Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Variable and Command Summary 25
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]