Delta tau PMAC-2ACC8T Programmable Multi-Axis Controller

The binary rotary program transfer buffers in Turbo PMAC-2ACC8T’s DPRAM permit the host computer to send motion program commands to Turbo PMAC-2ACC8T 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-2ACC8T 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 PMAC’s 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-2ACC8T 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-2ACC8T 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-2ACC8T checks the binary rotary buffer(s) in DPRAM every background cycle, transferring any new contents to the internal rotary program buffer(s). If I45 is set to 1, it checks the binary buffers as a higher-priority foreground task, every real-time interrupt. Routines in Delta Tau’s PCOMM32 communications library provide automatic support for the binary rotary-program transfer buffer. General Description: Each coordinate system’s 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 6 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.