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Turbo PMAC/PMAC2 Software Reference

Turbo PMAC On-line Command Specification 264

!{axis}{constant}[{axis}{constant}…]

Function: Alter destination of RAPID move

Scope: Coordinate-system specific

Syntax: !{axis}{constant}[{axis}{constant}…]

where:

 {axis} is the letter specifying which axis (X, Y, Z, A, B, C, U, V, W);

 {constant} is a numerical value representing the end position;

 [{axis}{constant}…] is the optional specification of simultaneous movement for more axes.

!{axis}Q{constant}[{axis}Q{constant}…]

where:

 {axis} is the letter specifying which axis (X, Y, Z, A, B, C, U, V, W);

 {constant} is a numerical value representing the number or the Q-variable whose value specifies

the end position;

 [{axis}Q{constant}…] is the optional specification of simultaneous movement for more axes.

This command creates a RAPID-mode move of the specified axis or axes to the specified destinations. If

another RAPID-mode move of an axis is in progress, that move is broken into and the motion of the axes

is blended into the move to this new destination, effectively altering the destination of the move in

progress.

Each axis destination can be specified either directly as a numerical constant (e.g. !X63.72), or

indirectly by specifying the Q-variable whose value represents the axis destination (e.g. !XQ15).

In either case, the destination value for each axis is in the scaled engineering units for the axis. The

destination value always represents the end position for the axis, relative to program zero, even if the axis

is currently in incremental mode. Execution of this command does not change the mode of the axis. The

order in which the axes are specified in this command does not matter.

If a programmed move of a mode other than RAPID is in progress when this command is sent, this

command will be rejected with an error.

If no move is in progress when this command is sent, this command will simply execute a RAPID-mode

move to the specified destination. In this case, before starting the move, Turbo PMAC will execute the

PMATCH position-matching function automatically to make sure motor and axis positions are properly

linked in order for the move to execute properly.

Examples:

!X5

!X23.762 Y-345.124

!A-90.2 B37.3

!XQ152 YQ154

!XQ30 Y37.936