Reference Manual

PMAC 2 Software Reference
242 PMAC On-Line Command Specification
K
Function
Kill motor output
Scope
Motor specific
Syntax
K
Remarks
This command causes PMAC to kill the outputs for the addressed motor. The servo loop is
disabled, the DAC outputs are set to zero (Ix29 and/or Ix79 offsets are still in effect), and the
AENA output for the motor is taken to the disable state (polarity is determined by E17).
Closed-loop control of this motor can be resumed with a J command. The A command will
re-establish closed-loop control for all motors in the addressed coordinate system, and the
<CTRL-A> command will do so for all motors on PMAC.
The action on a K command is equivalent to what PMAC does automatically to the motor on
an amplifier fault or a fatal following error fault.
PMAC will reject this command if the motor is in a coordinate system that is currently
running a motion program (reporting ERR001 if I6 is 1 or 3). The program must be stopped
first, usually with an A command. However, the global <CTRL-K> command will kill all
motors immediately, regardless of whether any are running motion programs.
Example
K......................... ; Kill the addressed motor
#1K .................... ; Kill Motor 1
J/ ; Re-establish closed-loop control of Motor 1
See Also
Amplifier Fault, Following Error Limits, Stop Commands (Making Your Application Safe)
I-variables Ix29, Ix79
On-line commands <CTRL-A>, <CTRL-K>, A, Q, H, J/
Jumpers E17, E17A-E17H
LEARN
Function
Learn present commanded position
Scope
Coordinate-system specific
Syntax
LEARN[({axis}[,{axis}...]]
LRN[({axis}[,{axis}...]]
Note:
No spaces are permitted in this command.
Remarks
This command causes PMAC to add a line to the end of the open motion program buffer
containing axis position commands equal to the current commanded positions for some or all
of the motors defined in the addressed coordinate system. In this way, PMAC can “learn” a
sequence of points to be repeated by subsequent execution of the motion program.
PMAC effectively performs a PMATCH function, reading motor commanded positions and
inverting the axis definition equations to compute axis positions.
If axis names are specified in the LEARN command, only position commands for those axes
are used in the line added to the motion program. If no axis names are specified in the learn
command, position commands for all nine possible axis names are used in the line added to
the motion program. The position command for an axis with no motor attached (“phantom”
axis) will be zero.