Reference Manual

PMAC 2 Software Reference
PMAC On-Line Command Specification 175
1......................... ; PMAC responds
<CTRL-U> ........ ; Open rotary buffer
X10 Y20 F5 M3 ; Put program line in buffer
X30 Y40 F5 ; Put program line in buffer
See Also
Rotary Motion Program Buffers (Writing a Motion Program)
On-line commands <CTRL-L>, OPEN ROT, CLOSE
<CONTROL-V>
Function
Report velocity of all motors.
Scope
Global
Syntax
ASCII Value 22D; $16
Remarks
This command causes PMAC to report the velocities of all motors to the host. The velocity
units are in encoder counts per servo cycle, rounded to the nearest tenth. The <F7> velocity
window in the PMAC Executive program works by repeatedly issuing the <CTRL-V>
command and displaying the response on the screen.
To scale these values into counts/msec, multiply the response by 8,388,608*(Ix60+1)/I10
(servo cycles/msec).
Note:
The velocity values reported here are obtained by subtracting positions
of consecutive servo cycles. As such, they can be very noisy. For
purposes of display, it is probably better to use averaged velocity
values held in registers Y:$082A, Y:$08EA, etc., accessed with M-
variables
For multiple cards on a single serial daisy-chain, this command affects only the card
currently addressed in software (@n).
See Also
I-variable I10, Ix60
On-line commands <CTRL-F>, <CTRL-P>, V
Memory registers X:$0033, X:$006F, etc.
Suggested M-variable definitions Mx66
<CONTROL-X>
Function
Cancel in-process communications.
Scope
Global
Syntax
ASCII Value 24D; $18
Remarks
This command causes the PMAC to stop sending any messages that it had started to send,
even multi-line messages. This also causes PMAC to empty the command queue from the
host, so it will erase any partially sent commands.
It can be useful to send this before sending a query command for which you are expecting an
exact response format, if you are not sure what PMAC has been doing before, because it
makes sure nothing else comes through before the expected response. As such, it is often the
first character sent to PMAC from the host when trying to establish initial communications.
In addition, many Delta Tau communications routines start by sending a <CTRL-X>
command to ensure that there is no previously pending response that could confuse the host
software.