Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC On-line Command Specification 403
W{address}
Function: Write values to a specified address(es).
Scope: Global
Syntax: W{address},{value} [,{value}...]
where:
 {address} consists of a letter X, Y, or L; an option colon (:); and an integer value from , $000000
to $FFFFFF (0 to 16,777,215); specifying the starting Turbo PMAC memory or I/O address to be
read;
 {constant} is an integer, specified in decimal or hexadecimal, specifying the value to be written
to the specified address;
 further {constants} specify integer values to be written into subsequent consecutive higher
addresses
This command causes Turbo PMAC to write the specified {constant} value to the specified memory
word address, or if a series of {constant} values is specified, to write them to consecutive memory
locations starting at the specified address (it is essentially a memory POKE command). The command
can specify either short (24-bit) words in Turbo PMAC’s X-memory, short (24-bit) words in Turbo
PMAC's Y-memory, or long (48-bit) words covering both X and Y memory (X-word more significant).
This choice is controlled by the use of the X, Y, or L address prefix in the command, respectively.
Example:
WY:$078002,4194304 ; This should put 5V on DAC2
; (provided I200=0 so servo does not overwrite)
WY$003501,$078000,$078004,$078008,$07800C
; This writes the first four entries to the
; encoder conversion table
See Also:
On-line command R[H]{address}
Memory and I/O Map.
Z
Function: Make commanded axis positions zero.
Scope: Coordinate-system specific
Syntax: Z
This command causes Turbo PMAC to re-label the current commanded axis positions for all axes in the
coordinate system as zero. It does not cause any movement; it merely re-names the current position.
This command is simply a short way of executing {axis}=0 for all axes in the coordinate system.
PSET X0 Y0 (etc.) is the equivalent motion program command.
This does not set the motor position registers to zero; it changes motor position bias registers to reflect the
new offset between motor zero positions and axis zero positions. However, the motor reported positions
will reflect the new bias, and report positions of zero (+/- the following error)
Example:
<CTRL-P> ; Ask for reported motor positions
2001 5002 3000 0 0 0 0 0 ; Turbo PMAC reports positions
Z ; Zero axis positions
<CTRL-P> ; Ask for reported motor positions again
1 2 -1 0 0 0 0 0 ; Turbo PMAC responds