Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC On-line Command Specification 284
other times, changing from 1 to 0 when the motor's following error reduces to under the limit, or if killed,
is re-enabled.
Bit 0 In Position: This bit is 1 when five conditions are satisfied: the loop is closed, the desired
velocity zero bit is 1 (which requires closed-loop control and no commanded move); the program timer is
off (not currently executing any move, DWELL, or DELAY), the magnitude of the following error is
smaller than Ixx28 and the first four conditions have been satisfied for (Ixx88+1) consecutive scans.
Example:
#1? ; Request status of Motor 1
81200001C401 ; PMAC responds with 12 hex digits representing 48 bits
; The following bits are true (all others are false):
; Word 1 Bit 23: Motor Activated
; Bit 16: Integration Mode
; Bit 13: Desired Velocity Zero
; Word 2 (Bits 20-23 all 0 – assigned to C.S.1)
; (Bits 16-19 form 1 – assigned to A-axis)
; Bit 15: Assigned to Coordinate System
; Bit 14: Amplifier Enabled
; Bit 10: Home Complete
; Bit 0: In Position
See Also:
On-line commands <CTRL-B>, ??, ???
Memory-map registers X:$0000B0, X:$000130, etc., Y:$0000C0, Y:$000140, etc.;
Suggested M-Variable definitions Mxx30-Mxx45.
??
Function: Report the status words of the addressed coordinate system.
Scope: Coordinate-system specific
Syntax: ??
This command causes Turbo PMAC to report status bits of the addressed coordinate system as an ASCII
hexadecimal word. Turbo PMAC returns eighteen characters, representing three 24-bit status words.
Each character represents four status bits. The first character represents bits 20-23 of the first word; the
second shows bits 16-19; and so on, to the sixth character representing bits 0-3. The seventh character
represents bits 20-23 of the second word; the twelfth character represents bits 0-3.
If the Turbo PMAC is in bootstrap mode (suitable for the downloading of new firmware) instead of the
normal operational mode, its response to this command will simply be BOOTSTRAP PROM.
The value of a bit is 1 when the condition is true; 0 when it is false. The meanings of the individual bits are:
First Word Returned (X:$002040, X:$0020C0, etc.)
First character returned:
Bit 23 Z-Axis Used in Feedrate Calculations: This bit is 1 if this axis is used in the vector feedrate
calculations for F-based moves in the coordinate system; it is 0 if this axis is not used. See the FRAX
command.
Bit 22 Z-Axis Incremental Mode: This bit is 1 if this axis is in incremental mode -- moves specified by
distance from the last programmed point. It is 0 if this axis is in absolute mode -- moves specified by end
position, not distance. See the INC and ABS commands.
Bit 21 Y-Axis Used in Feedrate Calculations: (See bit 23 description.)
Bit 20 Y-Axis Incremental Mode: (See bit 22 description.)
Second character returned:
Bit 19 X-Axis Used in Feedrate Calculations: (See bit 23 description.)
Bit 18 X-Axis Incremental Mode: (See bit 22 description.)