Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC On-line Command Specification 340
Closed-loop control of this motor can be resumed with a J/ command. The A command will re-establish
closed-loop control for all motors in the addressed coordinate system, and the <CTRL-A> command will
do so for all motors on Turbo PMAC.
The action on a K command is equivalent to what Turbo PMAC does automatically to the motor on an
amplifier fault or a fatal following error fault.
Turbo PMAC will reject this command if the motor is in a coordinate system that is currently running a
motion program (reporting ERR001 if I6 is 1 or 3). The program must be stopped first, usually with an A
command. However, the global <CTRL-K> command will kill all motors immediately, regardless of
whether any are running motion programs.
Example:
K ; Kill the addressed motor
#1K ; Kill Motor 1
J/ ; Re-establish closed-loop control of Motor 1
See Also:
Amplifier Fault, Following Error Limits, Stop Commands (Making an Application Safe)
I-variables Ixx29, Ixx79
On-line commands <CTRL-A>, <CTRL-K>, A, Q, H, J/
Jumpers E17, E17A-E17H
LEARN
Function: Learn present commanded position
Scope: Coordinate-system specific
Syntax: LEARN[({axis}[,{axis}...]]
[({axis}[,{axis}...]]
where:
 {axis} (optional) is a character (X, Y, Z, A, B, C, U, V, W) specifying which axis’ position is to be
learned. If none are listed, the positions for all axes are learned.
No spaces are permitted in this command.
This command causes Turbo PMAC to add a line to the end of the open motion program buffer containing
axis position commands equal to the current commanded positions for some or all of the motors defined in
the addressed coordinate system. In this way Turbo PMAC can learn a sequence of points to be repeated by
subsequent execution of the motion program.
If no motion program buffer is open, or if the motion program buffer that is open has been opened from
another port, Turbo PMAC will reject this command and report an error (ERR003 if I6=1 or 3).
Turbo PMAC effectively performs a PMATCH function, reading motor commanded positions and
inverting the axis definition equations to compute axis positions.
If axis names are specified in the LEARN command, only position commands for those axes are used in
the line added to the motion program. If no axis names are specified in the learn command, position
commands for all nine possible axis names are used in the line added to the motion program. The
position command for an axis with no motor attached (“phantom” axis) will be zero.
Note:
If a motor is closed loop, the learned position will differ from the actual position
by the amount of the position following error because commanded position is used.
If a motor is open-loop or killed, Turbo PMAC automatically sets motor
commanded position equal to motor actual position, so the LEARN function can be
used regardless of the state of the motor.