Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC On-line Command Specification 325
Gathering will proceed at the frequency set by I5049 (in number of servo interrupt cycles). If I5049 is 0,
only one set of data will be gathered per GATHER command. If Turbo PMAC is already gathering data,
GATHER will cause resynchronization of the gathering cycle to the next servo cycle.
Gathering will continue until Turbo PMAC receives an ENDGATHER command, or until the buffer
created by the DEFINE GATHER command is full.
This command is usually used in conjunction with the data gathering and plotting functions of the Turbo
PMAC Executive Program.
If a motion or PLC program buffer is open when this command is sent to Turbo PMAC, the command
will be entered into that buffer for later execution.
Example:
GAT B1R ; Start gathering and run program 1
ENDG ; Stop gathering -- give this command when moves of interest are done
OPEN PROG2 CLEAR
X10
DWELL1000
CMD"GATHER" ; Program issues start command here
X20 ; Move of interest
DWELL50
CMD"ENDG" ; Program issues stop command here
CLOSE
See Also:
Data Gathering Function (Analysis Features)
I-variables I5000 – I5051
On-line commands DEFINE GATHER, GATHER, LIST GATHER, DELETE GATHER
Gathering and Plotting (Turbo PMAC Executive Program Manual)
H
Function: Perform a feedhold
Scope: Coordinate-system specific
Syntax: H
This causes the currently addressed coordinate system to suspend execution of the program starting
immediately by bringing its time base value to zero, decelerating along its path at a rate defined by the
coordinate system I-variable Isx95.
The program is suspended while in feedhold mode, but technically still executing. If it is subsequently
desired that program execution will not be resumed, program execution should be aborted with the A
command
The H command is very similar in effect to a %0 command, except that deceleration is controlled by
Isx95, not Isx94, and execution can be resumed with an R or an S command, instead of a %100
command. In addition, H works under external time base, whereas a %0 command does not.
Jogging moves are permitted while in feedhold mode (unlike in non-Turbo PMACs). However, all
motors must be returned to their exact feedhold position (using the J= command) before the program may
be resumed.
Full speed execution along the path will commence again on an R or S command. The ramp up to full
speed will also take place at a rate determined by Isx95 (full time-base value, either internally or
externally set). Once the full speed is reached, Isx94 determines any time-base changes.