 Foreground in-position bit
M3045->Y:$000F40,10,1 ; #30 Home-complete bit
M3046->Y:$000F40,6,1 ; #30 Integrated following error fault bit
M3047->Y:$000F40,5,1 ; #30 I2T fault bit
M3048->Y:$000F40,8,1 ; #30 Phasing error fault bit
M3049->Y:$000F40,9,1 ; #30 Phasing search-in-progress bit
M3061->D:$000F08 ; #30 Commanded position (1/[Ixx08*32] cts)
M3062->D:$000F0B ; #30 Actual position (1/[Ixx08*32] cts)
M3063->D:$000F47 ; #30 Target (end) position (1/[Ixx08*32] cts)
M3064->D:$000F4C ; #30 Position bias (1/[Ixx08*32] cts)
M3066->X:$000F1D,0,24,S ; #30 Actual velocity (1/[Ixx09*32] cts/cyc)
M3067->D:$000F0D ; #30 Present master pos (1/[Ixx07*32] cts)
M3068->X:$000F3F,8,16,S ; #30 Filter Output (16-bit DAC bits)
M3069->D:$000F10 ; #30 Compensation correction (1/[Ixx08*32] cts)
M3070->D:$000F34 ; #30 Present phase position (including fraction)
M3071->X:$000F34,24,S ; #30 Present phase position (counts *Ixx70)
M3072->L:$000F57 ; #30 Variable jog position/distance (cts)
M3073->Y:$000F4E,0,24,S ; #30 Encoder home capture position (cts)
M3074->D:$000F6F ; #30 Averaged actual velocity (1/[Ixx09*32] cts/cyc)
M3075->X:$000F39,8,16,S ; #30 Actual quadrature current
M3076->Y:$000F39,8,16,S ; #30 Actual direct current
M3077->X:$000F3C,8,16,S ; #30 Quadrature current-loop integrator output
M3078->Y:$000F3C,8,16,S ; #30 Direct current-loop integrator output
M3079->X:$000F2E,8,16,S ; #30 PID internal filter result (16-bit DAC bits)
M3091->L:$000F4F ; #30 X/U/A/B/C-Axis scale factor (cts/unit)
M3092->L:$000F50 ; #30 Y/V-Axis scale factor (cts/unit)
M3093->L:$000F51 ; #30 Z/W-Axis scale factor (cts/unit)
M3094->L:$000F52 ; #30 Axis offset (cts)
M3102->Y:$07A30B,8,16,S ; DAC7 16-bit analog output
M3103->X:$07A30B,0,24,S ; ENC7 capture/compare position register
M3105->Y:$07A30E,8,16,S ; ADC7 16-bit analog input
M3130->Y:$000FC0,11,1 ; #31 Stopped-on-position-limit bit
M3131->X:$000FB0,21,1 ; #31 Positive-end-limit-set bit
M3132->X:$000FB0,22,1 ; #31 Negative-end-limit-set bit
M3133->X:$000FB0,13,1 ; #31 Desired-velocity-zero bit
M3135->X:$000FB0,15,1 ; #31 Dwell-in-progress bit
M3137->X:$000FB0,17,1 ; #31 Running-program bit
M3138->X:$000FB0,18,1 ; #31 Open-loop-mode bit
M3139->X:$000FB0,19,1 ; #31 Amplifier-enabled status bit
M3140->Y:$000FC0,0,1 ; #31 Background in-position bit
M3141->Y:$000FC0,1,1 ; #31 Warning-following error bit
M3142->Y:$000FC0,2,1 ; #31 Fatal-following-error bit
M3143->Y:$000FC0,3,1 ; #31 Amplifier-fault-error bit
M3144->Y:$000FC0,13,1 ; #31 Foreground in-position bit
M3145->Y:$000FC0,10,1 ; #31 Home-complete bit
M3146->Y:$000FC0,6,1 ; #31 Integrated following error fault bit
M3147->Y:$000FC0,5,1 ; #31 I2T fault bit
M3148->Y:$000FC0,8,1 ; #31 Phasing error fault bit
M3149->Y:$000FC0,9,1 ; #31 Phasing search-in-progress bit
M3163->D:$000FC7 ; #31 Target (end) position (1/[Ixx08*32] cts)
M3164->D:$000FCC ; #31 Position bias (1/[Ixx08*32] cts)
M3168->X:$000FBF,8,16,S ; #31 Filter Output (16-bit DAC bits)
M3170->D:$000FB4 ; #31 Present phase position (including fraction)
M3171->X:$000FB4,24,S ; #31 Present phase position (counts *Ixx70)
M3172->L:$000FD7 ; #31 Variable jog position/distance (cts)
M3173->Y:$000FCE,0,24,S ; #31 Encoder home capture position (cts)
M3174->D:$000FEF ; #31 Averaged actual velocity (1/[Ixx09*32] cts/cyc)
M3175->X:$000FB9,8,16,S ; #31 Actual quadrature current
M3176->Y:$000FB9,8,16,S ; #31 Actual direct current
M3177->X:$000FBC,8,16,S ; #31 Quadrature current-loop integrator output
M3178->Y:$000FBC,8,16,S ; #31 Direct current-loop integrator output
M3179->X:$000FAE,8,16,S ; #31 PID internal filter result (16-bit DAC bits)
M3191->L:$000FCF ; #31 X/U/A/B/C-Axis scale factor (cts/unit)
M3192->L:$000FD0 ; #31 Y/V-Axis scale factor (cts/unit)
M3193->L:$000FD1 ; #31 Z/W-Axis scale factor (cts/unit)
M3194->L:$000FD2 ; #31 Axis offset (cts)
M3201->X:$07A30D,0,24,S ; ENC8 24-bit counter position
M3202->Y:$07A30A,8,16,S ; DAC8 16-bit analog output
M3203->X:$07A30F,0,24,S ; ENC8 capture/compare position register
M3205->Y:$07A30F,8,16,S ; ADC8 16-bit analog input
M3206->Y:$07A30C,0,24,U ; ENC8 time between counts (SCLK cycles)
M3210->X:$07A30C,10,1 ; ENC8 count-write enable control
M3211->X:$07A30C,11,1 ; EQU8 compare flag latch control
M3212->X:$07A30C,12,1 ; EQU8 compare output enable
M3213->X:$07A30C,13,1 ; EQU8 compare invert enable
M3214->X:$07A30C,14,1 ; AENA8/DIR8 Output
M3216->X:$07A30C,16,1 ; EQU8 compare flag
M3217->X:$07A30C,17,1 ; ENC8 position-captured flag
M3218->X:$07A30C,18,1 ; ENC8 Count-error flag
M3219->X:$07A30C,19,1 ; ENC8 3rd channel input status
M3220->X:$07A30C,20,1 ; HMFL8 input status
M3221->X:$07A30C,21,1 ; -LIM8 (positive end) input status
M3222->X:$07A30C,22,1 ; +LIM8 (negative end) input status
M3223->X:$07A30C,23,1 ; FAULT8 input status
M3247->Y:$001040,5,1 ; #32 I2T fault bit
De-multiplexed ADC values from Opt. 12, Acc-36
M5061->Y:$003400,12,12,U ; Demuxed low ADC register from I5061
M5066->Y:$00340A,12,12,U ; Demuxed low ADC register from I5066
M5067->Y:$00340C,12,12,U ; Demuxed low ADC register from I5067
M5068->Y:$00340E,12,12,U ; Demuxed low ADC register from I5068
M5081->Y:$003401,12,12,U ; Demuxed high ADC register from I5061
M5086->Y:$00340B,12,12,U ; Demuxed high ADC register from I5066
M5087->Y:$00340D,12,12,U ; Demuxed high ADC register from I5067
M5088->Y:$00340F,12,12,U ; Demuxed high ADC register from I5068
Coordinate System 1 (&1) Timers
M5111->X:$002015,0,24,S ; &1 Isx11 timer (for synchronous assignment)
M5112->Y:$002015,0,24,S ; &1 Isx12 timer (for synchronous assignment)
Coordinate System 1 (&1) End-of-Calculated-Move Positions
M5141->L:$002041 ; &1 A-axis target position (engineering units)
M5142->L:$002042 ; &1 B-axis target position (engineering units)
M5143->L:$002043 ; &1 C-axis target position (engineering units)
M5144->L:$002044 ; &1 U-axis target position (engineering units)
M5145->L:$002045 ; &1 V-axis target position (engineering units)
M5146->L:$002046 ; &1 W-axis target position (engineering units)
M5147->L:$002047 ; &1 X-axis target position (engineering units)
M5148->L:$002048 ; &1 Y-axis target position (engineering units)
M5149->L:$002049 ; &1 Z-axis target position (engineering units)
