Reference Manual

PMAC 2 Software Reference
PMAC Program Command Specification 305
be linearly interpolated.
Example
LINEAR ; Linear interpolation mode
X10Y0 F2 ; Linear move
CIRCLE2 ; Counterclockwise circular interpolation mode
X20 Y10 J10 ; Arc of 10-unit radius
X15 Y15 I-5 ; Arc of 5-unit radius
CIRCLE1 ; Clockwise circle mode
X5 Y25 J10 ; Arc move of 10-unit radius
See Also
Circular Moves (Writing a Motion Program)
I-variable I13
Program commands NORMAL, CIRCLE1, LINEAR, PVT, RAPID, SPLINE1,
{axis}{data}{vector}{data}
COMMAND "{command}"
Function
Program Command Issuance
Type
Motion program (PROG and ROT); PLC program
Syntax
COMMAND "{command}"
CMD "{command}"
Remarks
This statement causes the program to issue a command to PMAC as if it came from the
host (except for addressing modes). If there is a motor- or coordinate-system-specifier
(#n or &n) within the quoted string, a motor- or coordinate-system-specific command
will be directed to that motor or coordinate system. If there is no specifier, a motor- or
coordinate-system-specific command will be directed to the first motor or coordinate
system. Any specifier within a COMMAND statement is not modal; it does not affect the
host addressing specifications or the modal addressing of any program, including its own.
If I62=0, PMAC automatically issues a carriage-return <CR> character at the end of any
data response to the command. If I62=1, PMAC does not issue a <CR> character at the
end of the data response; a SEND^M must be used to issue a <CR> in this case.
Each PLC program has its own addressing mode for both motors and coordinate systems,
independent of each other and independent of the host addressing modes. These are
controlled by the PLC program ADDRESS command. This modal addressing affects
commands issued from within a PLC program that do not have motor or coordinate-
system specifiers. At power-up/reset, all PLC programs are addressing Motor 1 and
C.S.1.
There is no modal ADDRESS command in motion programs. Any motor-specific or
coordinate-system-specific command issued from within a motion program without a
specifier is automatically addressed to Motor 1 or C.S.1, respectively.
Commands issued from within a program are placed in the command queue, to be parsed
and acted upon at the appropriate time by PMAC’s command interpreter, which operates
in background, between other background tasks. If issued from a motion program, the
command will not be interpreted before the next move or dwell command in the motion
program is calculated. If issued from a PLC program, the command will not be
interpreted before the end of the current scan of the PLC. This delay can make the action
appear to execute out of sequence.
Because of the queuing of commands and the fact that command interpretation is a lower
priority than command issuing, it is possible to overflow the queue. If there is no room