Reference Manual

PMAC 2 Software Reference
PMAC Program Command Specification 297
See Also
Circular Moves (Writing a Motion Program)
On-line commands ABS, INC.
Program commands {axis}{data}, {axis}{data}{vector}{data}, INC.
ADDRESS
Function
Motor/Coordinate System Modal Addressing
Type
PLC programs 1 to 31 only
Syntax
ADDRESS [#{constant}][&{constant}]
ADR [#{constant}][&{constant}]
where:
• {constant} is an integer constant from 1 to 8 representing the motor (#) number
or the coordinate system (&) number to be addressed.
Remarks
This statement, when executed, sets the motor and/or coordinate system that will be
addressed by this particular PLC program when it commands motor- or coordinate-
system-specific commands with no addressing in those commands. The addressed
coordinate system also controls which set of Q-variables is accessed, even for ATAN2
functions which automatically use Q0.
This command does not affect host addressing, the addressing of other PLC programs, or
the selection of the control panel inputs. The addressing stays in effect until another
ADDRESS statement supersedes it. Default addressing at power-on/reset is #1 and &1.
In motion programs, there is no modal addressing for COMMAND statements; each
COMMAND statement must contain the motor or coordinate-system specifier within its
quotation marks. A motion program automatically operates on the Q-variables of the
coordinate system executing the program.
Example
ADDRESS &4
ADR #2
ADDRESS &2#2
ADR#1 ; Modally address Motor 1
CMD”J+” ; This will start Motor 1 jogging
CMD”#2J+” ; This will start Motor 2 jogging
CMD”J/” ; This will stop Motor 1
See Also
Addressing Modes (Talking To PMAC)
Q-Variables (Program Computational Features)
Program commands COMMAND, Q{constant}={expression}
ADIS{constant}
Function
Absolute displacement of X, Y, and Z axes
Type
Motion program (PROG and ROT)
Syntax
ADIS{constant}
where:
• {constant} is an integer constant representing the number of the first of three
consecutive Q-variables to be used in the displacement vector.
Remarks
This command loads the currently selected (with TSEL) transformation matrix for the
coordinate system with offset values contained in the three Q-variables starting with the
specified one. This has the effect of renaming the current commanded X, Y, and Z axis
positions (from the latest programmed move) to the values of these variables
(X=Q{data}, Y=Q({data}+1), Z=Q({data}+2)).This command does not cause any
movement of any axes; it simply renames the present positions.