Coordinate System 1 (&1) Status Bits
M5180->X:$002040,0,1 ; &1 Program-running bit
M5181->Y:$00203F,21,1 ; &1 Circle-radius-error bit
M5182->Y:$00203F,22,1 ; &1 Run-time-error bit
M5184->X:$002040,4,1 ; &1 Continuous motion request
M5187->Y:$00203F,17,1 ; &1 In-position bit (AND of motors)
M5188->Y:$00203F,18,1 ; &1 Warning-following-error bit (OR)
M5189->Y:$00203F,19,1 ; &1 Fatal-following-error bit (OR)
M5190->Y:$00203F,20,1 ; &1 Amp-fault-error bit (OR of motors)
Coordinate System 1 (&1) Variables
M5197->X:$002000,0,24,S ; &1 Host commanded time base (I10 units)
M5198->X:$002002,0,24,S ; &1 Present time base (I10 units)
Coordinate System 2 (&2) End-of-Calculated Move Positions
M6111->X:$002A15,0,24,S ; &11 Isx11 timer (for synchronous assignment)
M6112->Y:$002A15,0,24,S ; &11 Isx12 timer (for synchronous assignment)
M6141->L:$002A41 ; &11 A-axis target position (engineering units)
M6142->L:$002A42 ; &11 B-axis target position (engineering units)
M6143->L:$002A43 ; &11 C-axis target position (engineering units)
M6144->L:$002A44 ; &11 U-axis target position (engineering units)
M6145->L:$002A45 ; &11 V-axis target position (engineering units)
M6146->L:$002A46 ; &11 W-axis target position (engineering units)
M6147->L:$002A47 ; &11 X-axis target position (engineering units)
M6148->L:$002A48 ; &11 Y-axis target position (engineering units)
M6149->L:$002A49 ; &11 Z-axis target position (engineering units)
M6180->X:$002A40,0,1 ; &11 Program-running bit
M6181->Y:$002A3F,21,1 ; &11 Circle-radius-error bit
M6182->Y:$002A3F,22,1 ; &11 Run-time-error bit
M6184->X:$002A40,4,1 ; &11 Continuous motion request
M6187->Y:$002A3F,17,1 ; &11 In-position bit (AND of motors)
M6188->Y:$002A3F,18,1 ; &11 Warning-following-error bit (OR)
M6189->Y:$002A3F,19,1 ; &11 Fatal-following-error bit (OR)
M6190->Y:$002A3F,20,1 ; &11 Amp-fault-error bit (OR of motors)
M6197->X:$002A00,0,24,S ; &11 Host commanded time base (I10 units)
M6198->X:$002A02,0,24,S ; &11 Present time base (I10 units)
M6211->X:$002B15,0,24,S ; &12 Isx11 timer (for synchronous assignment)
M6212->Y:$002B15,0,24,S ; &12 Isx12 timer (for synchronous assignment)
M6241->L:$002B41 ; &12 A-axis target position (engineering units)
M6242->L:$002B42 ; &12 B-axis target position (engineering units)
M6243->L:$002B43 ; &12 C-axis target position (engineering units)
M6244->L:$002B44 ; &12 U-axis target position (engineering units)
M6245->L:$002B45 ; &12 V-axis target position (engineering units)
M6246->L:$002B46 ; &12 W-axis target position (engineering units)
M6247->L:$002B47 ; &12 X-axis target position (engineering units)
M6248->L:$002B48 ; &12 Y-axis target position (engineering units)
M6249->L:$002B49 ; &12 Z-axis target position (engineering units)
M6280->X:$002B40,0,1 ; &12 Program-running bit
M6281->Y:$002B3F,21,1 ; &12 Circle-radius-error bit
M6282->Y:$002B3F,22,1 ; &12 Run-time-error bit
M6284->X:$002B40,4,1 ; &12 Continuous motion request
M6287->Y:$002B3F,17,1 ; &12 In-position bit (AND of motors)
M6288->Y:$002B3F,18,1 ; &12 Warning-following-error bit (OR)
M6289->Y:$002B3F,19,1 ; &12 Fatal-following-error bit (OR)
M6290->Y:$002B3F,20,1 ; &12 Amp-fault-error bit (OR of motors)
M6297->X:$002B00,0,24,S ; &12 Host commanded time base (I10 units)
M6298->X:$002B02,0,24,S ; &12 Present time base (I10 units)
Coordinate System 13 (&13) timers
M6311->X:$002C15,0,24,S ; &13 Isx11 timer (for synchronous assignment)
M6312->Y:$002C15,0,24,S ; &13 Isx12 timer (for synchronous assignment)
M6341->L:$002C41 ; &13 A-axis target position (engineering units)
M6342->L:$002C42 ; &13 B-axis target position (engineering units)
M6343->L:$002C43 ; &13 C-axis target position (engineering units)
M6344->L:$002C44 ; &13 U-axis target position (engineering units)
M6345->L:$002C45 ; &13 V-axis target position (engineering units)
M6346->L:$002C46 ; &13 W-axis target position (engineering units)
M6347->L:$002C47 ; &13 X-axis target position (engineering units)
M6348->L:$002C48 ; &13 Y-axis target position (engineering units)
M6349->L:$002C49 ; &13 Z-axis target position (engineering units)
M6380->X:$002C40,0,1 ; &13 Program-running bit
M6381->Y:$002C3F,21,1 ; &13 Circle-radius-error bit
M6382->Y:$002C3F,22,1 ; &13 Run-time-error bit
M6384->X:$002C40,4,1 ; &13 Continuous motion request
M6387->Y:$002C3F,17,1 ; &13 In-position bit (AND of motors)
M6388->Y:$002C3F,18,1 ; &13 Warning-following-error bit (OR)
M6389->Y:$002C3F,19,1 ; &13 Fatal-following-error bit (OR)
M6390->Y:$002C3F,20,1 ; &13 Amp-fault-error bit (OR of motors)
M6397->X:$002C00,0,24,S ; &13 Host commanded time base (I10 units)
M6398->X:$002C02,0,24,S ; &13 Present time base (I10 units)
M6411->X:$002D15,0,24,S ; &14 Isx11 timer (for synchronous assignment)
M6412->Y:$002D15,0,24,S ; &14 Isx12 timer (for synchronous assignment)
M6441->L:$002D41 ; &14 A-axis target position (engineering units)
M6442->L:$002D42 ; &14 B-axis target position (engineering units)
M6443->L:$002D43 ; &14 C-axis target position (engineering units)
M6444->L:$002D44 ; &14 U-axis target position (engineering units)
M6445->L:$002D45 ; &14 V-axis target position (engineering units)
M6446->L:$002D46 ; &14 W-axis target position (engineering units)
M6447->L:$002D47 ; &14 X-axis target position (engineering units)
M6448->L:$002D48 ; &14 Y-axis target position (engineering units)
M6449->L:$002D49 ; &14 Z-axis target position (engineering units)
M6480->X:$002D40,0,1 ; &14 Program-running bit
M6481->Y:$002D3F,21,1 ; &14 Circle-radius-error bit
M6482->Y:$002D3F,22,1 ; &14 Run-time-error bit
M6484->X:$002D40,4,1 ; &14 Continuous motion request
M6487->Y:$002D3F,17,1 ; &14 In-position bit (AND of motors)
M6488->Y:$002D3F,18,1 ; &14 Warning-following-error bit (OR)
M6489->Y:$002D3F,19,1 ; &14 Fatal-following-error bit (OR)
M6490->Y:$002D3F,20,1 ; &14 Amp-fault-error bit (OR of motors)
M6497->X:$002D00,0,24,S ; &14 Host commanded time base (I10 units)
M6498->X:$002D02,0,24,S ; &14 Present time base (I10 units)
M6511->X:$002E15,0,24,S ; &15 Isx11 timer (for synchronous assignment)
M6512->Y:$002E15,0,24,S ; &15 Isx12 timer (for synchronous assignment)
M6541->L:$002E41 ; &15 A-axis target position (engineering units)
