Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Variable and Command Summary 27
MACRO Ring Commands
MACROASCII{master#} – Put this PMAC port in pass-through mode so communications are passed
through MACRO to specified other master
MACROAUX{node#},{param#} – Report MACRO Type 0 auxiliary parameter value from slave node
MACROAUX{node#},{param#}={constant} – Set MACRO Type 0 auxiliary parameter value in
slave node
MACROAUXREAD{node#},{param#},{variable} – Copy MACRO Type 0 auxiliary parameter
value from slave node to PMAC variable
MACROAUXWRITE{node#},{param#},{variable} – Copy from PMAC variable to MACRO
Type 0 auxiliary parameter value in slave node
MACROMST{master#},{master variable} – Report variable value from remote MACRO
master through Type 1 MACRO protocol
MACROMST{master#},{master variable}={constant} – Set variable value on remote
MACRO master through Type 1 MACRO protocol
MACROMSTASCII{master #} – Put this ring-controller Turbo PMAC in pass-through mode to other
master on ring
MACROMSTREAD{master#},{master variable},{ring-master variable} – Copy
variable value from remote MACRO master into own variable through Type 1 MACRO
protocol
MACROMSTWRITE{master#},{master variable},{ring-master variable} – Copy
variable value to remote MACRO master from own variable through Type 1 MACRO
protocol
MACROSLAVE{command},{node#} – Send command to slave node with Type 1 protocol
MACROSLAVE{node#},{slave variable} – Report slave node variable value with Type 1
MACRO protocol
MACROSLAVE{node#},{slave variable}={constant} – Set slave node variable value with
Type 1 MACRO protocol
MACROSLVREAD{node#},{slave variable},{PMAC variable} – Copy from slave node
variable to PMAC variable with Type 1 MACRO protocol
MACROSLVWRITE{node#},{slave variable},{PMAC variable} – Copy PMAC variable
to slave node variable with Type 1 MACRO protocol
MACROSTASCII{station #} – Put this ring-controller Turbo PMAC in pass-through mode to other
station on ring
STN={constant} – Set MACRO-ring station-order number
On-line Coordinate System Commands
(These act immediately on currently addressed coordinate system)
Axis Definition Commands
#n->[{constant}]{axis}[+{constant}] – Define axis in terms of motor #, scale factor, and
offset
Examples: #1->X
#4->2000A+500
#n->[{constant}]{axis}[+[{constant}]{axis}[+[{constant}]{axis}]]
[+{constant}] – Define 2 or 3 axes in terms of motor #, scale factors, and offset.
Valid only within XYZ or UVW groupings.
Examples: #1->8660X-5000Y
#2->5000X+8660Y+5000
#n->I[+{constant}] – Assign motor as inverse kinematic axis