Delta Tau GEO BRICK LV Reference Manual
Turbo PMAC/PMAC2 Software Reference
Turbo PMAC On-line Command Specification
274
M-variable definitions, P-variable values, Q-variable values, and axis definitions are not affected by this
command. They can be cleared by separate commands (e.g. M0..8191->*, P0..8191=0,
Q0..8191=0, UNDEFINE ALL).
command. They can be cleared by separate commands (e.g. M0..8191->*, P0..8191=0,
Q0..8191=0, UNDEFINE ALL).
This command is particularly useful if the program buffers have become corrupted. It clears the buffers
and buffer pointers so the files can be re-sent to Turbo PMAC. Regular backup of parameters and
programs to the disk of a host computer is strongly encouraged so this type of recovery is possible. The
PMAC Executive program has Save Full Turbo PMAC Configuration and Restore Full Turbo PMAC
Configuration functions to make this process easy.
and buffer pointers so the files can be re-sent to Turbo PMAC. Regular backup of parameters and
programs to the disk of a host computer is strongly encouraged so this type of recovery is possible. The
PMAC Executive program has Save Full Turbo PMAC Configuration and Restore Full Turbo PMAC
Configuration functions to make this process easy.
Example:
I130=60000
; Set #1 proportional gain
SAVE
; Save to non-volatile memory
$$$***
; Reset and re-initialize card
I130
; Request value of I130
2000
; Turbo PMAC reports current value, which is default
$$$
; Normal reset of card
I130
; Request value of I130
60000
; Turbo PMAC reports last saved value
See Also:
On-line command $$$, PASSWORD={string};
Jumper E3 (PMAC2), E51 (PMAC)
PMAC Executive Program Save/Restore Full Configuration.
On-line command $$$, PASSWORD={string};
Jumper E3 (PMAC2), E51 (PMAC)
PMAC Executive Program Save/Restore Full Configuration.
$$*
Function:
Read motor absolute positions
Scope:
Coordinate system specific
Syntax:
$$*
The $$* command causes PMAC to perform a read of the absolute positions for all motors in the
addressed coordinate system that require an absolute position read (Ixx10 > 0), as defined by Ixx10 and
Ixx95 for the motor. This command performs the same actions in reading the absolute position data that
are normally performed during the board’s power-up/reset cycle if Ixx80 bit 2 is set to the default of 0.
The action of this command is equivalent to that of a motor-specific $* command to each motor in the
coordinate system. Refer to the $* command description for the exact actions of this command.
addressed coordinate system that require an absolute position read (Ixx10 > 0), as defined by Ixx10 and
Ixx95 for the motor. This command performs the same actions in reading the absolute position data that
are normally performed during the board’s power-up/reset cycle if Ixx80 bit 2 is set to the default of 0.
The action of this command is equivalent to that of a motor-specific $* command to each motor in the
coordinate system. Refer to the $* command description for the exact actions of this command.
$*
Function:
Read motor absolute position
Scope:
Motor specific
Syntax:
$*
The $* command causes PMAC to perform a read of the absolute position for the addressed motor, as
defined by Ixx10 and Ixx95 for the motor. It performs the same actions that are normally performed
during the board’s power-up/reset cycle.
The $* command performs the following actions on the addressed motor:
defined by Ixx10 and Ixx95 for the motor. It performs the same actions that are normally performed
during the board’s power-up/reset cycle.
The $* command performs the following actions on the addressed motor:
The motor is killed (servo loop open, zero command, amplifier disabled).
If the motor is set up for local hardware encoder position capture by input flags, with bit 0 of Ixx97
set to 0 to specify hardware capture, and bit 18 of Ixx24 set to 0 to specify local, not MACRO, flag
operation (these are default values), the hardware encoder counter for the same channel as the flag
register specified by Ixx25 is set to 0 (e.g. if Ixx25 specifies flags from channel 3, then encoder
counter 3 is cleared).
set to 0 to specify hardware capture, and bit 18 of Ixx24 set to 0 to specify local, not MACRO, flag
operation (these are default values), the hardware encoder counter for the same channel as the flag
register specified by Ixx25 is set to 0 (e.g. if Ixx25 specifies flags from channel 3, then encoder
counter 3 is cleared).