Reference Manual

PMAC 2 Software Reference

PMAC On-Line Command Specification 281

Function

Run Motion Program

Scope

Coordinate-system specific

Syntax

Remarks

This command causes the addressed PMAC coordinate system to start continuous execution

of the motion program addressed by the coordinate system’s program counter from the

location of the program counter. Alternately, it will restore operation after a ‘\’ or ‘H’

command has been issued (even if a program was or is not running). Addressing of the

program counter is done initially using the B{constant command.

The coordinate system must be in a proper condition in order for PMAC to accept this

command. Otherwise, PMAC will reject this command with an error; if I6 is 1 or 3, it will

report the error number. The following conditions can cause PMAC to reject this command

(also listed are the remedies):

• Both limits set for a motor in coordinate system (ERR010); clear limits

• Another move in progress (ERR011); stop move (e.g. with J)

• Open-loop motor in coordinate system (ERR012); close loop with J or A

• Unactivated motor in coordinate system (ERR013); change Ix00remove motor from

coordinate system

• No motors in the coordinate system (ERR014); put at least 1 motor in C.S.

• Fixed motion program buffer open (ERR015); close buffer and point to program

• No program pointed to (ERR015); point to program with B command

• Program structured improperly (ERR016); correct program structure

• Motor(s) not at same position as stopped with / or \ command (ERR017); move back to

stopped position with J=

Example

&1B1R ............... ; C.S.1 point to PROG 1 and run

&2B200.06...... ; C.S.2 point to N6000 of PROG 200 and run

Q......................... ; Quit this program

R......................... ; Resume running from point where stopped

H......................... ; Do a feed hold on this program

R ; Resume running from point where stopped