M6542->L:$002E42 ; &15 B-axis target position (engineering units)
M6543->L:$002E43 ; &15 C-axis target position (engineering units)
M6544->L:$002E44 ; &15 U-axis target position (engineering units)
M6545->L:$002E45 ; &15 V-axis target position (engineering units)
M6546->L:$002E46 ; &15 W-axis target position (engineering units)
M6547->L:$002E47 ; &15 X-axis target position (engineering units)
M6548->L:$002E48 ; &15 Y-axis target position (engineering units)
M6549->L:$002E49 ; &15 Z-axis target position (engineering units)
M6580->X:$002E40,0,1 ; &15 Program-running bit
M6581->Y:$002E3F,21,1 ; &15 Circle-radius-error bit
M6582->Y:$002E3F,22,1 ; &15 Run-time-error bit
M6584->X:$002E40,4,1 ; &15 Continuous motion request
M6587->Y:$002E3F,17,1 ; &15 In-position bit (AND of motors)
M6588->Y:$002E3F,18,1 ; &15 Warning-following-error bit (OR)
M6589->Y:$002E3F,19,1 ; &15 Fatal-following-error bit (OR)
M6590->Y:$002E3F,20,1 ; &15 Amp-fault-error bit (OR of motors)
M6597->X:$002E00,0,24,S ; &15 Host commanded time base (I10 units)
M6598->X:$002E02,0,24,S ; &15 Present time base (I10 units)
M6611->X:$002F15,0,24,S ; &16 Isx11 timer (for synchronous assignment)
M6612->Y:$002F15,0,24,S ; &16 Isx12 timer (for synchronous assignment)
M6641->L:$002F41 ; &16 A-axis target position (engineering units)
M6642->L:$002F42 ; &16 B-axis target position (engineering units)
M6643->L:$002F43 ; &16 C-axis target position (engineering units)
M6644->L:$002F44 ; &16 U-axis target position (engineering units)
M6645->L:$002F45 ; &16 V-axis target position (engineering units)
M6646->L:$002F46 ; &16 W-axis target position (engineering units)
M6647->L:$002F47 ; &16 X-axis target position (engineering units)
M6648->L:$002F48 ; &16 Y-axis target position (engineering units)
M6649->L:$002F49 ; &16 Z-axis target position (engineering units)
M6680->X:$002F40,0,1 ; &16 Program-running bit
M6681->Y:$002F3F,21,1 ; &16 Circle-radius-error bit
M6682->Y:$002F3F,22,1 ; &16 Run-time-error bit
M6684->X:$002F40,4,1 ; &16 Continuous motion request
M6687->Y:$002F3F,17,1 ; &16 In-position bit (AND of motors)
M6688->Y:$002F3F,18,1 ; &16 Warning-following-error bit (OR)
M6689->Y:$002F3F,19,1 ; &16 Fatal-following-error bit (OR)
M6690->Y:$002F3F,20,1 ; &16 Amp-fault-error bit (OR of motors)
M6697->X:$002F00,0,24,S ; &16 Host commanded time base (I10 units)
M6698->X:$002F02,0,24,S ; &16 Present time base (I10 units)
Acc-14 I/O M-Variables (First Acc-14)
M7000->Y:$078A00,0,1 ; MI/O0
M7001->Y:$078A00,1,1 ; MI/O1
M7002->Y:$078A00,2,1 ; MI/O2
M7003->Y:$078A00,3,1 ; MI/O3
M7004->Y:$078A00,4,1 ; MI/O4
M7005->Y:$078A00,5,1 ; MI/O5
M7006->Y:$078A00,6,1 ; MI/O6
M7007->Y:$078A00,7,1 ; MI/O7
M7008->Y:$078A00,8,1 ; MI/O8
M7009->Y:$078A00,9,1 ; MI/O9
M7010->Y:$078A00,10,1 ; MI/O10
M7011->Y:$078A00,11,1 ; MI/O11
M7012->Y:$078A00,12,1 ; MI/O12
M7013->Y:$078A00,13,1 ; MI/O13
M7014->Y:$078A00,14,1 ; MI/O14
M7015->Y:$078A00,15,1 ; MI/O15
M7016->Y:$078A00,16,1 ; MI/O16
M7017->Y:$078A00,17,1 ; MI/O17
M7018->Y:$078A00,18,1 ; MI/O18
M7019->Y:$078A00,19,1 ; MI/O19
M7020->Y:$078A00,20,1 ; MI/O20
M7021->Y:$078A00,21,1 ; MI/O21
M7022->Y:$078A00,22,1 ; MI/O22
M7023->Y:$078A00,23,1 ; MI/O23
M7024->Y:$078A01,0,1 ; MI/O24
M7025->Y:$078A01,1,1 ; MI/O25
M7026->Y:$078A01,2,1 ; MI/O26
M7027->Y:$078A01,3,1 ; MI/O27
M7028->Y:$078A01,4,1 ; MI/O28
M7029->Y:$078A01,5,1 ; MI/O29
M7030->Y:$078A01,6,1 ; MI/O30
M7031->Y:$078A01,7,1 ; MI/O31
M7032->Y:$078A01,8,1 ; MI/O32
M7033->Y:$078A01,9,1 ; MI/O33
M7034->Y:$078A01,10,1 ; MI/O34
M7035->Y:$078A01,11,1 ; MI/O35
M7036->Y:$078A01,12,1 ; MI/O36
M7037->Y:$078A01,13,1 ; MI/O37
M7038->Y:$078A01,14,1 ; MI/O38
M7039->Y:$078A01,15,1 ; MI/O39
M7040->Y:$078A01,16,1 ; MI/O40
M7041->Y:$078A01,17,1 ; MI/O41
M7042->Y:$078A01,18,1 ; MI/O42
M7043->Y:$078A01,19,1 ; MI/O43
M7044->Y:$078A01,20,1 ; MI/O44
M7045->Y:$078A01,21,1 ; MI/O45
M7046->Y:$078A01,22,1 ; MI/O46
M7047->Y:$078A01,23,1 ; MI/O47
Encoder Conversion Table Result Registers (M8xxx matches I8xxx)
M8000->X:$003501,0,24,S ; Line 0 result from conversion table
M8009->X:$00350A,0,24,S ; Line 9 result from conversion table
M8010->X:$00350B,0,24,S ; Line 10 result from conversion table
M8011->X:$00350C,0,24,S ; Line 11 result from conversion table
M8012->X:$00350D,0,24,S ; Line 12 result from conversion table
M8013->X:$00350E,0,24,S ; Line 13 result from conversion table
M8014->X:$00350F,0,24,S ; Line 14 result from conversion table

630 Turbo PMAC2 Suggested M-Variable Definitions
TURBO PMAC2 SUGGESTED M-VARIABLE DEFINITIONS
This file contains suggested definitions for M-variables on the Turbo PMAC2. For the UMAC Turbo
(3U-Rack Turbo PMAC2), there is a separate set of suggested M-variables. Note that these are only
JI/O Port M-Variables
M0->Y:$078400,0 ; I/O00 Data Line; J3 Pin 1
M32->X:$078400,0,8 ; Direction control for I/O00 to I/O07
M33->Y:$070800,0 ; Buffer direction control for I/O00 to I/O07
Turbo PMAC2 Suggested M-Variable Definitions 631
JTHW Thumbwheel Multiplexer Port M-Variables
M40->Y:$078402,8 ; SEL0 Line; J2 Pin 4
M41->Y:$078402,9 ; SEL1 Line; J2 Pin 6
M42->Y:$078402,10 ; SEL2 Line; J2 Pin 8
M43->Y:$078402,11 ; SEL3 Line; J2 Pin 10
M44->Y:$078402,12 ; SEL4 Line; J2 Pin 12
M45->Y:$078402,13 ; SEL5 Line; J2 Pin 14
M46->Y:$078402,14 ; SEL6 Line; J2 Pin 16
M47->Y:$078402,15 ; SEL7 Line; J2 Pin 18
M48->Y:$078402,8,8,U ; SEL0-7 Lines treated as a byte
M50->Y:$078402,0 ; DAT0 Line; J2 Pin 3
M51->Y:$078402,1 ; DAT1 Line; J2 Pin 5
M52->Y:$078402,2 ; DAT2 Line; J2 Pin 7
M53->Y:$078402,3 ; DAT3 Line; J2 Pin 9
M54->Y:$078402,4 ; DAT4 Line; J2 Pin 11
M55->Y:$078402,5 ; DAT5 Line; J2 Pin 13
M56->Y:$078402,6 ; DAT6 Line; J2 Pin 15
M57->Y:$078402,7 ; DAT7 Line; J2 Pin 17
M58->Y:$078402,0,8,U ; DAT0-7 Lines treated as a byte
M60->X:$078402,0,8 ; Direction control for DAT0 to DAT7
M61->Y:$070800,4 ; Buffer direction control for DAT0 to DAT7, PCbus
M61->Y:$070802,0 ; Buffer direction control for DAT0 to DAT7, VMEbus
M62->X:$078400,8,8 ; Direction control for SEL0 to SEL7
M63->Y:$070800,5 ; Buffer direction control for SEL0 to SEL7, PCbus
M63->Y:$070802,1 ; Buffer direction control for SEL0 to SEL7, VMEbus
VME/DPRAM Active Setup Registers
M90->X:$070006,0,8 ; VME Active Address Modifier (Bits 0-7; from I90)
