Reference Manual

PMAC 2 Software Reference
200 PMAC On-Line Command Specification
power-up/reset, Board @0 is addressed.
I1 must be set to 2 or 3 for this command to be accepted. Otherwise, ERR003 is reported.
To address all cards simultaneously, use the @@ command. Query commands (those
requiring a data response) will be rejected in this mode.
This command should be used only when multiple PMAC cards are connected on a single
serial cable. In this case, I-variable I1 should be set to 2 or 3 on all boards. A board’s card
number is selected by jumpers E40-E43 (PMAC-PC, -Lite, -VME) or switches SW1-1 to
SW1-4 (PMAC-STD).
Note:
While not required, it is best to give a <CR> after an @{card}
command before any other command, in order to give the formerly
addressed card time to “tri-state” its outputs so as not to interfere with
responses from the newly addressed card.
Example
I1=2@0............. ; This sequence can be used the first time talking to multiple cards
........................... on a chain to put them in the proper configuration
@0
#1J+.................. ; Jog motor 1 of Card 0.
@5
P20 .................... ; Request the value of P20 on card @5
@@R ; All cards, addressed C.S. run active program
See Also
Addressing Commands (Talking to PMAC)
Multiple-Card Applications (Synchronizing PMAC to External Events)
I-variable I2
On-line commands #, &, &{constant}, @
Jumpers E40-E43 (PMAC-PC, -Lite, -VME)
Switches SW1-1 to SW1-4 (PMAC-STD)
\
Function
Do a program hold (permitting jogging while in hold mode)
Scope
Coordinate-system specific
Syntax
\
Remarks
This command causes PMAC to do a program hold of the currently addressed coordinate
system in a manner that permits jogging of the motors in the coordinate system while in hold
mode, provided PMAC is in a segmented move (LINEAR or CIRCLE mode with I13>0). If
PMAC is in segmentation mode (I13=0, or other move mode), the \ command has the same
effect as the H command, bringing the motors to a stop in the same way, but not permitting
any moves while in feed hold mode.
The rate of deceleration to a stop in program hold mode, and from a stop on the subsequent R
command, is controlled by I-variable I52. This global I-variable controls the rate for all
coordinate systems.
Once halted in hold mode, 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.