Reference Manual

PMAC 2 Software Reference
206 PMAC On-Line Command Specification
Remarks
This command is the equivalent of P0={constant}. That is, a value entered by itself on a
command line will be assigned to P-variable P0. This allows simple operator entry of
numeric values through a dumb terminal interface. Where the value goes is hidden from the
operator; the PMAC user program must take P0 and use it as appropriate.
Note:
If a special table on PMAC (e.g. STIMULUS, COMP) has been defined
but not filled, a constant value will be entered into this table, not into
P0.
Example
In a motion program:
P0=-1 ............... ; Set P0 to an “illegal” value
SEND”Enter number of parts in run:”
........................... ; Prompt operator at dumb terminal
........................... ; Operator simply needs to type in number
WHILE (P0<1) WAIT ; Hold until get legal response
P1=0.................. ; Initialize part counter
WHILE (P0<P1) ; Loop once per part
P1=P1+1
...
See Also
On-line commands OPEN COMP, OPEN STIMULUS, P{constant}={expression}
DATE
Function
Report PROM firmware revision date.
Scope
Global
Syntax
DATE
DAT
Remarks
This command causes PMAC to report the revision date of the PROM firmware revision it is
using. The date is reported in the American style: mm/dd/yy (month/day/year).
Example
DATE ;Ask PMAC for firmware revision date
07/22/92 ;PMAC responds with July 22, 1992
See Also
On-line command VERSION, TYPE
DEFINE BLCOMP
Function
Define backlash compensation table
Scope
Motor specific
Syntax
DEFINE BLCOMP {entries},{count length}
DEF BLCOMP {entries},{count length}
where:
• {entries} is a positive integer constant representing the number of values in the table;
• {count length} is a positive integer representing the span of the table in encoder
counts of the motor.
Remarks
This command establishes a backlash compensation table for the addressed motor. The next
{entries} constants sent to PMAC will be placed into this table. The last item on the
command line {count length} specifies the span of the backlash table in encoder counts
of the motor. In use, if the motor position goes outside of the range 0 to count-length, the
position is rolled over to within this range before the compensation is computed. The spacing
between entries in the table is {count length} divided by {entries}.