Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC On-line Command Specification 341
Example:
&1 ; Address coordinate system 1
#1->10000X ; Define motor 1 in C.S. 1
#2->10000Y ; Define motor 2 in C.S. 1
OPEN PROG 1 CLEAR Prepare program buffer for entry
F10 TA200 TS50 ; Enter required non-move commands {move motors to a position,
; e.g. #1 to 13450 commanded, #2 to 29317 commanded}
LEARN(X,Y) ; Tell PMAC to learn these positions
X1.345 Y2.9317 ; This is the line that PMAC adds to PROG 1 {move motors to new
; position, e.g. #1 to 16752 cmd., #2 to 34726 cmd}
LEARN ; Tell PMAC to learn positions
A0 B0 C0 U0 V0 W0 X1.6752 Y3.4726 Z0
; PMAC adds positions for all axes to PROG 1
See Also:
Learning a Motion Program (Writing and Executing Motion Programs)
On-line command PMATCH
LIST
Function: List the contents of the currently opened buffer.
Scope: Global
Syntax: LIST
This command causes Turbo PMAC to report the contents of the currently opened buffer (PLC, PROG, or
ROT) to the host. If no buffer is open, or if the buffer that is open has been opened from another port,
Turbo PMAC will report an error (ERR003 if I6=1 or 3). Note that what is reported will not include any
OPEN, CLEAR, or CLOSE statements (since these are not program commands).
An unopened buffer can be listed by specifying the buffer name in the list command (e.g. LIST PROG
1). See further LIST commands, below.
Example:
OPEN PROG 1 ; Open buffer for entry
LIST ; Request listing of open buffer
LINEAR ; Turbo PMAC reports contents of open buffer
F10
X20 Y20
X0 Y0
RETURN
CLOSE ; Close buffer
LIST ; Request listing of open buffer
<BELL>ERR003 ; Turbo PMAC reports error because
; no open buffer
See Also:
On-line commands OPEN, CLOSE, LIST PLC, LIST PROGRAM
LIST BLCOMP
Function: List contents of addressed motor's backlash compensation table
Scope: Motor specific
Syntax: LIST BLCOMP