Reference Manual

PMAC 2 Software Reference
PMAC On-Line Command Specification 263
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.
Example
; Machine Output 1
M1->Y:$FFC2,8,1 ; 1-bit (full spec.)
M1->Y$FFC2,8 ; 1-bit (short spec.)
; Encoder 1 Capture/Compare Register
M103->X:$C003,0,24,U ; 24-bit (full spec.)
M103->X$C003,24 ; 24-bit (short spec.)
; DAC 1 Output Register
M102->Y:$C003,8,16,S ; 16-bit value
M102->Y49155,8,16,S ; same, decimal address
See Also
M-Variables (Computational Features)
On-line commands M{constant}, M{constant}->,
M{constant}->D:{address}, M{constant}={expression}
Program command M{constant}={expression}
MACROAUX
Function
Report or write MACRO auxiliary parameter value
Scope
Global
Syntax
MACROAUX{NodeNum}{ParamNum}[={constant}]
MX{NodeNum}{ParamNum}[={constant}]
where:
• {NodeNum} is an integer constant from 0 to 15 specifying the slave number of the node
• {ParamNum} is an integer constant from 0 to 65535 specifying the auxiliary parameter
number for this node (2 to 254 required for a write operation)
• {constant} is an integer constant from -32768 to +32767 representing the value to be
written to the specified parameter
Remarks
This command permits PMAC to read or write auxiliary register values from slave nodes
across the MACRO ring. The command must specify the node number of the slave node, the
auxiliary parameter number at this node, and if a write command, the value to write into the
register.
If used as a read command (no ‘={constant}’ in the command), PMAC will report the
value of the specified parameter back to the host as ASCII text, just as if the value of one of
its own parameters had been requested.
Only one auxiliary access (read or write) of a single node can be done on one command line.
In order to access the auxiliary registers of a MACRO node n, bit n of I1000 must be set to 1.
If the slave node returns an error message or the slave node does not respond within 32 servo
cycles, PMAC will report ERR008. Bit 5 of global status register X:$0003 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.
Example
MACROAUX1,24=2000 ; Set Node 1 Parameter 24 to 2000
MACROAUX1,24 ; Request value of Node 1 Parameter 24