Reference Manual

PMAC 2 Software Reference
172 PMAC On-Line Command Specification
PMAC sends:..... <121dec> (121 = 74[J] + 47[/]; correct)
Host sends:......... <CR>
PMAC sends:..... <ACK><121dec> (handshake and checksum again)
See Also
Communications Checksum (Writing a Host Communications Program)
I-variables I3, I4
On-line commands <CTRL-M> (<CR>), <CTRL-X>
<CONTROL-O>
Function
Feed hold on all coordinate systems.
Scope
Global
Syntax
ASCII Value 15D; $0F
Remarks
This command causes all coordinate systems in PMAC to undergo a feed ho
ld. A feed hold
is much like a %0 command where the coordinate system is brought to a stop without
deviating from the path it was following, even around curves. However, with a feed hold, the
coordinate system slows down at a slew rate determined by Ix95, and can be started up again
with an R (run)command. The system then speeds up at the rate determined by Ix95, until it
reaches the desired value (from internal or external timebase). From then on, any timebase
changes occur at a rate determined by Ix94.
For multiple cards on a single serial daisy-chain, this command affects all cards on the chain,
regardless of the current software addressing.
On a flash memory PMAC that is in bootstrap mode (powered up with E51 ON), the
<CTRL-O> command puts PMAC into its firmware reload command. All subsequent
characters sent to PMAC are interpreted as bytes of machine code for PMAC’s operational
firmware, overwriting the existing operational firmware in flash memory.
See Also
Resetting PMAC (Talking to PMAC)
I-variables I52, Ix94, Ix95
On-line commands <CTRL-H> (backspace) H (feedhold), R (run), % (feedrate override), \
(program hold).
Jumper E51
<CONTROL-P>
Function
Report positions of all motors.
Scope
Global
Syntax
ASCII Value 16D; $10
Remarks
This command causes the positions of all motors to be reported to the host. The positions are
reported as an ASCII string, scaled in counts, rounded to the nearest tenth of a count, with a
space character in between each motor’s position.
The position window in the PMAC Executive program works by repeatedly sending the
<CTRL-P> command and rearranging the response into the window.
PMAC reports the value of the actual position register plus the position bias register plus the
compensation correction register, and if bit 16 of Ix05 is 1 (handwheel offset mode), minus
the master position register.
For multiple cards on a single serial daisy-chain, this command affects only the card
currently addressed in software (by the @n command).