Delta Tau GEO BRICK LV Reference Manual
Turbo PMAC/PMAC2 Software Reference
Turbo PMAC On-line Command Specification
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This command causes PMAC to halt the execution of the motion program running in the currently
addressed coordinate system at the end of the currently executing move, provided the coordinate system is
in segmentation mode (Isx13 > 0). If the coordinate system is not in segmentation mode (Isx13 = 0), the
/ end-block command has the same effect as the Q or S command. It will halt execution at the end of the
latest calculated move, which can be 1 or 2 moves past the currently executing move.
addressed coordinate system at the end of the currently executing move, provided the coordinate system is
in segmentation mode (Isx13 > 0). If the coordinate system is not in segmentation mode (Isx13 = 0), the
/ end-block command has the same effect as the Q or S command. It will halt execution at the end of the
latest calculated move, which can be 1 or 2 moves past the currently executing move.
If the coordinate system is currently executing moves with the special lookahead function, motion will stop
at the end of the move currently being added to the lookahead buffer. This is not necessarily the move that
is currently executing from the lookahead buffer, and there can be a significant delay before motion is
halted. Acceleration limits will be observed while ramping down to a stop at the programmed point.
at the end of the move currently being added to the lookahead buffer. This is not necessarily the move that
is currently executing from the lookahead buffer, and there can be a significant delay before motion is
halted. Acceleration limits will be observed while ramping down to a stop at the programmed point.
Once halted at the end of the move, program execution can be resumed with the R run or S single-step
command. In the meantime, the individual motors may be jogged way from this point, but they must all
be returned to this point using the J= command before program execution may be resumed.
command. In the meantime, the individual motors may be jogged way from this point, but they must all
be returned to this point using the J= command before program execution may be resumed.
An attempt to resume program execution from a different point will result in an error (ERR017 reported if
I6 = 1 or 3). If resumption of this program from this point is not desired, the A (abort) command should
be issued before other programs are run.
I6 = 1 or 3). If resumption of this program from this point is not desired, the A (abort) command should
be issued before other programs are run.
See Also:
I-variables Isx13, Isx20, Isx21
On-line commands \, <, >, A, H, J=, R, S
I-variables Isx13, Isx20, Isx21
On-line commands \, <, >, A, H, J=, R, S
?
Function:
Report motor status words
Scope:
Motor specific
Syntax:
?
This command causes Turbo PMAC to report the motor status bits as an ASCII hexadecimal word.
Turbo PMAC returns twelve characters, representing two status words. Each character represents four
status bits. The first character represents Bits 20-23 of the first word; the second shows Bits 16-19; and
so on, to the sixth character representing Bits 0-3. The seventh character represents Bits 20-23 of the
second word; the twelfth character represents Bits 0-3.
Turbo PMAC returns twelve characters, representing two status words. Each character represents four
status bits. The first character represents Bits 20-23 of the first word; the second shows Bits 16-19; and
so on, to the sixth character representing Bits 0-3. The seventh character represents Bits 20-23 of the
second word; the twelfth character represents Bits 0-3.
If the Turbo PMAC is in bootstrap mode (suitable for the downloading of new firmware) instead of the
normal operational mode, its response to this command will simply be BOOTSTRAP PROM.
normal operational mode, its response to this command will simply be BOOTSTRAP PROM.
The value of a bit is 1 when the condition is true; 0 when it is false. The meaning of the individual bits is:
First Word Returned (X:$0000B0, X:$000130, etc.):
First character returned:
Bit 23 Motor Activated: This bit is 1 when Ixx00 is 1 and the motor calculations are active; it is 0 when
Ixx00 is 0 and motor calculations are deactivated.
Bit 22 Negative End Limit Set: This bit is 1 when motor actual position is less than the software
negative position limit (Ixx14), or when the hardware limit on this end (+LIMn on Turbo PMAC1 – note)
has been tripped; it is 0 otherwise. If the motor is deactivated (bit 23 of the first motor status word set to
zero) or killed (bit 19 of the first motor status word set to zero), this bit is not updated.
Bit 21 Positive End Limit Set: This bit is 1 when motor actual position is greater than the software
positive position limit (Ixx13), or when the hardware limit on this end (-LIMn – note!) has been tripped; it
is 0 otherwise. If the motor is deactivated (bit 23 of the first motor status word set to zero) or killed (bit
14 of the second motor status word set to zero), this bit is not updated.
Bit 20 Extended Servo Algorithm Enabled: This bit is 1 when Iyy00/Iyy50 for the motor is set to 1 and
the extended servo algorithm for the motor is selected. It is 0 when Iyy00/Iyy50 is 0 and the PID servo
algorithm is selected.
Bit 23 Motor Activated: This bit is 1 when Ixx00 is 1 and the motor calculations are active; it is 0 when
Ixx00 is 0 and motor calculations are deactivated.
Bit 22 Negative End Limit Set: This bit is 1 when motor actual position is less than the software
negative position limit (Ixx14), or when the hardware limit on this end (+LIMn on Turbo PMAC1 – note)
has been tripped; it is 0 otherwise. If the motor is deactivated (bit 23 of the first motor status word set to
zero) or killed (bit 19 of the first motor status word set to zero), this bit is not updated.
Bit 21 Positive End Limit Set: This bit is 1 when motor actual position is greater than the software
positive position limit (Ixx13), or when the hardware limit on this end (-LIMn – note!) has been tripped; it
is 0 otherwise. If the motor is deactivated (bit 23 of the first motor status word set to zero) or killed (bit
14 of the second motor status word set to zero), this bit is not updated.
Bit 20 Extended Servo Algorithm Enabled: This bit is 1 when Iyy00/Iyy50 for the motor is set to 1 and
the extended servo algorithm for the motor is selected. It is 0 when Iyy00/Iyy50 is 0 and the PID servo
algorithm is selected.