Reference Manual

PMAC/PMAC2 Software Reference Manual
Table of Contents i
Table of Contents
PMAC COMMAND AND VARIABLE SUMMARY ..............................................................................................1
Notes .........................................................................................................................................................................1
Definitions.................................................................................................................................................................1
On-Line Commands ..................................................................................................................................................1
On-line Global Commands ...................................................................................................................................1
Addressing Mode Commands ..........................................................................................................................1
Communications Control Characters................................................................................................................1
General Global Commands ..............................................................................................................................2
Global Action Commands ................................................................................................................................2
Global Status Commands .................................................................................................................................2
Register Access Commands .............................................................................................................................2
PLC Control Commands ..................................................................................................................................3
Global Variable Commands .............................................................................................................................3
Buffer Control Commands ...............................................................................................................................3
MACRO Ring Commands ...............................................................................................................................4
On-line Coordinate System Commands ................................................................................................................4
Axis Definition Commands..............................................................................................................................4
General Coordinate-System Commands...........................................................................................................4
Program Control Commands............................................................................................................................4
Coordinate-System Variable Commands .........................................................................................................4
Axis Attribute Commands................................................................................................................................5
Buffer Control Commands ...............................................................................................................................5
On-Line Motor Commands ...................................................................................................................................5
General Motor Commands ...............................................................................................................................5
Jogging Commands ..........................................................................................................................................5
Reporting Commands.......................................................................................................................................6
Buffer Control Commands ...............................................................................................................................6
Motion Program Commands .....................................................................................................................................6
Move Commands .............................................................................................................................................6
Move Mode Commands ...................................................................................................................................6
Axis Attribute Commands................................................................................................................................7
Move Attribute Commands ..............................................................................................................................7
Variable Assignment Commands .....................................................................................................................7
Program Logic Control.....................................................................................................................................7
Miscellaneous Commands................................................................................................................................8
PLC Program Commands..........................................................................................................................................9
Conditions.............................................................................................................................................................9
Actions ..................................................................................................................................................................9
PMAC I-Variable Summary....................................................................................................................................10
General Divisions ...............................................................................................................................................10
Global I-Variables..............................................................................................................................................10
Motor I-Variables x = Motor Number (#x, x = 1 to 8} ...........................................................................................11
Motor Definition I-Variables ..............................................................................................................................11
Motor Safety I-Variables ....................................................................................................................................11
Motor Movement I-Variables..............................................................................................................................11
Motor Servo Control I-Variables {Standard PID Algorithm} ............................................................................12
Motor Servo Control I-Variables {Option 6 Extended Servo Algorithm only}...................................................12
Motor Commutation I-Variables ........................................................................................................................13
Further Motor I-Variables..................................................................................................................................13
Coordinate System I-Variables................................................................................................................................13
PMAC(1) Servo Interface Setup I-Variables...........................................................................................................14
PMAC2 Servo Interface Setup I-Variables .............................................................................................................14
Global Hardware Setup I-Variables...................................................................................................................14