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Reference Manual

ManualsBrandsDelta Tau ManualsControllersDelta Tau TURBO PMAC2 PCI
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Turbo PMAC/PMAC2 Software Reference
Turbo PMAC On-line Command Specification 388
See Also:
Further Position Processing (Setting Up a Motor)
Axes, Coordinate Systems (Setting Up a Coordinate System)
I-variable Ixx06
PR
Function: Report Rotary Program Remaining
Scope: Coordinate-system specific
Syntax: PR
This command causes Turbo PMAC to report the number of program lines that have been entered in the
rotary buffer for the addressed coordinate system but have not yet been executed (program remaining).
This command can be useful for finding out if it is time to send new lines to the buffer. The value
returned is accurate only if the rotary program buffer is open.
Example:
B0 ; Point to rotary buffer
OPEN ROT ; Open rotary buffer
X10F10 ; Enter first line
X20 ; Enter second line
X30 ; Enter third line
X40 ; Enter fourth line
PR ; Ask for program remaining
4 ; Turbo PMAC responds that four lines remain
R ; Start running the program
PR ; Ask for program remaining
2 ; Turbo PMAC responds that two lines remain
See Also:
Rotary Program Buffers (Writing and Executing Motion Programs)
BREQ interrupt (Using Interrupts -- Writing a Host Communications Program)
I-variables I16, I17
Q
Function: Quit Program at End of Move
Scope: Coordinate-system specific
Syntax: Q
This causes the currently addressed coordinate system to cease execution of the program either at the end
of the currently executing move, or at the end of the last move that has been calculated.
If the coordinate system is in segmentation mode (Isx13 > 0) without buffered lookahead (Isx20 = 0),
execution will stop at the end of the currently executing move, even if the next move has already been
calculated. In this mode, if axes are jogged away, they must be returned to the quit point with the J=
command before program execution is resumed. Otherwise, Turbo PMAC will reject the resumption
command, reporting ERR017 if I6 = 1 or 3.
If the coordinate system is executing with buffered lookahead (Isx13 > 0, Isx20 > 0), no more moves will
be added to the lookahead buffer, but all moves in the lookahead buffer will be executed.
If the coordinate system is not in segmentation mode (Isx13 = 0), execution will stop either at the end of
the currently executing move, or if one more move has already been calculated, at the end of that move.
The program counter is set to the next line in the program, so execution may be resumed at that point with
an R or S command.
Example: