Reference Manual

PMAC 2 Software Reference
PMAC On-Line Command Specification 201
If PMAC is executing moves inside the special lookahead buffer when this command is
received (Option 6L firmware only), the rate of deceleration is the fastest that does not
exceed the Ix17 acceleration limit or any motor. In lookahead mode, reversal along the path
is also then possible with the < command.
Example
&1B5R ............... ; Command C.S. 1 to start PROG 5
\......................... ; Command feed hold of program
#1J+.................. ; Jog Motor 1 positive
J/ ...................... ; Stop jogging (examine part here)
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
See Also
Stop Commands (Making Your Application Safe)
I-variables I6, I13, I52, Ix95
On-line commands R, J=, Q, A, /, H
A
Function
Abort all programs and moves in the currently addressed coordinate system.
Scope
Coordinate-system specific
Syntax
A
Remarks
This command causes all axes defined in the current coordinate system to begin immediately
to decelerate to a stop, aborting the currently running motion program (if any). It also brings
any disabled (killed) or open-loop motors (defined in the current coordinate system) to an
enabled zero-velocity closed-loop state.
If moving, each motor will decelerate its commanded profile at a rate defined by its own
motor I-variable Ix15. If there is significant following error when the A command is issued,
it may take a long time for the actual motion to stop. Although the command trajectory is
brought to a stop at a definite rate, the actual position will continue to catch up to the
commanded position for a longer time.
Note that a multi-axis system may not stay on its programmed path during this deceleration.
Note:
Abort commands are not meant to be recovered from gracefully. If
you wish to resume easily, us the H, Q, /, or \ command instead.
Motion program execution may resume (if a motion program was in fact aborted) by issuing
either an R or S command, but two factors must be considered. First, the starting positions
for calculating the next move will be the original end positions of the aborted move unless
the PMATCH command is issued or I14=1. Second, the move from the aborted position to the
next move end position may not be possible or desirable. The J= command may be used to
jog each motor in the coordinate system to the original end position of the aborted move,
provided I13 is 0 (no segmentation mode).
Example
B1R .................... ; Start Motion Program 1
A......................... ; Abort the program
#1J=#2J= ........ ; Jog motors to original move-end position
R ; Resume program with next move