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PMAC 2 Software Reference

PMAC On-Line Command Specification 267

Remarks

This command causes 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.

In order for the PMAC to be able to execute this command, the following conditions must be

true:

• The PMAC must be set up as a master or the synchronizing ring master (I995= $xx90 or

$xx30);

• The node 15 auxiliary register copy function must be disabled (I1000 bit 15 = 0);

• Node 15 must not be used for any other function.

If the slave node returns an error message or it does not respond within I1003 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

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

; 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:

• {node #} is a constant in the range 0 to 15 representing the number of the node on the

PMAC matching the slave node to be accessed

• {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