Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC On-line Command Specification 271
The possible versions of the ##{constant} command and the motors they select are:
 ##0: Motors 1 – 8
 ##1: Motors 9 – 16
 ##2: Motors 17 – 24
 ##3: Motors 25 – 32
Note:
In Turbo PMAC firmware versions 1.934 and older, this function was controlled
commonly for all ports by global I-variable I59.
See Also:
I-variable I59
On-line commands <CTRL-B>, <CTRL-F>, <CTRL-P>, <CTRL-V>, ##
$
Function: Establish phase reference for motor
Scope: Motor specific
Syntax: $
This command causes Turbo PMAC to attempt to establish the phase reference and close the servo loop
for a PMAC-commutated (Ixx01 bit 0 = 1) synchronous (Ixx78 = 0) motor. On other types of motors,
where there is no need to establish a phase reference, the $ command will simply close the servo loop for
the motor (a J/ command is also suitable for these motors).
The phase reference for a synchronous PMAC-commutated can be established either by a phasing search
move if Ixx74 > 0, or by an absolute position read if Ixx81 > 0. If both of these variables are set to 0,
Turbo PMAC will set the phase reference error status bit for the motor on a $ command, leaving the
motor in the “killed” state, and not permitting the servo loop to be closed until the error status bit is
cleared.
If Ixx80 bit 0 is saved as 0, no phase reference is performed automatically at power-up or reset of the full
board, and the phase reference error bit is set, prohibiting the closing of the servo loop. A subsequent $
command, successfully executed, is required to establish the phase reference for synchronous, PMAC-
commutated motor.
If Ixx80 bit 0 is saved as 1, the phase reference operation is performed automatically at power-up or reset
of the full board. In this case it is possible, but not required, to re-establish the phase reference with a
subsequent $ command.
A phasing search move checks for any of the following error conditions both before and after the search:
 Hardware overtravel limits
 Amplifier fault
 I
2
T overcurrent fault
 Fatal following error fault
 Integrated following error fault
If any of these error conditions is present, the phase reference is considered to have failed and the phase
reference error status bit is set. Also, if no movement is detected during the search, the error bit is set
An absolute phase position read checks for any of the above fault conditions shortly after the read. If any
of these is found, the read is presumed to have failed and the error bit is set. Also, if an illegal value is
read from the sensor (e.g. all 3 hall sensors at 0 or 1), the error bit is set.
If the $ command is issued while the motor is executing a move, the command will be rejected, with
Turbo PMAC reporting ERR018 if I6 is set to 1 or 3.