Reference Manual

Turbo PMAC/PMAC2 Software Reference

Turbo PMAC Program Command Specification 424

Also, commands that generate a response to the host (including errors if I6 is not equal to 2) potentially

can fill up the response queue if there is no host or the host is not prepared to read the responses. This

will temporarily halt program execution until the response queue is emptied. In standalone applications,

it is a good idea to set I1 to 1, disabling the serial handshake, so any responses can be sent out the serial

port (the default response port) at any time, even if there is no host to receive it.

In a PLC program, it is a good idea to have at least one of the conditions that caused the command

issuance to occur set false immediately. This will prevent the same command from being issued again on

succeeding scans of the PLC, overflowing the command and/or response queues. Typically in a motion

program, the time between moves prevents this overflow unless there are a lot of commands and the

moves take a very short time.

Turbo PMAC will not issue an acknowledging character (<ACK> or <LF>) to a valid command issued

from a program. It will issue a <BELL> character for an invalid command issued from a program unless

I6 is set to 2. It is a good idea to have I6 not set to 2 in early development so it is known when Turbo

PMAC has rejected such a command. Setting I6 to 2 in the actual application can prevent program hang-

up from a full response queue, or from disturbing the normal host communications protocol.

Examples:

CMD^D would disable all PLC programs (equivalent to issuing a <CONTROL-D> from the host).

CMD^K would kill (disable) all motors on Turbo PMAC

CMD^A would stop all programs and moves on Turbo PMAC, also closing any loops that were open.

CMDS^P would cause Turbo PMAC to report the positions for 8 motors to the main serial port