Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC On-line Command Specification 387
PE
Function: Report Program Execution Pointer
Scope: Coordinate-system specific
Syntax: PE
This command causes Turbo PMAC to report the motion program number and address offset of the
currently executing programmed move in the addressed coordinate system. This is similar to the PC
command, which reports the program number and address offset of the next move to be calculated. Since
Turbo PMAC is calculating ahead in a continuous sequence of moves, PC will in general report a move
line several moves ahead of PE.
If the coordinate system is not pointing to any motion program, Turbo PMAC will return an error
(ERR003 if I6=1 or 3). Initially the pointing must be done with the B{constant} command.
Example:
PE
P1:2
PE
P1:5
See Also:
On-line commands B{constant}, LIST, LIST PC, LIST PE, PC
PMATCH
Function: Re-match Axis Positions to Motor Positions
Scope: Coordinate-system specific
Syntax: PMATCH
This command causes Turbo PMAC to recalculate the axis starting positions for the coordinate system to
match the current motor commanded positions (by inverting the axis definition statement equations and
solving for the axis position).
This function is executed automatically by Turbo PMAC each time an R (run) or S (step) command is
given, to make sure the first move is executed properly.
The PMATCH command does not need to be executed under normal circumstances. However, if
something has changed the relationship between motor and axis in the middle of a motion program, this
command should be issued – usually with CMD "PMATCH" surrounded by DWELLs from within the
motion program – before the next move command in the program.
These changes include changing the Ixx06 position following mode between normal and offset mode,
bringing a new axis into the coordinate system, and changing an axis definition in the coordinate system.
If an axis move is then attempted without the use of the PMATCH command, Turbo PMAC will use the
wrong axis starting point in its calculations, resulting in a jump at the beginning of the move.
If more than one motor is defined to a given axis (as in a gantry system), the commanded position of the
lower-numbered motor is used in the Turbo PMAC calculations.
Example:
OPEN PROG 10 CLEAR
...
CMD"&1#4->100C" ; Bring C-axis into coordinate system
DWELL20
CMD"PMATCH" ; Issue PMATCH so C-axis has proper start position
DWELL20
C90
...