Description
The default PMAC2A-ETH value of 15 (all coordinate systems activated) will always work, even if fewer coordinate systems are actually being used. Lowering PMAC2A-ETH 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 Mvariable 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.
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 1st register (24 bits) is used for the flags; in the Type 1 protocol, the 4th register (16 bits) is used for the flags. The bits of PMAC2A-ETH must be set properly for any node whose auxiliary flag function is enabled byPMAC2A-ETH. 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 Delta Tau’s Compact MACRO Station.
PMAC2A-ETH 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 PMAC2A-ETH is set to 0, these communications are disabled. If PMAC2A-ETH is set to a value greater than 0, these communications are enabled, and the value of PMAC2A-ETH 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 PMAC2A-ETH 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 PMAC2A-ETH is suggested. Bit 15 of I70, I72, I74, and I76 must be set to 0 to disable Node 15’s Type 0 (node-specific) auxiliary communications for each MACRO IC if PMAC2A-ETH is greater than 0. If a value of PMAC2A-ETH greater than 0 has been saved into PMAC’s 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.
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