Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC On-line Command Specification 260
Turbo PMAC sends: <121dec> (121 = 74[J] + 47[/]; correct)
Host sends: ......... <CR>
Turbo PMAC sends: <ACK><121dec> (handshake & checksum again)
See Also:
Communications Checksum (Writing a Host Communications Program)
I-variables I3, I4
On-line commands <CTRL-M> (<CR>), <CTRL-X>
<CONTROL-O>
Function: Feed hold on all coordinate systems.
Scope: Global
Syntax: ASCII Value 15D; $0F
This command causes all coordinate systems in Turbo PMAC to undergo a feed hold. It is equivalent to
issuing the H command to each coordinate system. Refer to the H command specification for more detail
on the action.
A feed hold is much like a %0 command where the coordinate system is brought to a stop without
deviating from the path it was following, even around curves. However, with a feed hold, the coordinate
system slows down at a slew rate determined by Isx95, and can be started up again with an R
(run)command. The system then speeds up at the rate determined by Isx95, until it reaches the desired %
value (from internal or external timebase). From then on, any timebase changes occur at a rate
determined by Isx94.
For multiple cards on a single serial daisy-chain, this command affects all cards on the chain, regardless
of the current software addressing.
See Also:
Resetting Turbo PMAC (Talking to Turbo PMAC)
I-variables Isx94, Isx95
On-line commands <CTRL-H> (backspace) H (feedhold), R (run), % (feedrate override).
<CONTROL-P>
Function: Report positions for eight motors.
Scope: Global
Syntax: ASCII Value 16D; $10
This command causes the positions of a selected eight motors to be reported to the host. The positions
are reported as a decimal ASCII string, scaled in counts, rounded to the nearest 1/32 of a count, with a
space character in between each motor’s position.
The set of eight motors whose data is reported is selected by the most recent ##{constant} value for
this port:
 ##0: Motors 1 – 8 (default)
 ##1: Motors 9 – 16
 ##2: Motors 17 – 24
 ##3: Motors 25 – 32
The position window in the Turbo PMAC Executive program works by repeatedly sending the <CTRL-
P> command and rearranging the response into the window.
Turbo PMAC reports the value of the actual position register plus the position bias register plus the
compensation correction register, and if bit 1 of Ixx06 is 1 (handwheel offset mode), minus the master
position register.