Reference Manual

ManualsBrandsDelta Tau ManualsControllersDelta Tau TURBO PMAC PCI

261

262

263

264

265

266

267

268

269

270

Turbo PMAC/PMAC2 Software Reference

Turbo PMAC On-line Command Specification 263

The set of eight motors whose data is reported is selected by the most recent ##{constant} value for

this port:

 ##0: Motors 1 – 8 (default)

 ##1: Motors 9 – 16

 ##2: Motors 17 – 24

 ##3: Motors 25 – 32

This command returns filtered velocity values, with the filter time constant controlled by global variables

I60 and I61. It does not report the raw velocity register calculated by the servo loop each servo cycle.

For multiple cards on a single serial daisy chain, this command affects only the card currently addressed

in software (@n).

See Also:

I-variables I10, I59 I60, I61 Ixx60

On-line commands <CTRL-B>, <CTRL-F>, <CTRL-P>, ##, ##{constant}, V

<CONTROL-X>

Function: Cancel in-process communications.

Scope: Port-specific

Syntax: ASCII Value 24D; $18

This command causes the Turbo PMAC to stop sending any messages that it had started to send, even

multi-line messages, on the port over which this command is sent. This also causes Turbo PMAC to

empty the port’s command queue from the host, so it will erase any partially sent commands.

It can be useful to send this before sending a query command for which an exact response format is

expected, if not sure what Turbo PMAC has been doing before, because it makes sure nothing else comes

through before the expected response. As such, it is often the first character sent to Turbo PMAC from

the host when trying to establish initial communications.

If I63 is set to its default value of 0, Turbo PMAC sends no acknowledgment that it has finished its action

on the <CTRL-X> command. If I63 is set to 1, Turbo PMAC acknowledges that it has finished its action

by echoing the <CTRL-X> character back to the host.

This can result in more efficient communications, and is supported in PCOMM32 communications

routines in V2.21 and newer (March 1999 and later).

Note:

This command empties the command queue in Turbo PMAC RAM, but it cannot

erase the 1 or 2 characters already in the response port. A robust algorithm for

clearing responses would include two-character read commands that can time-out

if necessary.

For multiple cards on a single serial daisy chain, this command affects all cards on the chain, regardless of

the current software addressing.