Reference Manual

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PMAC 2 Software Reference

188 PMAC On-Line Command Specification

Function

Halt program execution at end of currently executing move

Scope

Coordinate-system specific

Syntax

Remarks

This command causes PMAC to halt the execution of the motion program running in the

currently addressed coordinate system at the end of the currently executing move, provided

PMAC is in segmentation mode (I13>0). If PMAC is not in segmentation mode (I13=0), the

/ command has the same effect as the Q command, halting execution at the end of the latest

calculated move, which can be 1 or 2 moves past the currently executing move.

If the coordinate system is currently executing moves with the special lookahead function

(Option 6L firmware only), motion will stop at the end of the move currently being added to

the lookahead buffer. This is not necessarily the move that is currently executing from the

lookahead buffer, and there can be a significant delay before motion is halted. Acceleration

limits will be observed while ramping down to a stop at the programmed point.

Once halted at the end of the move, program execution can be resumed with the R command.

In the meantime, the individual motors may be jogged way from this point, but they must all

be returned to this point using the J= command before program execution may be resumed.

An attempt to resume program execution from a different point will result in an error

(ERR017 reported if I6 = 1 or 3). If resumption of this program from this point is not

desired, the A (abort) command should be issued before other programs are run.

Example

&1B5R ............... ; Command C.S. 1 to start PROG 5

/......................... ; Halt execution of program

#1J+.................. ; Jog Motor 1 positive

J/ ...................... ; Stop jogging

J= ...................... ; Return to prejog position

R......................... ; Resume execution of PROG 5

/......................... ; Halt program execution

#2J-.................. ; Jog Motor 2 negative

J/ ...................... ; Stop jogging

R......................... ; Try to resume execution of PROG 5

<BELL>ERR017 ; PMAC reports error; not at position to resume

J= ...................... ; Return to prejog position

R ; Resume execution of PROG 5