Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC On-line Command Specification 270
At the end of each execution of the inverse-kinematic program for the coordinate system, Turbo PMAC
expects to find the motor position calculated by the program for each Motor xx in the coordinate system
defined as an inverse-kinematic axis in variable Pxx (e.g. P13 for Motor 13).
See Also:
Inverse Kinematics
I-variable Isx50
On-line commands OPEN FORWARD, OPEN INVERSE
##
Function: Report port’s motor group
Scope: Port specific
Syntax: ##
This command causes Turbo PMAC to return the number of the motor group currently selected on this
port for on-line commands <CTRL-B>, <CTRL-F>, <CTRL-P>, and <CTRL-V>. This value can be set
for the port by the ##{constant} command, and defaults to 0 on power-up/reset. Each
communications port can have a different value.
Note:
This is not related to the individual motor addressed with the # command, and
reported with the #{constant} command
The possible values returned and the motors they represent are:
 0: Motors 1 – 8
 1: Motors 9 – 16
 2: Motors 17 – 24
 3: Motors 25 – 32
Note:
In Turbo PMAC firmware versions 1.934 and older, this function was controlled
commonly for all ports by global I-variable I59.
See Also:
I-variable I59
On-line commands <CTRL-B>, <CTRL-F>, <CTRL-P>, <CTRL-V>, ##{constant}
##{constant}
Function: Select port’s motor group
Scope: Port specific
Syntax: ##{constant}
where:
 {constant} is an integer from 0 to 3 representing the motor group
This command selects the group of eight motors whose data will be supplied in response to subsequent
<CTRL-B> (report motor status words), <CTRL-F> (report motor following errors), <CTRL-P> (report
motor positions), and <CTRL-V> (report motor velocities) commands issued on this same port. It does
not affect the behavior of these commands issued on any other port.
Note:
This is not related to the individual motor addressed with the # command, and
reported with the #{constant} command