Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC On-line Command Specification 402
This command returns filtered velocity values, with the filter time constant controlled by global variables
I60 and I61. It does not report the raw velocity register calculated by the servo loop each servo cycle.
Example:
V ; Request actual velocity of addressed motor
21.9 ; Turbo PMAC responds with 21.9 cts/cycle
; (*8,388,608/3,713,707 = 49.5 cts/msec)
#6V ; Request velocity of Motor 6
-4.2 ; Turbo PMAC responds
#5V#2V ; Request velocities of Motors 5 and 2
0 ; Turbo PMAC responds with Motor 5 first
7.6 ; Turbo PMAC responds with Motor 2 second
See Also:
I-variables I10, Ixx09, Ixx60
On-line commands <CTRL-V>, F, P
VERSION
Function: Report PROM firmware version number
Scope: Global
Syntax: VERSION
VER
This command causes Turbo PMAC to report the firmware version it is using.
When a Turbo PMAC is in bootstrap mode (powering up with bootstrap jumper on) for re-load of the
operational firmware, Turbo PMAC will report the version of the bootstrap firmware, not the operational
firmware. Otherwise, it will report the operational firmware version.
Example:
VERSION ; Ask Turbo PMAC for firmware version
1.934 ; Turbo PMAC responds
See Also:
Resetting Turbo PMAC (Talking to Turbo PMAC)
On-line command DATE, EAVERSION, TYPE
VID
Function: Report vendor identification number
Scope: Global
Syntax: VID
This command causes Turbo PMAC to return the vendor ID number. For a Delta Tau product such as the
Turbo PMAC, the vendor ID number is 1. This command is part of a multi-vendor identification
architecture for the MACRO ring.
See Also:
Commands CID, IDNUMBER, SID, VID