M91->X:$070007,0,8 ; VME Active Address Modifier Dont Care Bits (Bits 0-7; from I91)
M92->X:$070008,0,8 ; VME Active Base Address Bits A31-A24 (Bits 0-7; from I92)
M93->X:$070009,0,8 ; VME Active Mailbox Base Address Bits A23-A16
; ISA Active DPRAM Base Address bits A23-A16 (Bits 0-7; from I93)
M94->X:$07000A,0,8 ; VME Active Mailbox Base Address Bits A15-A08, ISA Active
; DPRAM Base Address bits A15-A14, Enable & Bank Select
; (Bits 0-7; from I94)
M95->X:$07000B,0,8 ; VME Active Interrupt Level (Bits 0-7; from I95)
M96->X:$07000C,0,8 ; VME Active Interrupt Vector (Bits 0-7; from I96)
M97->X:$07000D,0,8 ; VME Active DPRAM Base Address Bits A23-A20 (Bits 0-7; from I97)
M98->X:$07000E,0,8 ; VME Active DPRAM Enable State (Bits 0-7; from I98)
M99->X:$07000F,0,8 ; VME Active Address Width Control (Bits 0-7; from I99)
Servo Cycle Counter (Read Only) counts up once per servo cycle
M100->X:$000000,0,24,S ; 24-bit servo cycle counter
Servo IC 0 Registers for PMAC2 Channel 1 (usually for Motor #1)
M102->Y:$078002,8,16,S ; OUT1A command value; DAC or PWM
M103->X:$078003,0,24,S ; ENC1 captured position
M104->Y:$078003,8,16,S ; OUT1B command value; DAC or PWM
M105->Y:$078005,8,16,S ; ADC1A input value
M106->Y:$078006,8,16,S ; ADC1B input value
M107->Y:$078004,8,16,S ; OUT1C command value; PFM or PWM
M108->Y:$078007,0,24,S ; ENC1 compare A position
M109->X:$078007,0,24,S ; ENC1 compare B position
M110->X:$078006,0,24,S ; ENC1 compare autoincrement value
M111->X:$078005,11 ; ENC1 compare initial state write enable
M112->X:$078005,12 ; ENC1 compare initial state
M114->X:$078005,14 ; AENA1 output status
M115->X:$078000,19 ; USER1 flag input status
M116->X:$078000,9 ; ENC1 compare output value
M117->X:$078000,11 ; ENC1 capture flag
M118->X:$078000,8 ; ENC1 count error flag
M119->X:$078000,14 ; CHC1 input status
M120->X:$078000,16 ; HMFL1 flag input status
M121->X:$078000,17 ; PLIM1 flag input status
M122->X:$078000,18 ; MLIM1 flag input status
M123->X:$078000,15 ; FAULT1 flag input status
M124->X:$078000,20 ; Channel 1 W flag input status
M125->X:$078000,21 ; Channel 1 V flag input status
M126->X:$078000,22 ; Channel 1 U flag input status
M127->X:$078000,23 ; Channel 1 T flag input status
M128->X:$078000,20,4 ; Channel 1 TUVW inputs as 4-bit value
M147->Y:$0000C0,5,1 ; #1 I2T fault bit
MACRO IC 0 Node 0 Flag Registers (usually used for Motor #1)
M150->X:$003440,0,24 ; MACRO IC 0 Node 0 flag status register
M151->Y:$003440,0,24 ; MACRO IC 0 Node 0 flag command register
M153->X:$003440,20,4 ; MACRO IC 0 Node 0 TUVW flags
M154->Y:$003440,14,1 ; MACRO IC 0 Node 0 amplifier enable flag
M155->X:$003440,15,1 ; MACRO IC 0 Node 0 node/amplifier fault flag
M156->X:$003440,16,1 ; MACRO IC 0 Node 0 home flag
M157->X:$003440,17,1 ; MACRO IC 0 Node 0 positive limit flag
M158->X:$003440,18,1 ; MACRO IC 0 Node 0 negative limit flag
M159->X:$003440,19,1 ; MACRO IC 0 Node 0 user flag
M188->Y:$078001,0,12,U ; IC 0 Ch 1 Compare A fractional count
M189->Y:$078000,0,12,U ; IC 0 Ch 1 Compare B fractional count
M202->Y:$07800A,8,16,S ; OUT2A command value; DAC or PWM
M203->X:$07800B,0,24,S ; ENC2 captured position
M204->Y:$07800B,8,16,S ; OUT2B command value; DAC or PWM
M205->Y:$07800D,8,16,S ; ADC2A input value
M206->Y:$07800E,8,16,S ; ADC2B input value
M207->Y:$07800C,8,16,S ; OUT2C command value; PFM or PWM
M208->Y:$07800F,0,24,S ; ENC2 compare A position
M209->X:$07800F,0,24,S ; ENC2 compare B position
M210->X:$07800E,0,24,S ; ENC2 compare autoincrement value
M211->X:$07800D,11 ; ENC2 compare initial state write enable
M212->X:$07800D,12 ; ENC2 compare initial state
M214->X:$07800D,14 ; AENA2 output status
M247->Y:$000140,5,1 ; #2 I2T fault bit
M347->Y:$0001C0,5,1 ; #3 I2T fault bit
M447->Y:$000240,5,1 ; #4 I2T fault bit
M547->Y:$0002C0,5,1 ; #5 I2T fault bit
M647->Y:$000340,5,1 ; #6 I2T fault bit
M747->Y:$0003C0,5,1 ; #7 I2T fault bit
M750->X:$00344C,0,24 ; MACRO IC 0 Node 12 flag status register
M751->Y:$00344C,0,24 ; MACRO IC 0 Node 12 flag command register
M753->X:$00344C,20,4 ; MACRO IC 0 Node 12 TUVW flags
M754->Y:$00344C,14,1 ; MACRO IC 0 Node 12 amplifier enable flag
M755->X:$00344C,15,1 ; MACRO IC 0 Node 12 node/amplifier fault flag
M756->X:$00344C,16,1 ; MACRO IC 0 Node 12 home flag
M757->X:$00344C,17,1 ; MACRO IC 0 Node 12 positive limit flag
M758->X:$00344C,18,1 ; MACRO IC 0 Node 12 negative limit flag
M759->X:$00344C,19,1 ; MACRO IC 0 Node 12 user flag
M847->Y:$000440,5,1 ; #8 I2T fault bit
M850->X:$00344D,0,24 ; MACRO IC 0 Node 13 flag status register
M851->Y:$00344D,0,24 ; MACRO IC 0 Node 13 flag command register
M853->X:$00344D,20,4 ; MACRO IC 0 Node 13 TUVW flags
M854->Y:$00344D,14,1 ; MACRO IC 0 Node 13 amplifier enable flag
M855->X:$00344D,15,1 ; MACRO IC 0 Node 13 node/amplifier fault flag
M856->X:$00344D,16,1 ; MACRO IC 0 Node 13 home flag
M857->X:$00344D,17,1 ; MACRO IC 0 Node 13 positive limit flag
M858->X:$00344D,18,1 ; MACRO IC 0 Node 13 negative limit flag
M859->X:$00344D,19,1 ; MACRO IC 0 Node 13 user flag
M947->Y:$0004C0,5,1 ; #9 I2T fault bit
M1047->Y:$000540,5,1 ; #10 I2T fault bit
M1147->Y:$0005C0,5,1 ; #11 I2T fault bit
M1247->Y:$000640,5,1 ; #12 I2T fault bit
M1347->Y:$0006C0,5,1 ; #13 I2T fault bit
M1447->Y:$000740,5,1 ; #14 I2T fault bit

M1547->Y:$0007C0,5,1 ; #15 I2T fault bit
M1647->Y:$000840,5,1 ; #16 I2T fault bit
M1747->Y:$0008C0,5,1 ; #17 I2T fault bit
M1847->Y:$000940,5,1 ; #18 I2T fault bit

M1947->Y:$0009C0,5,1 ; #19 I2T fault bit
M2047->Y:$000A40,5,1 ; #20 I2T fault bit
M2147->Y:$000AC0,5,1 ; #21 I2T fault bit
M2247->Y:$000B40,5,1 ; #22 I2T fault bit
M2347->Y:$000BC0,5,1 ; #23 I2T fault bit

M2447->Y:$000C40,5,1 ; #24 I2T fault bit
M2502->Y:$07A202,8,16,S ; OUT1A command value; DAC or PWM
M2503->X:$07A203,0,24,S ; ENC1 captured position
M2504->Y:$07A203,8,16,S ; OUT1B command value; DAC or PWM
M2505->Y:$07A205,8,16,S ; ADC1A input value
M2506->Y:$07A206,8,16,S ; ADC1B input value
M2507->Y:$07A204,8,16,S ; OUT1C command value; PFM or PWM
M2508->Y:$07A207,0,24,S ; ENC1 compare A position
M2509->X:$07A207,0,24,S ; ENC1 compare B position
M2510->X:$07A206,0,24,S ; ENC1 compare autoincrement value
M2511->X:$07A205,11 ; ENC1 compare initial state write enable
M2512->X:$07A205,12 ; ENC1 compare initial state
M2514->X:$07A205,14 ; AENA1 output status
M2515->X:$07A200,19 ; USER1 flag input status
M2516->X:$07A200,9 ; ENC1 compare output value
M2517->X:$07A200,11 ; ENC1 capture flag
M2518->X:$07A200,8 ; ENC1 count error flag
M2519->X:$07A200,14 ; CHC1 input status
M2520->X:$07A200,16 ; HMFL1 flag input status
M2521->X:$07A200,17 ; PLIM1 flag input status
M2522->X:$07A200,18 ; MLIM1 flag input status
M2523->X:$07A200,15 ; FAULT1 flag input status
M2524->X:$07A200,20 ; Channel 1 W flag input status
M2525->X:$07A200,21 ; Channel 1 V flag input status
M2526->X:$07A200,22 ; Channel 1 U flag input status
M2527->X:$07A200,23 ; Channel 1 T flag input status
M2528->X:$07A200,20,4 ; Channel 1 TUVW inputs as 4-bit value
M2547->Y:$000CC0,5,1 ; #25 I2T fault bit
M2588->Y:$07A201,0,12,U ; IC 6 Ch 1 Compare A fractional count
M2602->Y:$07A20A,8,16,S ; OUT2A command value; DAC or PWM
M2603->X:$07A20B,0,24,S ; ENC2 captured position
M2604->Y:$07A20B,8,16,S ; OUT2B command value; DAC or PWM
M2605->Y:$07A20D,8,16,S ; ADC2A input value
M2606->Y:$07A20E,8,16,S ; ADC2B input value
M2607->Y:$07A20C,8,16,S ; OUT2C command value; PFM or PWM
M2608->Y:$07A20F,0,24,S ; ENC2 compare A position
M2609->X:$07A20F,0,24,S ; ENC2 compare B position
M2610->X:$07A20E,0,24,S ; ENC2 compare autoincrement value
M2611->X:$07A20D,11 ; ENC2 compare initial state write enable
M2612->X:$07A20D,12 ; ENC2 compare initial state
M2614->X:$07A20D,14 ; AENA2 output status
M2647->Y:$000D40,5,1 ; #26 I2T fault bit
M2747->Y:$000DC0,5,1 ; #27 I2T fault bit
M2847->Y:$000E40,5,1 ; #28 I2T fault bit
M2947->Y:$000EC0,5,1 ; #29 I2T fault bit
M3047->Y:$000F40,5,1 ; #30 I2T fault bit
M3147->Y:$000FC0,5,1 ; #31 I2T fault bit
Servo IC 7 Registers for 3rd Acc-24 Channel 8 (usually for Motor #32)
M3247->Y:$001040,5,1 ; #32 I2T fault bit

Acc-14 I/O M-Variables (First Acc-14)
M7000->Y:$078A00,0,1 ; MI/O0
M7001->Y:$078A00,1,1 ; MI/O1
M7002->Y:$078A00,2,1 ; MI/O2
M7003->Y:$078A00,3,1 ; MI/O3
M7004->Y:$078A00,4,1 ; MI/O4
M7005->Y:$078A00,5,1 ; MI/O5
M7006->Y:$078A00,6,1 ; MI/O6
M7007->Y:$078A00,7,1 ; MI/O7
M7008->Y:$078A00,8,1 ; MI/O8
M7009->Y:$078A00,9,1 ; MI/O9
M7010->Y:$078A00,10,1 ; MI/O10
M7011->Y:$078A00,11,1 ; MI/O11
M7012->Y:$078A00,12,1 ; MI/O12
M7013->Y:$078A00,13,1 ; MI/O13
M7014->Y:$078A00,14,1 ; MI/O14
M7015->Y:$078A00,15,1 ; MI/O15
M7016->Y:$078A00,16,1 ; MI/O16
M7017->Y:$078A00,17,1 ; MI/O17
M7018->Y:$078A00,18,1 ; MI/O18
M7019->Y:$078A00,19,1 ; MI/O19
M7020->Y:$078A00,20,1 ; MI/O20
M7021->Y:$078A00,21,1 ; MI/O21
M7022->Y:$078A00,22,1 ; MI/O22
M7023->Y:$078A00,23,1 ; MI/O23
M7024->Y:$078A01,0,1 ; MI/O24
M7025->Y:$078A01,1,1 ; MI/O25
M7026->Y:$078A01,2,1 ; MI/O26
M7027->Y:$078A01,3,1 ; MI/O27
M7028->Y:$078A01,4,1 ; MI/O28
M7029->Y:$078A01,5,1 ; MI/O29
M7030->Y:$078A01,6,1 ; MI/O30
M7031->Y:$078A01,7,1 ; MI/O31
M7032->Y:$078A01,8,1 ; MI/O32
M7033->Y:$078A01,9,1 ; MI/O33
M7034->Y:$078A01,10,1 ; MI/O34
M7035->Y:$078A01,11,1 ; MI/O35
M7036->Y:$078A01,12,1 ; MI/O36
M7037->Y:$078A01,13,1 ; MI/O37
M7038->Y:$078A01,14,1 ; MI/O38
M7039->Y:$078A01,15,1 ; MI/O39
M7040->Y:$078A01,16,1 ; MI/O40
M7041->Y:$078A01,17,1 ; MI/O41
M7042->Y:$078A01,18,1 ; MI/O42
M7043->Y:$078A01,19,1 ; MI/O43
M7044->Y:$078A01,20,1 ; MI/O44
M7045->Y:$078A01,21,1 ; MI/O45
M7046->Y:$078A01,22,1 ; MI/O46
M7047->Y:$078A01,23,1 ; MI/O47

696 UMAC Turbo Suggested M-Variable Definitions
UMAC TURBO SUGGESTED M-VARIABLE DEFINITIONS
This section contains suggested definitions for M-variables on the UMAC Turbo. (For the 3U Turbo
Stack, refer to the suggested M-Variable definitions for Turbo PMAC2.) Note that these are only
Acc-5E JI/O Port M-Variables
UMAC Turbo Suggested M-Variable Definitions 697
Acc-5E JTHW Thumbwheel Multiplexer Port M-Variables
M40->Y:$078402,8 ; SEL0 Line; J2 Pin 4
M41->Y:$078402,9 ; SEL1 Line; J2 Pin 6
M42->Y:$078402,10 ; SEL2 Line; J2 Pin 8
M43->Y:$078402,11 ; SEL3 Line; J2 Pin 10
M44->Y:$078402,12 ; SEL4 Line; J2 Pin 12
M45->Y:$078402,13 ; SEL5 Line; J2 Pin 14
M46->Y:$078402,14 ; SEL6 Line; J2 Pin 16
M47->Y:$078402,15 ; SEL7 Line; J2 Pin 18
M48->Y:$078402,8,8,U ; SEL0-7 Lines treated as a byte
M50->Y:$078402,0 ; DAT0 Line; J2 Pin 3
M51->Y:$078402,1 ; DAT1 Line; J2 Pin 5
M52->Y:$078402,2 ; DAT2 Line; J2 Pin 7
M53->Y:$078402,3 ; DAT3 Line; J2 Pin 9
M54->Y:$078402,4 ; DAT4 Line; J2 Pin 11
M55->Y:$078402,5 ; DAT5 Line; J2 Pin 13
M56->Y:$078402,6 ; DAT6 Line; J2 Pin 15
M57->Y:$078402,7 ; DAT7 Line; J2 Pin 17
M58->Y:$078402,0,8,U ; DAT0-7 Lines treated as a byte
M60->X:$078402,0,8 ; Direction control for DAT0 to DAT7
M62->X:$078400,8,8 ; Direction control for SEL0 to SEL7
DPRAM Active Setup Registers
M93->X:$070009,0,8 ; PC/104 Active DPRAM Base Address bits A23-A16 (Bits 0-7 from I93)
M94->X:$07000A,0,8 ; PC/104 Active DPRAM Base Address bits A15-A14, Enable &
; Bank Select (Bits 0-7 from I94)
Servo Cycle Counter (Read Only) -- counts up once per servo cycle
M100->X:$000000,0,24,S ; 24-bit servo cycle counter
Servo IC 2 Channel 2 Registers (usually for Motor #2)
M147->Y:$0000C0,5,1 ; #1 I2T fault bit
M247->Y:$000140,5,1 ; #2 I2T fault bit
M347->Y:$0001C0,5,1 ; #3 I2T fault bit
M447->Y:$000240,5,1 ; #4 I2T fault bit
M547->Y:$0002C0,5,1 ; #5 I2T fault bit

M647->Y:$000340,5,1 ; #6 I2T fault bit
M747->Y:$0003C0,5,1 ; #7 I2T fault bit
M847->Y:$000440,5,1 ; #8 I2T fault bit
M869->D:$000410 ; #8 Compensation correction 1/[Ixx08*32] cts)
M947->Y:$0004C0,5,1 ; #9 I2T fault bit
M1047->Y:$000540,5,1 ; #10 I2T fault bit
M1147->Y:$0005C0,5,1 ; #11 I2T fault bit
M1247->Y:$000640,5,1 ; #12 I2T fault bit
M1347->Y:$0006C0,5,1 ; #13 I2T fault bit
M1447->Y:$000740,5,1 ; #14 I2T fault bit
M1547->Y:$0007C0,5,1 ; #15 I2T fault bit
M1647->Y:$000840,5,1 ; #16 I2T fault bit
M1747->Y:$0008C0,5,1 ; #17 I2T fault bit
M1789->Y:$07A200,0,12,U ; IC 6 Ch 1 Compare B fractional count
M1847->Y:$000940,5,1 ; #18 I2T fault bit
M1947->Y:$0009C0,5,1 ; #19 I2T fault bit
M2047->Y:$000A40,5,1 ; #20 I2T fault bit
M2147->Y:$000AC0,5,1 ; #21 I2T fault bit
M2247->Y:$000B40,5,1 ; #22 I2T fault bit
M2347->Y:$000BC0,5,1 ; #23 I2T fault bit
M2447->Y:$000C40,5,1 ; #24 I2T fault bit
M2501->X:$07B201,0,24,S ; ENC1 24-bit counter position
