Reference Manual

PMAC 2 Software Reference

166 PMAC On-Line Command Specification

PMAC ON-LINE COMMAND SPECIFICATION

<CONTROL-A>

Function

Abort all programs and moves.

Scope

Global

Syntax

ASCII Value 1D; $01

Remarks

This command aborts all motion programs and stops all non-program moves on the card. It

also brings any disabled or open-loop motors to an enabled zero-velocity closed-loop state.

Each motor will decelerate at a rate defined by its own motor I-variable Ix15. However, a

multi-axis system may not stay on its programmed path during this deceleration.

A <CTRL-A> stop to a program is not meant to be recovered from gracefully, because the

axes will in general not stop at a programmed point. The next programmed move will not

behave properly unless a PMATCH command is given or I14 is set to 1 (these cause PMAC to

use the aborted position as the move start position). Alternately, an on-line J command may

be issued to each motor to cause it to move to the end point that was programmed when the

abort occurred. Then the program(s) can be resumed with an R (run) command.

To stop a motion sequence in a manner that can be recovered from easily, use instead the

Quit (Q or <CTRL-Q>) or the Hold (H or <CTRL-O>) command.

When PMAC is set up to power on with all motors killed (Ix80 = 0), this command can be

used to enable all of the motors (provided that they are not commutated by PMAC – in that

case, each motor should be enabled with the $ command).

For multiple cards on a single serial daisy-chain, this command affects all cards on the chain,

regardless of the current software addressing.