Reference Manual

PMAC 2 Software Reference
PMAC On-Line Command Specification 181
$
Function
Reset motor
Scope
Motor specific
Syntax
$
Remarks
This command causes PMAC to initialize the addressed motor, performing any required
commutation phasing and full reading of an absolute position sensor, leaving the motor in a
closed-loop zero-velocity state. (For a non-commutated motor with an incremental encoder,
the J/ command may also be used.)
This command is necessary to initialize a PMAC-commutated motor after power-up/reset if
Ix80 for the motor is set to 0. If Ix80 is 1, the initialization will be done automatically during
the power-up/reset cycle.
This command will not be accepted if the motor is executing a move.
Example
I180.................. ; Request value of #1 power-on mode variable
0......................... ; PMAC responds with 0; powers on unphased and killed
$$$ .................... ; Reset card; motor is left in killed state
#1$ ; Initialize motor, phasing and reading as necessary
See Also
Absolute Sensors (Setting Up a Motor)
Power-on Phasing (Setting Up PMAC Commutation)
I-variables Ix10, Ix73, Ix74, Ix75, Ix80, Ix81
On-line commands $$$, J/
$$$
Function
Full card reset.
Scope
Global
Syntax
$$$
Remarks
This command causes PMAC to do a full card reset. The effect of $$$ is equivalent to that
of cycling power on PMAC, or taking the INIT/ line low, then high.
With jumper E51 in its default state (OFF for PMAC-PC, -Lite, -VME, ON for PMAC-STD),
this command does a standard reset of the PMAC. On PMACs without the Option CPU
section (not option 4A, 5A, or 5B), I-variable values, conversion-table settings, and DPRAM
and VMEbus addresses stored in permanent memory (EAROM) by the last SAVE command
are reloaded into active memory (RAM). All information stored in battery backed RAM
such as P-variable and Q-variable values, M-variable definitions, and motion and PLC
programs are not changed by this command.
On PMACs with the Option CPU section (option 4A, 5A, or 5B), PMAC copies the contents
of the flash memory into active memory during a normal reset cycle, overwriting any current
contents. This means that anything changed in PMAC’s active memory that was not saved to
flash memory will be lost. Even the last saved P-variable and Q-variable values, M-variable
definitions, and motion and PLC programs are copied from flash to RAM during the reset
cycle.