M2502->Y:$07B202,8,16,S ; OUT1A command value; DAC or PWM
M2503->X:$07B203,0,24,S ; ENC1 captured position
M2504->Y:$07B203,8,16,S ; OUT1B command value; DAC or PWM
M2505->Y:$07B205,8,16,S ; ADC1A input value
M2506->Y:$07B206,8,16,S ; ADC1B input value
M2507->Y:$07B204,8,16,S ; OUT1C command value; PFM or PWM
M2508->Y:$07B207,0,24,S ; ENC1 compare A position
M2509->X:$07B207,0,24,S ; ENC1 compare B position
M2510->X:$07B206,0,24,S ; ENC1 compare autoincrement value
M2511->X:$07B205,11 ; ENC1 compare initial state write enable
M2512->X:$07B205,12 ; ENC1 compare initial state
M2514->X:$07B205,14 ; AENA1 output status
M2515->X:$07B200,19 ; USER1 flag input status
M2516->X:$07B200,9 ; ENC1 compare output value
M2517->X:$07B200,11 ; ENC1 capture flag
M2518->X:$07B200,8 ; ENC1 count error flag
M2519->X:$07B200,14 ; CHC1 input status
M2520->X:$07B200,16 ; HMFL1 flag input status
M2521->X:$07B200,17 ; PLIM1 flag input status
M2522->X:$07B200,18 ; MLIM1 flag input status
M2523->X:$07B200,15 ; FAULT1 flag input status
M2524->X:$07B200,20 ; Channel 1 W flag input status
M2525->X:$07B200,21 ; Channel 1 V flag input status
M2526->X:$07B200,22 ; Channel 1 U flag input status
M2527->X:$07B200,23 ; Channel 1 T flag input status
M2528->X:$07B200,20,4 ; Channel 1 TUVW inputs as 4-bit value
M2547->Y:$000CC0,5,1 ; #25 I2T fault bit
M2588->Y:$07B201,0,12,U ; IC 8 Ch 1 Compare A fractional count
M2589->Y:$07B200,0,12,U ; IC 8 Ch 1 Compare B fractional count
M2602->Y:$07B20A,8,16,S ; OUT2A command value; DAC or PWM
M2603->X:$07B20B,0,24,S ; ENC2 captured position
M2604->Y:$07B20B,8,16,S ; OUT2B command value; DAC or PWM
M2605->Y:$07B20D,8,16,S ; ADC2A input value
M2606->Y:$07B20E,8,16,S ; ADC2B input value
M2607->Y:$07B20C,8,16,S ; OUT2C command value; PFM or PWM
M2608->Y:$07B20F,0,24,S ; ENC2 compare A position
M2609->X:$07B20F,0,24,S ; ENC2 compare B position
M2610->X:$07B20E,0,24,S ; ENC2 compare autoincrement value
M2611->X:$07B20D,11 ; ENC2 compare initial state write enable
M2612->X:$07B20D,12 ; ENC2 compare initial state
M2614->X:$07B20D,14 ; AENA2 output status
M2647->Y:$000D40,5,1 ; #26 I2T fault bit
M2747->Y:$000DC0,5,1 ; #27 I2T fault bit
M2847->Y:$000E40,5,1 ; #28 I2T fault bit
M2947->Y:$000EC0,5,1 ; #29 I2T fault bit
M3047->Y:$000F40,5,1 ; #30 I2T fault bit
M3147->Y:$000FC0,5,1 ; #31 I2T fault bit
M3247->Y:$001040,5,1 ; #32 I2T fault bit
Coordinate System 16 (&16) end-of-calculated-move positions
UMAC UBUS Accesory I/O M-Variables (First Acc-9E, 10E, 11E, 12E, 14E)
M7000->Y:$078C00,0,1 ; MI/O0
M7001->Y:$078C00,1,1 ; MI/O1
M7002->Y:$078C00,2,1 ; MI/O2
M7003->Y:$078C00,3,1 ; MI/O3
M7004->Y:$078C00,4,1 ; MI/O4
M7005->Y:$078C00,5,1 ; MI/O5
M7006->Y:$078C00,6,1 ; MI/O6
M7007->Y:$078C00,7,1 ; MI/O7
M7008->Y:$078C01,0,1 ; MI/O8
M7009->Y:$078C01,1,1 ; MI/O9
M7010->Y:$078C01,2,1 ; MI/O10
M7011->Y:$078C01,3,1 ; MI/O11
M7012->Y:$078C01,4,1 ; MI/O12
M7013->Y:$078C01,5,1 ; MI/O13
M7014->Y:$078C01,6,1 ; MI/O14
M7015->Y:$078C01,7,1 ; MI/O15
M7016->Y:$078C02,0,1 ; MI/O16
M7017->Y:$078C02,1,1 ; MI/O17
M7018->Y:$078C02,2,1 ; MI/O18
M7019->Y:$078C02,3,1 ; MI/O19
M7020->Y:$078C02,4,1 ; MI/O20
M7021->Y:$078C02,5,1 ; MI/O21
M7022->Y:$078C02,6,1 ; MI/O22
M7023->Y:$078C02,7,1 ; MI/O23
M7024->Y:$078C03,0,1 ; MI/O24
M7025->Y:$078C03,1,1 ; MI/O25
M7026->Y:$078C03,2,1 ; MI/O26
M7027->Y:$078C03,3,1 ; MI/O27
M7028->Y:$078C03,4,1 ; MI/O28
M7029->Y:$078C03,5,1 ; MI/O29
M7030->Y:$078C03,6,1 ; MI/O30
M7031->Y:$078C03,7,1 ; MI/O31
M7032->Y:$078C04,0,1 ; MI/O32
M7033->Y:$078C04,1,1 ; MI/O33
M7034->Y:$078C04,2,1 ; MI/O34
M7035->Y:$078C04,3,1 ; MI/O35
M7036->Y:$078C04,4,1 ; MI/O36
M7037->Y:$078C04,5,1 ; MI/O37
M7038->Y:$078C04,6,1 ; MI/O38
M7039->Y:$078C04,7,1 ; MI/O39
M7040->Y:$078C05,0,1 ; MI/O40
M7041->Y:$078C05,1,1 ; MI/O41
M7042->Y:$078C05,2,1 ; MI/O42
M7043->Y:$078C05,3,1 ; MI/O43
M7044->Y:$078C05,4,1 ; MI/O44
M7045->Y:$078C05,5,1 ; MI/O45
M7046->Y:$078C05,6,1 ; MI/O46
M7047->Y:$078C05,7,1 ; MI/O47


762 Firmware Update Listing
FIRMWARE UPDATE LISTING
V1.933 Updates (July 1999)
1. Fixed operation of PR query command.
2. Fixed operation of DWELL when Motor 1 is not in coordinate system.
3. Fixed blending to new JOG command when in acceleration slope.
4. Fixed operation of move-until-trigger with software position capture.
5. Fixed operation of dual-ported RAM variable-write buffer.
6. Made sure rotary buffer pointer always at beginning of buffer after DEFINE or CLEAR.
7. Made data rounding in PLCC programs such as PLC programs.
8. Fixed operation of single-line single-step mode (Isx53=1).
9. Fixed calculations with intermediate values just slightly less than 1.0.
10. Extended range of constant values accepted to 19 decimal digits.
11. Extended range of values that can be displayed to 14 decimal digits.
12. Implemented MACRO master-to-master communications with MACROASCII command.
13. Changes of state of amplifier-enable flags on MACRO ring immediately put on ring instead of
waiting for next background cycle.
14. Cutter compensation refinements:
Cutter compensation can now be maintained with multiple DWELL commands between two
compensated moves.
If cutter compensation is active and Turbo PMAC cannot find the next move in the compensation
plane, Turbo PMAC no longer removes the compensation at the end of the move; instead it ends
the move at the proper point to start an outside corner.
If cutter compensation direction is changed with compensation active, offset to new direction
occurs at move boundary, not over the course of the next move (unless there is no intersection of
compensated paths, in which case the change still occurs over the next move.
180
o
reversal with arcs can now be treated as inside corner, not always outside corner.
Introduction and removal of compensation on inside corners changed slightly; compensated
intersection point now offset from uncompensated intersection point perpendicular to fully
compensated move only.
V1.934 Updates (September 1999)
1. Fixed de-multiplexing of Opt 12/Acc-36 A/D converters with I5060 I5096.
2. When control-panel-port selector switch on Turbo PMAC selects 0, firmware no longer writes to
indicator outputs, so they can be used as general-purpose outputs.
