Reference Manual

PMAC 2 Software Reference
PMAC Program Command Specification 349
There is no SENDV command for the VME bus exclusively. The SEND command must
be used with the VME port as the active response port.
When PMAC powers up or resets, the active response port is the serial port. When any
command is received over a bus port, the active response port becomes the bus port.
PMAC must then receive a <CONTROL-Z> command to cause the response port to
revert back to the serial port.
It is possible, particularly in PLC programs, to order the sending of messages faster than
the port can handle them. Usually this will happen if the same SEND command is
executed through every scan in the PLC. For this reason, it is good practice to have at
least one of the conditions that causes the SEND command to execute to be set false
immediately to prevent execution of this SEND command on subsequent scans of the
PLC.
See Also
On-line command <CTRL-Z>
Program commands SEND”{message}”, COMMAND”{command}”,
COMMAND^{letter}
SETPHASE
Function
Set motor commutation phase-position register(s)
Type
Motion program, PLC program
Syntax
SETPHASE{constant}[,{constant}...]
SETPHASE{constant}..{constant}
[,{constant}..{constant}...]
where:
• {constant} is an integer from one to eight representing a motor number.
Remarks
This command causes PMAC to force the commutation phase-position register for the
specified motor or motor’s to the value of the Ix75 phase-position offset parameter.
The main use of this command is to correct the phase position value at a known position
(usually the motor home position) after an approximate phasing search or phasing read
(e.g. from Hall commutation sensors). The approximate referencing is sufficient to move
to a known position, but not necessarily to get peak performance from the motor.
This command forces a value into an “actual” (not “commanded”) position register, so it
is important that the actual position value be known with precision, either due to small
following error or quick reaction to an actual-position trigger.
In a motion program, this command executes immediately at program calculation
(lookahead) time, so for proper use in a motion program, it must be preceded by a
DWELL command and/or an in-position loop. If a motor specified in the statement is not
assigned to the coordinate system executing the program, the action will not be executed
for that motor (but no error will be reported).
Example
Motion program:
HOME1..3
WHILE(M180=0) WAIT ; Wait for all in-position
SETPHASE1..3 ; Force phase values in
PLC program:
CMD"#4$" ; Rough phase search/read
WHILE(M440=0) ; Wait for motor in-position
ENDWHILE