Reference Manual

PMAC/PMAC2 Software Reference Manual
6 PMAC Command and Variable Summary
Reporting Commands
P – Report position of motor
V – Report velocity of motor
F – Report following error of motor
? – Report status words for motor in hex ASCII form
Buffer Control Commands
DEFINE BLCOMP {entries},{count length} – Establish backlash compensation table
for motor; to be filled by specified
number of values
DELETE BLCOMP – Erase backlash compensation table for motor
DEFINE COMP {entries},[#{source},[#{target},]],{count length} –
Establish leadscrew compensation table for motor; to be filled by specified number
of values
DEFINE COMP{rows}.{columns},[#{source1},[#{source2},
[#{target},]]],{row count length},{column count length} – Establish
two dimensional leadscrew compensation table for motor; to be filled by specified number of
values
DELETE COMP – Erase leadscrew compensation table for motor.
DEFINE TCOMP {entries},{count length} – Establish torque compensation table for
motor; to be filled by specified number
of values .
DELETE TCOMP – Erase torque compensation table for motor.
Motion Program Commands
Move Commands
{axis}{data}[{axis}{data}...] – Simple movement statement; can be used in
LINEAR, RAPID or SPLINE modes
Example: X1000 Y(P1) Z(P2*P3)
{axis}{data}:{data}[{axis}{data}:{data}...] – Position:velocity move; to be
used only in PVT mode
Example: X5000:750 Y3500:(P3) A(P5+P6):100
{axis}{data}^{data}[{axis}{data}^{data}...] – Move until trigger, variant of
RAPID mode
{axis}{data}[{axis}{data}...][{vector}{data}...] – Circle move;
to be used only in circular mode; vector is to circle center
Example: X2000 Y3000 Z1000 I500 J300 K500
DWELL{data} – Keep same commanded position; fixed time base
DELAY{data} – Keep same commanded position; variable time base
HOME{constant}[,{constant}...] – Home specified motor(s)
HOMEZ{constant}[,{constant}...] – Do zero-move homing of specified motor(s)
Move Mode Commands
LINEAR – Blended linear interpolation move mode
RAPID – Mode where all axes move a maximum velocity and accel.
CIRCLE1 – Clockwise circular interpolation move mode
CIRCLE2 – Counterclockwise circular interpolation move mode
PVT{data} – Position/velocity/time transition-point move mode (parabolic velocity profiles)
SPLINE1 – Uniform cubic spline move mode