3. Fixed operation of synchronous M-variable assignments when used in the lookahead buffer.
4. Fixed operation of cutter-radius compensation when more than eight DWELL commands execute
between two compensated moves.
5. Fixed operation of <CTRL-C> global coordinate-system status request command.
6. Corrected time of DWELL commands when not in cutter-radius compensation.
7. Fixed operation of HOMEZ command when issued through dual-ported RAM control panel.
8. Fixed initial acceleration on resuming running after feed hold, jog away, and jog return.
Firmware Update Listing 763
9. Fixed operation of DEFINE GATHER command without argument when gathering set up for dual-
ported RAM.
10. Corrected arctangent calculations for high-resolution encoder interpolation and two-guess phasing
search.
11. Fixed the blocking of interrupts around writing to M-variables in background routines to ensure no
corruption when foreground and background routines write to M-variables in the same word.
12. Added capability to stop on desired position limit if Bit 15 of Ixx24 is set to 1. Positive desired
position limit is (Ixx13 Ixx41); negative desired position limit is (Ixx13 + Ixx41). If Bit 14 of Ixx24
is also set to 1, program will not stop, but motor will saturate at the limit value.
13. Added auto-detect capability for Servo ICs and MACRO ICs. I65, I66, I67, and I69, which user
formerly set to tell Turbo which ICs were present, are no longer used. I4900 and I4901 now report
which ICs are present and which type.
14. I19 now specifies which Servo IC or MACRO IC is the source of the servo and phase clock signals
for the system.
15. Added six more hex digits (24 status bits) to the response for the ?? coordinate-system status-query
command, for a total of 18.
16. Improved operation of watchdog timer, so less likely to trip on heavy, but valid, CPU loading. Now
permits user to set required background period for watchdog timer with I20.
17. MSDATE{node#} now returns 4-digit year value.
18. Implemented special forward-kinematic and inverse-kinematic motion-program subroutine buffers for
each coordinate system, created with new OPEN FORWARD and OPEN INVERSE commands. New
variable Isx50 set to 1 causes these buffers to be used. New axis-definition command #{motor}-
>I causes Turbo PMAC to use inverse kinematic routine to convert from axis to motor coordinates.
Number of regular motion program buffers reduced from 256 to 224 to accommodate these new
buffers.
19. Added new run-time error codes 7 (arc radius smaller than tool radius), 8 (forward-kinematic
equation error), and 9 (inverse-kinematic equation error).
20. Added new on-line command EAVERSION to give more complete listing of firmware revision and
type.
21. Added new command IDC to force synchronization of PMACs RAM timer with Option 18B non-
volatile timer.
22. Password protection extended to compiled PLCs, user-written servo algorithms, user-written phase
algorithms, forward-kinematic programs, and inverse-kinematic programs.
23. Improved communications response time when multiple ports are used simultaneously.
24. If all motors in a coordinate system are undefined while coordinate system is running a motion
program, program will now stop with a run-time error
25. New variable I21 now permits lockout of changes to classes of I-variables
26. New variable I14 permits retention of structure of temporary buffers through power-down or reset so
they do not have to be redefined.

V1.935 Updates (February 2000)
1. Corrected problem with executing P({expression})={expression} statement in motion
program.
2. Corrected problem in homing-search move with capture over MACRO ring when previous homing-
search move was interrupted with a KILL command.
3. On-line addressing commands # and & are now port-specific; they only affect the addressing of
commands on the port they were sent to, no longer the other ports.
4. The set of eight motors whose data is reported on a <CTRL-P>, <CTRL-V>, <CTRL-F>, or
<CTRL-V> command is now independent for each port, set by the new ##{constant} command
given on that port, not by the global variable I59.
5. I59, which now affects the Turbo PMAC control-panel port selector only, can now be set from the
control-panel port.
6. New commands ADDRESS#P{constant} and ADDRESS&P{constant} permit variable setting
of the addressed motor and coordinate system, respectively, from within a PLC program for CMD
statements within that PLC program.
7. Added registers that record instruction cycles spent in phase and servo interrupt tasks to help
determine computational duty cycle status.
8. Added cutter compensation move buffer, created with DEFINE CCBUFFER{constant}
command, erased with DELETE CCBUFFER command, to permit out-of-plane moves while in cutter
compensation.
9. Added ERR019, which is reported when a command to change position value (HOME, HOMEZ, PSET)
is attempted while moves are stored in the cutter compensation move buffer.
10. If the same axis letter repeats in a single motion-program line, each occurrence is a new move
command. Formerly, the values associated with the later occurrence overwrote the values associated
with the earlier occurrence, and only a single move was executed. For example, the program line
TM1000 X10 X20 X30 now causes the execution of three consecutive X-axis moves, each one
second long. Formerly, it caused execution of only a single move (X30), one second long.
11. When entering SPLINE mode, the move time for the added introductory spline segment is now
automatically set to the first move time declared with TM in SPLINE mode. Formerly, this segment
time was left at the previous value (or the Isx89 default if no value had previously been declared).
12. Fixed problem with scaling of absolute phase position reads from MACRO Stations with
Ixx91=$73nnnn or Ixx91=$74nnnn so they now match the scaling of ongoing feedback scaled in 1/32
count. Implemented new Ixx91 settings of $71nnnn and $72nnnn to match scaling of ongoing
feedback scaled in counts.
13. Fixed internal stack error that occurred on abort and could cause overwriting of variables like Ixx68.
V1.936 Updates (April 2000)
Note:
After upgrading an older system to V1.936 and either getting the old configuration
back from flash memory or reloading a configuration file, issue an I20..24=*
command to set up any MACRO ICs and DPRAM ICs properly. If there were
non-zero values in the old configuration for I20 and I21, enter these values into I40
and I41 respectively. After this, save the configuration and reset the board
normally.
1. Added support for UMAC Turbo systems.
2. Added new variables I20-I23 to specify base addresses of MACRO ICs 0-3 respectively, providing
flexibility in MACRO ring configurations on UMAC Turbo. These must be set properly to support
automatic firmware functions using these ICs, including multiplexer port functions, display port, and
I6800-I6999.
3. Moved old variables I20 (watchdog timer reset value) and I21 (I-variable lockout control) to their
proper locations of I40 and I41.
4. Default values of address I-variables made more system-specific to reflect what components such as
Servo ICs and MACRO ICs are actually found by the processor.
5. Added 3D cutter-radius compensation with new program commands CC3, NX{data}, NY{data},
NZ(data}, TR{data}, TX{data}, TY{data}, and TZ{data}.
6. Added altered destination RAPID mode move on-line command !{axis}{data} to be able to
break into currently executing RAPID-mode move and change the move on the fly to a new
destination, or execute a RAPID-mode move directly from an on-line command.
7. Extended I49nn controller configuration status I-variables.
8. Made the communications ports independent with respect to opening of program buffers. Only the
port over which the OPEN command was issued can accept buffered program commands, list the open
buffer, learn points into the open buffer, and close the buffer. Other ports can be used simultaneously
for on-line commands.
9. Refined error reporting when closing a program buffer missing ENDIF and/or ENDWHILE. Now
reports ERR009 (program structure error) and only reports the error on closing this particular buffer.
10. Extended Ixx91, Ixx95, and I8000 I8191 to support parallel position reads in byte-wide sections
from Acc-3E1 and Acc-14E boards.
11. Corrected problem with hardware position capture over MACRO in V.1933,4,5.
12. Corrected problem in DELETE GATHER command that could cause buffer management problems.
13. Corrected problem in cutter compensation in sequencing with non-compensated moves (RAPID,
DWELL, out-of-plane).
14. Corrected problem in cutter compensation with CIRCLE mode lead-in moves.
15. Corrected operation of Isx91 default program parameter after $$$ software reset and in repeated
execution of program.
16. Corrected absolute phase position read of resolver-to-digital converter through MACRO station.
17. Corrected pmatch problem when linear set of axes X, Y, and Z, or U, V, and W were defined out of
order (e.g. #1->X, #2->Z, #3->Y).
18. Corrected operation of pmatch when called from within a motion program (CMD &nPMATCH).
V1.937 Updates (November, 2000)
1. Changed I5061 to I5076 A/D de-multiplexing pointer variables to contain the full address of the A/D
register, not just the offset from $078800. The old default value of 0 still selects $078800, but
$078800 must be added to existing non-zero values to maintain compatibility.
2. Automatically sets I58 to 1, enabling DPRAM ASCII communications, at power-up/reset, if any
DPRAM IC is detected.
3. Fixed operation of J! command so that commanded position is always rounded to nearest integer
number of counts, regardless of the size of the following error.
4. Fixed glitch at the center 1/8-millionth section of long compensation tables (> -million counts long).
5. Fixed operation of background variable read buffer in multi-user mode.
6. Added foreground in-position check in servo interrupt, enabled by I13=1. Added foreground in-
position motor status bit (bit 13 of Y:$0000C0, etc.).
