Reference Manual

PMAC/PMAC2 Software Reference Manual
PMAC Command and Variable Summary 1
PMAC COMMAND AND VARIABLE SUMMARY
Notes
PMAC syntax is not case sensitive.
Spaces are not important in PMAC syntax, except where noted
{} – item in {} can be replaced by anything fitting definition
[] – item in [] is optional to syntax
[{item}...] – indicates previous item may be repeated in syntax
[..{item}] – the periods are to be included in the syntax to specify a range
() – parentheses are to be included in syntax as they appear
Definitions
constant – numerically specified non-changing value
variable – entity that holds a changeable value
I-variable – variable of fixed meaning for card setup and personality (1 of 1024)
P-variable – global variable for programming use (1 of 1024)
Q-variable – local var. (in coord. sys.) for programming use (1 of 1024)
M-variable – variable assigned to memory location for user use (1 of 1024)
pre-defined variable – mnemonic that has fixed meaning in card
function – SIN,COS,TAN,ASIN,ACOS,ATAN,ATAN2,LN,EXP,SQRT,ABS,INT
operator – for arithmetic or bit-by-bit logical combination of two values:
+, -, *, /, % (mod), & (and), | (or), ^ (xor)
expression – grouping of constants, variables, functions, and operators
data – constant w/out parentheses, or expression w/ parentheses
comparator – evaluates relationship between two values: =, !=, >, !>, <, !<, ~, !~
condition – evaluates as true or false based on comparator(s)
simple condition – {expression} {comparator} {expression}
compound condition – logical combination of simple conditions
motor – element of control for hardware setup; specified by number
coordinate system – collections of motors working synchronously
axis – element of a coordinate system; specified by letter chosen from X, Y, Z, A, B, C, U, V, W
buffer – space in user memory for program or list; contains up to 256 motion programs and 32
PLC blocks
On-Line Commands
(Executed immediately upon receipt by PMAC)
On-line Global Commands
Addressing Mode Commands
@n – Address card n (n is hex digit 0 to f); serial host only
@ – Report currently addressed card to host; serial host only
#n – Make Motor n currently addressed motor
# – Report currently addressed motor number to host
&n – Make coord. sys. n the currently addressed coord. sys.
& – Report currently addressed coordinate system to host
Communications Control Characters
<CTRL-H> – Erase last character from host (backspace)
<CTRL-I> – Repeat last command from host (tab)
<CTRL-M> – End of command line (carriage return)