Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC On-line Command Specification 293
 It brings the commanded trajectories of all motors in the coordinate system to stop at the rate set by
Ixx15 for each motor.
 It points the coordinate system’s program counter to a specific location in that program or another
program. If stopping and resuming the rotary motion program buffer, it immediately clears the rotary
buffer of unexecuted lines.
 As soon as the commanded trajectories of all motors in the coordinate system have stopped, it will
start execution of the newly addressed program (which could be the same program.
It is essentially a combination of the existing A (abort), B (point to beginning of program), and R (run)
commands. By combining these into a single command, all three actions are executed in a single
command cycle, speeding the transition.
If the ABR command is given without a numerical argument, Turbo PMAC will restart the presently
executing program at the top. If an ABR0 command is given, Turbo PMAC will end execution of the
currently executing program – if it is currently executing the rotary program buffer, clear the rotary buffer
– and point to the top of the rotary program buffer.
If an ABR{constant} command is given with a non-zero constant value, Turbo PMAC will start
execution of the program number specified by the integer part of the constant (valid values 1 – 32,767)
and at the numeric line label whose value is equal to the fractional part times 100,000 (10
5
). If no
fractional part is specified, execution will start at the top of this program.
Examples:
ABR0 ; Stop execution of rotary buffer, clear, and restart at top
ABR20 ; Stop execution and start at top of program 20
ABR44.37 ; Stop execution and start at N37000 of program 44
ABS
Function: Select absolute position mode for axes in addressed coordinate system.
Scope: Coordinate-system specific
Syntax: ABS
ABS ({axis}[,{axis}...])
where:
 {axis} is a letter (X, Y, Z, A, B, C, U, V, W) representing the axis to be specified, or the character
R to specify radial vector mode
No spaces are permitted in this command.
This command, without any arguments, causes all subsequent positions for all axes in the coordinate
system in motion commands to be treated as absolute positions (this is the default condition). An ABS
command with arguments causes the specified axes to be in absolute mode, and all others to remain
unchanged.
If R is specified as one of the 'axes', the I, J, and K terms of the circular move radius vector specification
will be specified in absolute form (i.e. as a vector from the origin, not from the move start point). An
ABS command without any arguments does not affect this vector specification. The default radial vector
specification is incremental.
If a motion program buffer is open when this command is sent to Turbo PMAC, the command will be
entered into the buffer for later execution.
Example:
ABS(X,Y) ; X and Y made absolute – other axes and radial vector left unchanged
ABS ; All axes made absolute – radial vector left unchanged
ABS(R) ; Radial vector made absolute – all axes left unchanged
See Also: