Reference Manual

PMAC 2 Software Reference
PMAC On-Line Command Specification 183
M-variable definitions, P-variable values, Q-variable values, and axis definitions are not
affected by this command. They can be cleared by separate commands (e.g. M0..1023-
>*, P0..1023=0, Q0..1023=0, UNDEFINE ALL).
This command is particularly useful if the program buffers have become corrupted. It clears
the buffers and buffer pointers so the files can be re-sent to PMAC. Regular backup of
parameters and programs to the disk of a host computer is strongly encouraged so this type of
recovery is possible. The PMAC Executive program has Save Full PMAC Configuration and
Restore Full PMAC Configuration functions to make this process easy.
With jumper E51 in non-default state (ON for PMAC-PC, -Lite, -VME, OFF for PMAC-
STD), a PMAC with the Option CPU section (option 4A, 5A, or 5B) enters a special re-
initialization mode called “bootstrap mode” when this command is given. This mode permits
the downloading of new firmware (see PMAC PROM SOFTWARE UPDATE LISTING for
details of this mode). In this mode, there are very few command options. To bypass the
download operation in this mode, send a <CONTROL-R> character to PMAC. This puts
PMAC in the normal operational mode with the existing firmware. Factory default values for
I-variables, conversion table settings, and bus addresses for DPRAM and VME are copied
from the firmware section of flash memory into active memory. The saved values of these
values are not used, but they are still kept in the user section of flash memory.
Example
I130=60000 ... ; Set #1 proportional gain
SAVE.................. ; Save to non-volatile memory
$$$***............. ; Reset and re-initialize card
I130.................. ; Request value of I130
2000.................. ; PMAC reports current value, which is default
$$$ .................... ; Normal reset of card
I130.................. ; Request value of I130
60000 ; PMAC reports current value, which is SAVEd value
See Also
On-line command $$$;
PMAC PROM Software Update Listing
Jumper E51
PMAC Executive Program Save/Restore Full Configuration.
$*
Function
Read motor absolute position
Scope
Motor specific
Syntax
$*
Remarks
The $* command causes PMAC to perform a read of the absolute position for the addressed
motor, as defined by Ix10 for the motor. It performs the same actions that are normally
performed during the board’s power-up/reset cycle.
The $* command performs the following actions on the addressed motor:
• The motor is killed (servo loop open, zero command, amplifier disabled).
• If the motor is set up for local hardware encoder position capture by input flags, with bit
16 of Ix03 set to 0 to specify hardware capture, and bit 18 of Ix25 set to 0 to specify local,
not MACRO, flag operation (these are default values), the hardware encoder counter for
the same channel as the flag register specified by Ix25 is set to 0 (e.g. if Ix25 specifies
flags from channel 3, then encoder counter 3 is cleared).
• The motor home complete status bit is cleared.