7. Permitted disabling of automatic command parsing on Option 9T auxiliary serial port by setting I43
to 1, permitting custom parsing algorithms to be written for serial input of data that is not in PMAC
command format.
8. Permitted loading of binary rotary motion program commands from DPRAM to internal buffer as a
foreground real-time interrupt task instead of a background task with I45=1.
9. Permitted disabling of A/D de-multiplexing with I5080=0.
10. Implemented alternate rotary-axis rollover mode in which the sign of the specified destination value
also specifies the direction to turn to that point. Setting Ixx27 to a negative value enables this mode.
11. Implemented |I|T integrated current limiting function as alternate to existing I
2
T integrated current
limiting. In |I|T, the magnitude of the current itself, not the square of the current, is integrated and
compared to the Ixx58 limit. Setting the Ixx57 continuous current magnitude value to a negative
number enables this alternate mode. This more accurately tracks the thermal behavior of a constant
voltage-drop device such as an IGBT, whereas I
2
T is better for constant-resistance devices such as
MOSFETs and motor windings.
12. Implemented automatic clearing of direct current-loop registers to improve direct-PWM control of
permanent-magnet brush motors. This mode is enabled by setting Ixx96 to 1 when Ixx01 bit 0 = 1
(enabling commutation) and Ixx82 > 0 (enabling current loop).
13. Implemented ABR command, permitting fastest possible abort of currently executing program, and
start or restart of a motion program.
14. Implemented time remaining in move register and MOVETIME query command, to support functions
initiated at a fixed time before the end of a commanded move.
15. Implemented SETPHASE command (on-line and buffered) to copy Ixx75 phase value into phase
position register. Useful for correcting the phase position at a known point (e.g. the index pulse) after
an initial rough phasing (e.g. from Hall commutation sensors).
16. Implemented LOCK and UNLOCK commands (on-line and buffered) to control up to eight process
locking bits that can prevent possible conflict of foreground and background tasks attempting to
manipulate the same register.
17. Implemented on-line I{constant}=@I{constant} command, permitting the value of one I-
variable to be set to the address of another I-variable. The main purpose of this command is to be
able to set an address I-variable (e.g. Ixx03, Ixx04, Ixx05, Isx93) to the address of a conversion-table
entry without having to look up the address of that entry.
18. Added capability for UMAC Turbo CPUs to generate their own servo and phase clock signals when
expected clock source is not found. Keeps watchdog timer from tripping so that new clock source
can be established. Bit 3 of X:$000006 set if CPU is generating its own clocks.
19. Resolution of (previously undocumented) real-time clock register L:$000017 changed from 1/256
second to 1/1024 second.
20. Turbo PMACs with extended user data memory options (5x1 or 5x3) have default user buffer of
65,536 words.
21. I52 CPU clock speed multiplier parameter range extended to 14 to support CPU speeds of up to 150
MHz.
22. Resolution of (previously undocumented) real-time interrupt cycle time registers X:$00000B (latest
time) and Y:$00000B (maximum time) changed to 2 CPU clock cycles.
23. Added background cycle time registers X:$000022 (latest time) and Y:$000022 (maximum time)
with resolution of two CPU clock cycles.
24. Internal-use global status bits Servo Active (X:$000006 bit 21) and RTI Active (X:$000006 bit 23)
removed.
25. Implemented anti-windup protection for current-loop integrators. If calculated output is more than
9/8 of saturated output, integrator value is reduced to that which would produce 9/8 of saturation.
26. Corrected operation of cutter compensation for compensated inside corner immediately following
inside-corner introduction of compensation.
27. Extended I68n5/I69n5 and I7mn5 encoder variables to support de-multiplexing of hall commutation
states from Yaskawa encoder third channel (B or newer revision of DSPGATE1/2 Servo/MACRO IC
required).
28. Corrected operation of LIST BLCOMP DEF and LIST TCOMP DEF commands.
29. Corrected algorithm in compiled PLCs for taking INT of a quotient.
30. Corrected deadband gain algorithm for true deadband (Ixx64=-8) with small motor scale factor
(Ixx08~1). With pulse-and-direction output, the previous small remaining residual could cause
dithering.
31. Fixed action of BREQ (Buffer Request) interrupt and control-panel output when entering rotary
motion program commands. This did not work properly in V1.935 and V1.936.
V1.938 Updates (June, 2001)
1. Corrected operation of the UNDEFINE command so it only clears axis definitions in the addressed
coordinate system.
2. Corrected operation of DPRAM binary rotary buffer download through USB interface.
3. Increased commanded velocity saturation value for jog-to-position and RAPID-mode moves from
256M/Ix08 counts/second to 768M/Ix08 counts/second, consistent with other types of moves.
4. Improved noise immunity in conversion-table algorithms for Acc-51 high-resolution analog-encoder
interpolators to decrease chance of quadrant errors due to high noise on analog lines.
5. Corrected VME mailbox communications so that responses of more than 15 characters can be read
properly.
6. Implemented support for Acc-57E Yaskawa/Mitsubishi absolute encoder interface board in Ixx10 and
Ixx95 variables. See Acc-57E manual for details.
7. Implemented support for I-button real-time clock/calendar chip on new Flex CPU design.
8. Limited number of commands that can possibly be pulled off individual port in one background cycle
to 8 to prevent possibility of trapping the background cycle with very high-speed communications.
9. Corrected problem with DEFINE UBUF when background PLCs are enabled.
10. Added support for on-board IEC-1131 ladder/sequential-function-chart programs.
11. Added support for Open Servo compiled servo algorithms
12. Supported negative values of Ixx99 for Yaskawa Sigma I absolute encoders to permit reversal of the
direction sense.
13. Corrected saving and restoring of the value of new variable I7mn9.
V1.939 Updates (March, 2002)
1. Added support for DSP56311 CPU (Option 5Ex).
2. Added new status bit at X:$000006 bit 21 that is set to 1 to indicate that CPU is DSP56311 type
(X:$000006 bit 21 also set to 1 in this case).
3. Moved location of main serial-port communications buffer from $001Exx to $0036xx. Moved
location of host-bus port communications buffer from $001Fxx to $0037xx. Moved location of
synchronous M-variable buffer from $0036xx and $0037xx to $001Exx and $001Fxx. Changes
necessary to support DSP56311 (Option 5Ex) properly.
4. Increased maximum value of Ixx71 Commutation Cycle Size variable from 8,388,607 to 16,777,215.
5. Changed range of Ixx75 Phase Position Offset variable from 8,388,608 +8,388,607 to 0
16,777,215. If a negative value of Ixx75 is specified, it is stored as (Ixx71 + Ixx75), which provides
the same effect (the proper value of Ixx71 must already be specified for the motor).
6. Added new variable I12 to better support on-the-fly changes in vector feedrate during lookahead.
7. Added new variable I30 to support automatic wrapping of compensation tables (the last entry in the
table wraps to become the correction at zero position as well). Existing documentation incorrectly
reported that this was done always in earlier firmware versions, but correction at zero position was
always zero, regardless of last entry.
8. Added support for hardware 1/T using D-revision or newer PMAC2-style DSPGATE1 Servo ICs. In
new conversion table method ($C with mode bit set), the IC computes the timer-based fractional
count value in hardware; the conversion table simply combines it with the whole-count value. This
permits use of the alternate timer mode for sub-count capture and compare.
9. Computational efficiency of dual-ported RAM data reporting buffers was improved.
10. Computational efficiency of commutation calculations was improved about 20%.
11. Permitted foreign characters (ASCII value > 127) to be accepted in comments (after semi-colon)
without causing an error to be reported.
12. Modified timing of multiplexer port interface signals to Acc-34 boards so they will work properly
with Option 5Ex 160MHz CPUs.
13. Fixed problem with BREQ buffer request interrupt on ISA/PCI bus.
V1.940 Updates (June, 2003)
1. Added support for DSP56321 CPU (Option 5Fx). Range of I52 CPU Frequency Control variable
extended to 31 (Option 5Fx can run at up to 240 MHz, with I52=23).
2. Implemented support for separate flag addresses for limits, amp flags, and capture flags with new
variables Ixx42 (separate amplifier-flag address) and Ixx43 (separate limit-flag address).
3. Implemented support for sub-count position capture from Revision D PMAC2-style Servo ICs for
move-until-trigger functions with bits 11 and 12 of Ixx24.
4. Does not permit enabling of any motors if global phase clock error bit (X:$000006 bit 3) is set.
Enabling command is rejected in this case with ERR018.
5. Fixed lead-out move problem of 2D cutter compensation.
6. Fixed operation of I
2
T protection.
7. Improved operation of Extended Servo Algorithm when saturated.
8. Fixed execution of phasing read so will work correctly even when in an overtravel limit.
9. Fixed listing of DISPLAY {variable} statement when 0 fractional digits specified.
10. Fixed operation of on-line coordinate-system Z command.
11. Implemented new variable I37 that can specify additional wait states above the default when
accessing memory and/or I/O.

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