Reference Manual

ManualsBrandsDelta Tau ManualsControllersDelta Tau PMAC2 PCI

271

272

273

274

275

276

277

278

279

280

Turbo PMAC/PMAC2 Software Reference

Turbo PMAC On-line Command Specification 274

M-variable definitions, P-variable values, Q-variable values, and axis definitions are not affected by this

command. They can be cleared by separate commands (e.g. M0..8191->*, P0..8191=0,

Q0..8191=0, UNDEFINE ALL).

This command is particularly useful if the program buffers have become corrupted. It clears the buffers

and buffer pointers so the files can be re-sent to Turbo PMAC. Regular backup of parameters and

programs to the disk of a host computer is strongly encouraged so this type of recovery is possible. The

PMAC Executive program has Save Full Turbo PMAC Configuration and Restore Full Turbo PMAC

Configuration functions to make this process easy.

Example:

I130=60000 ; Set #1 proportional gain

SAVE ; Save to non-volatile memory

$$$*** ; Reset and re-initialize card

I130 ; Request value of I130

2000 ; Turbo PMAC reports current value, which is default

$$$ ; Normal reset of card

I130 ; Request value of I130

60000 ; Turbo PMAC reports last saved value

See Also:

On-line command $$$, PASSWORD={string};

Jumper E3 (PMAC2), E51 (PMAC)

PMAC Executive Program Save/Restore Full Configuration.

$$*

Function: Read motor absolute positions

Scope: Coordinate system specific

Syntax: $$*

The $$* command causes PMAC to perform a read of the absolute positions for all motors in the

addressed coordinate system that require an absolute position read (Ixx10 > 0), as defined by Ixx10 and

Ixx95 for the motor. This command performs the same actions in reading the absolute position data that

are normally performed during the board’s power-up/reset cycle if Ixx80 bit 2 is set to the default of 0.

The action of this command is equivalent to that of a motor-specific $* command to each motor in the

coordinate system. Refer to the $* command description for the exact actions of this command.

Function: Read motor absolute position

Scope: Motor specific

Syntax: $*

The $* command causes PMAC to perform a read of the absolute position for the addressed motor, as

defined by Ixx10 and Ixx95 for the motor. It performs the same actions that are normally performed

during the board’s power-up/reset cycle.

The $* command performs the following actions on the addressed motor:

 The motor is killed (servo loop open, zero command, amplifier disabled).

 If the motor is set up for local hardware encoder position capture by input flags, with bit 0 of Ixx97

set to 0 to specify hardware capture, and bit 18 of Ixx24 set to 0 to specify local, not MACRO, flag

operation (these are default values), the hardware encoder counter for the same channel as the flag

counter 3 is cleared).