Reference Manual

Turbo PMAC/PMAC2 Software Reference

Turbo PMAC On-line Command Specification 391

Function: Run Motion Program

Scope: Coordinate-system specific

Syntax: R

This command causes the addressed Turbo PMAC coordinate system to start continuous execution of the

motion program addressed by the coordinate system’s program counter from the location of the program

counter. Alternately, it will restore operation after a \ or H command has been issued (even if a program

was or is not running). Addressing of the program counter is done initially using the B{constant}

command.

The coordinate system must be in a proper condition in order for Turbo PMAC to accept this command.

Otherwise Turbo PMAC will reject this command with an error; if I6 is 1 or 3, it will report the error

number. The following conditions can cause Turbo PMAC to reject this command (also listed are the

remedies):

 Both limits set for a motor in coordinate system (ERR010); clear limits

 Another move in progress (ERR011); stop move (e.g. with J/)

 Open-loop motor in coordinate system (ERR012); close loop with J/ or A

 Unactivated motor in coordinate system (ERR013); change Ixx00 to 1 or remove motor from

coordinate system

 No motors in the coordinate system (ERR014); put at least 1 motor in C.S.

 Fixed motion program buffer open (ERR015); close buffer and point to program

 No program pointed to (ERR015); point to program with B command

 Program structured improperly (ERR016); correct program structure

 Motors not at same position as stopped with H or Q command (ERR017); move back to stopped

position with J=

Example:

&1B1R ; C.S.1 point to PROG 1 and run

&2B200.06 ; C.S.2 point to N6000 of PROG 200 and run

Q ; Quit this program

R ; Resume running from point where stopped

H ; Do a feed hold on this program

R ; Resume running from point where stopped