Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC On-line Command Specification 378
Example:
O50 ; Open-loop output 50% of Ixx69 for addressed motor
#2O33.333 ; Open-loop output 1/3 of Ixx69 for Motor 2
O0 ; Open-loop output of zero magnitude
J/ ; Re-establish closed-loop control
See Also:
On-line commands J/, K
Memory-map registers X:$0000BF, X:$00013F, etc.
Suggested M-variable definitions Mxx68.
OPEN BINARY ROTARY
Function: Open all existing rotary buffers for binary DPRAM entry
Scope: Port specific
Syntax: OPEN BINARY ROTARY
OPEN BIN ROT
This command causes Turbo PMAC to open all existing rotary motion program buffers for entry of
binary-formatted program lines through the DPRAM.
In order to be able to send binary-formatted program lines to a coordinate system’s rotary buffer, three
steps must first have been performed:
1. Room must have been reserved for the coordinate system’s rotary buffer in internal PMAC memory
since the last power-up/reset with the DEFINE ROTARY command.
2. Room must have been reserved for data transfer for the coordinate system in the DPRAM by setting
up pointers in the DPRAM (usually done by PCOMM32 subroutines).
3. The buffers must have been enabled for entry with the OPEN BIN ROT command.
No other program buffers (PLC, fixed motion program, or rotary buffers with ASCII input) may be open
when this command is sent (Turbo PMAC will report ERR007 if I6 = 1 or 3). It is a good idea always to
preced an OPEN command with a CLOSE command to make sure no other buffers have been left open.
The actual downloading of binary-formatted program lines is almost always done with PCOMM32
software routines.
ASCII text commands sent through any port to the Turbo PMAC while the binary rotary program buffers
are open are treated as on-line commands. ASCII text commands sent at this time that can only be
interpreted as buffered program commands will be rejected (Turbo PMAC will report ERR005 if I6 is 1
or 3).
The CLOSE command issued on this same port will close all open binary rotary buffers.
This function is controlled by variable I57 on non-Turbo PMACs.
OPEN FORWARD
Function: Open a forward-kinematic program buffer for entry
Scope: Port, coordinate-system specific
Syntax: OPEN FORWARD
OPEN FWD
This command causes Turbo PMAC to open the forward-kinematic program buffer for the addressed
coordinate system for entry or editing through this port. Subsequent program commands valid for these
programs sent from this port will be entered into this buffer. Kinematic programs can accept all
commands that are valid for PLC programs except ADDRESS, CMD, and SEND commands. When entry
of the program is finished, the CLOSE command should be used to prevent further lines from being put in
this buffer.