Reference Manual

PMAC 2 Software Reference

288 PMAC On-Line Command Specification

1000X ............... ; PMAC responds

UNDEFINE ALL ; Erase all axis definitions

&1#1->............. ; Request axis definition of Motor 1 in C.S. 1

0......................... ; PMAC responds that there is no definition

&2#5->............. ; Request axis definition of Motor 5 in C.S. 2

0 ; PMAC responds that there is no definition

See Also

Axes, Coordinate Systems (Setting Up a Coordinate System)

On-line commands #{constant}->0, #{constant}->, UNDEFINE.

Function

Report motor velocity

Scope

Motor specific

Syntax

Remarks

This command causes PMAC to report the present actual motor velocity to the host, scaled in

counts/servo cycle, rounded to the nearest tenth. It is reporting the contents of the motor

actual velocity register (divided by [Ix09*32]).

To convert this reported value to counts/msec, multiply by 8,388,608*(Ix60+1) and divide by

I10. It can be further converted to engineering units with additional scaling constants.

Note:

The velocity values reported here are obtained by subtracting positions

of consecutive servo cycles. As such, they can be very noisy. For

purposes of display, it is probably better to use averaged velocity

values held in registers Y:$082A, Y:$08EA, etc., accessed with M-

variables

Example

V......................... ; Request actual velocity of addressed motor

21.9.................. ; PMAC responds with 21.9 cts/cycle

........................... ; (*8,388,608/3,713,707 = 49.5 cts/msec)

#6V .................... ; Request velocity of Motor 6

-4.2.................. ; PMAC responds

#5V#2V............. ; Request velocities of Motors 5 and 2

0......................... ; PMAC responds with Motor 5 first

7.6 ; PMAC responds with Motor 2 second