Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC On-line Command Specification 382
No other program buffers (PLC, or fixed motion programs) 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 precede an OPEN command
with a CLOSE or CLOSE ALL command to make sure no other buffers have been left open.
Note:
The B0 command that points the coordinate system to the rotary buffer cannot be
given while the rotary buffers are open, because Turbo PMAC will interpret the
command as a B-axis move command.
Example:
&2 DEFINE ROT 100 ; Create C.S. 2 rotary buffer
&1 DEFINE ROT 100 ; Create C.S. 1 rotary buffer
&1 B0 &2 B0 ; Point both C.S.s to rotary buffers
OPEN ROT ; Open buffers for entry
&1 X10 Y10 F5 ; Write to C.S. 1's buffer
&2 X30 Y30 F10 ; Write to C.S. 2's buffer
&1R &2R ; Start executing both buffers
See Also:
Rotary Motion Programs (Writing and Executing Motion Programs)
On-line commands CLOSE, DEFINE ROT, B{constant}, R
P
Function: Report motor position
Scope: Motor specific
Syntax: P
This command causes Turbo PMAC to report the present actual position for the addressed motor to the
host as a decimal ASCII string, scaled in counts, rounded to the nearest 1/32 of a count.
Turbo PMAC reports the value of the actual position register plus the position bias register plus the
compensation correction register, and if bit 1 of Ixx06 is 1 (handwheel offset mode), minus the master
position register.
Example:
P ; Request the position of the addressed motor
1995 ; Turbo PMAC responds
#1P ; Request position of Motor 1
-0.5 ; Turbo PMAC responds
#3P ; Request position of Motor 3
2.03125 ; Turbo PMAC responds
#2P#4P ; Request positions of Motors 2 and 4
9998 ; Turbo PMAC responds with Motor 2 position first
10002 ; Turbo PMAC responds with Motor 4 position next
See Also:
On-line commands <CTRL-P>, F, V
Suggested M-variable definitions Mxx62, Mxx64, Mxx67, Mxx69
P{constant}
Function: Report the current P-variable values.
Scope: Global
Syntax: P{constant}[..{constant}]
where:
 {constant} is an integer from 0 to 8191 representing the number of the P-variable;