Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Program Command Specification 421
Examples:
LINEAR ; Linear interpolation mode
X10Y0 F2 ; Linear move
CIRCLE2 ; Counterclockwise circular interpolation mode
X20 Y10 J10 ; Arc of 10-unit radius
X15 Y15 I-5 ; Arc of 5-unit radius
CIRCLE1 ; Clockwise circle mode
X5 Y25 J10 ; Arc move of 10-unit radius
See Also:
Circular Moves (Writing and Executing Motion Programs)
I-variable Isx13
Program commands NORMAL, CIRCLE1, LINEAR, PVT, RAPID, SPLINE1,
{axis}{data}{vector}{data}
COMMANDx"{command}"
Function: Command issuance from internal program
Type: Motion program (PROG and ROT); PLC program
Syntax: COMMAND "{command}"
CMD "{command}"
COMMANDS "{command}"
CMDS "{command}"
COMMANDP "{command}"
CMDP "{command}"
COMMANDR "{command}"
CMDR "{command}"
COMMANDA "{command}"
CMDA"{command}"
This statement causes the program to issue a command to Turbo PMAC as if it came from the host
(except for addressing modes and response direction).
If there is a motor- or coordinate-system-specifier (#n or &n) within the quoted string, a motor- or
coordinate-system-specific command will be directed to that motor or coordinate system. If there is no
specifier, a motor- or coordinate-system-specific command will be directed to the first motor or
coordinate system. Any specifier within a COMMAND statement is not modal; it does not affect the host
addressing specifications or the modal addressing of any program, including its own.
Any data or error response for the command given inside the quote marks is directed to the port specified
by the letter at the end of COMMAND:
 COMMAND provides no response to any port
 COMMANDS provides a response to the main serial port
 COMMANDP provides a response to the parallel bus port
 COMMANDR provides a response to the DPRAM ASCII response buffer
 COMMANDA provides a response to the Option 9T auxiliary serial port
If I62=0, Turbo PMAC issues a carriage-return (<CR>) character automatically at the end of any data
response to the command. If I62=1, Turbo PMAC does not issue a <CR> character at the end of the data
response; a SEND^M must be used to issue an <CR> in this case.
Each PLC program has its own addressing mode for both motors and coordinate systems, independent of
each other and independent of the host addressing modes. These are controlled by the PLC program
ADDRESS command. This modal addressing affects commands issued from within a PLC program that