Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Variable and Command Summary 29
Buffer Control Commands
DEFINE ROT {constant} – Establish rotary motion program buffer of specified word size for the
addressed coordinate system
DELETE ROT – Erase rotary motion program buffer for addressed coordinate system
DEFINE LOOKAHEAD {constant},{constant} – Establish lookahead buffer for the addressed
coordinate system with the specified number of motion segments and synchronous M-
variable assignments
DELETE LOOKAHEAD – Erase lookahead buffer for addressed coordinate system
DEFINE CCBUFFER – Establish extended cutter-compensation block buffer
DELETE CCBUFFER – Erase extended cutter-compensation block buffer
LEARN – Read present commanded positions and add as axis commands to open program buffer
OPEN FORWARD – Open forward-kinematic program buffer for entry
OPEN INVERSE – Open inverse-kinematic program buffer for entry
On-line Motor Commands
(These act immediately on the currently addressed motor. Except for the reporting commands, these
commands are rejected if the motor is in a coordinate system that is currently running a motion program.)
General Motor Commands
$ – Establish phase reference (if necessary) and close loop for motor
$* – Read absolute position for motor
HOME – Perform homing search move for motor
HOMEZ – Set present commanded position for motor to zero
K – Kill output for motor
O{constant} – Set open-loop servo output of specified magnitude
Jogging Commands
J+ – Jog motor indefinitely in positive direction
J- – Jog motor indefinitely in negative direction
J/ – Stop jogging motor; also restore to position control
J= – Jog motor to last pre-jog or pre-handwheel position
J={constant} – Jog motor to specified position
J=* – variable jog-to-position
J:{constant} – Jog motor specified distance from current commanded position
J:* – Variable incremental jog from current commanded position
J^{constant} – Jog motor specified distance from current actual position
J^* – Variable incremental jog from current actual position
{jog command}^{constant} – Jog until trigger, final value specifies distance from trigger position
to stop
Motor Reporting Commands
P – Report position of motor
V – Report velocity of motor
F – Report following error of motor
? – Report status words for motor in hex ASCII form
LIST BLCOMP – Report contents of backlash compensation table for motor
LIST BLCOMP DEF – Report definition of backlash compensation table for motor
LIST COMP – Report contents of position compensation table for motor
LIST COMP DEF – Report definition of position compensation table for motor