Delta Tau GEO BRICK LV Reference Manual
Turbo PMAC/PMAC2 Software Reference
Turbo PMAC On-line Command Specification
272
If another command to move the motor is issued while the phase reference is still in progress, that
command will be rejected, with Turbo PMAC reporting ERR018 if I6 is set to 1 or 3. The phase
reference in progress status bit is set to 1 while the reference is being done.
command will be rejected, with Turbo PMAC reporting ERR018 if I6 is set to 1 or 3. The phase
reference in progress status bit is set to 1 while the reference is being done.
Example:
I180
; Request value of #1 power-on mode variable
0
; Turbo PMAC responds with 0 powers on unphased and killed
$$$
; Reset card; motor is left in killed state
#1$
; Initialize motor, phasing and reading as necessary
See Also:
Absolute Sensors (Setting Up a Motor)
Power-on Phasing (Setting Up Turbo PMAC Commutation)
I-variables Ixx10, Ixx73, Ixx74, Ixx75, Ixx80, Ixx81
On-line commands $*, $$, $$*, $$$, J/
Absolute Sensors (Setting Up a Motor)
Power-on Phasing (Setting Up Turbo PMAC Commutation)
I-variables Ixx10, Ixx73, Ixx74, Ixx75, Ixx80, Ixx81
On-line commands $*, $$, $$*, $$$, J/
$$
Function:
Establish phase reference for motors in coordinate system
Scope:
Coordinate system specific
Syntax:
$$
This command causes Turbo PMAC to attempt to establish the phase references and close the servo loops
for all of the motors in the addressed coordinate system.
for all of the motors in the addressed coordinate system.
For PMAC-commutated (Ixx01 bit 0 = 1) synchronous (Ixx78 = 0) motors, a phasing search move (Ixx74
> 0) or absolute phase position read (Ixx81 > 0) is performed, and the servo loop is closed. For other
types of motors, where there is no need to establish a phase reference, the $$ command will simply close
the servo loop for the motor.
> 0) or absolute phase position read (Ixx81 > 0) is performed, and the servo loop is closed. For other
types of motors, where there is no need to establish a phase reference, the $$ command will simply close
the servo loop for the motor.
The action of the $$ command is equivalent to that of the $ command issued to each motor in the coordinate
system. For details on the action performed, refer to the specification of the $ command.
system. For details on the action performed, refer to the specification of the $ command.
If the $$ command is issued while any motor is executing a move, the command will be rejected, with
Turbo PMAC reporting ERR018 if I6 is set to 1 or 3.
Turbo PMAC reporting ERR018 if I6 is set to 1 or 3.
If another command to move a motor is issued while the phase reference for that motor is still in progress,
that command will be rejected, with Turbo PMAC reporting ERR018 if I6 is set to 1 or 3. The phase
reference in progress status bit for the motor is set to 1 while the reference is being done.
that command will be rejected, with Turbo PMAC reporting ERR018 if I6 is set to 1 or 3. The phase
reference in progress status bit for the motor is set to 1 while the reference is being done.
Example:
I180
; Request value of #1 power-on mode variable
0
; Turbo PMAC responds with 0
I280
; Request value of #2 power-on mode variable
0
; Turbo PMAC responds with 0 powers on unphased and killed
$$$
; Reset card; motors are left in killed state
M100=1 M200=1
; Manually supply power to drives
&1$$
; Initialize motors, phasing and reading as necessary
See Also:
Absolute Sensors (Setting Up a Motor)
Power-on Phasing (Setting Up Turbo PMAC Commutation)
I-variables Ixx10, Ixx73, Ixx74, Ixx75, Ixx80, Ixx81
On-line commands $, $*, $$*, $$$, J/
Absolute Sensors (Setting Up a Motor)
Power-on Phasing (Setting Up Turbo PMAC Commutation)
I-variables Ixx10, Ixx73, Ixx74, Ixx75, Ixx80, Ixx81
On-line commands $, $*, $$*, $$$, J/