Delta Tau GEO BRICK LV Reference Manual
Turbo PMAC/PMAC2 Software Reference
Turbo PMAC On-line Command Specification
327
Instead of jogging until it finds a pre-defined trigger, and calling its position at the trigger the home
position, with this command, the motor calls wherever it is (commanded position) at the time of the
command the home position.
position, with this command, the motor calls wherever it is (commanded position) at the time of the
command the home position.
If there is an axis offset in the axis-definition statement for the motor, and/or following error in the motor
servo loop, the reported position at the end of the homing operation will be equal to the axis offset minus
the following error, not to zero.
servo loop, the reported position at the end of the homing operation will be equal to the axis offset minus
the following error, not to zero.
Example:
On-line Command Examples:
On-line Command Examples:
HOMEZ
; Do zero-move homing search on the addressed motor
#1HMZ
; Do zero-move homing search on Motor 1
#3HMZ#4HMZ
; Do zero-move homing search on Motors 3 and 4
Buffered Motion Program Examples
HOMEZ1
HOMEZ2,3
HOMEZ2,3
On-line Commands Issued from PLC Program
IF (P1=1)
;
CMD"#5HOMEZ"
; Program issues on-line command
P1=0
; So command is not repeatedly issued
ENDIF
See Also:
Homing Moves (Basic Motor Moves)
On-line command HOME
Program command HOME{constant}, HOMEZ{constant}
Homing Moves (Basic Motor Moves)
On-line command HOME
Program command HOME{constant}, HOMEZ{constant}
I{constant}
Function:
Report the current I-variable values.
Scope:
Global
Syntax:
I{constant}[..{constant}]
where:
{constant} is an integer from 0 to 8191 representing the number of the I-variable;
the optional second{constant} must be at least as great as the first {constant} -- it represents
the number of the end of the range;
the number of the end of the range;
I{constant},{constant},{constant}
where:
the first {constant} is an integer from 0 to 8190 representing the number of the first I-variable;
the second {constant} is an integer from 1 to 8191 representing the number I-variables whose
value is to be reported;
value is to be reported;
the third {constant} is an integer from 1 to 8191 representing the numerical spacing between each
I-variable whose value is to be reported.
I-variable whose value is to be reported.
This command causes Turbo PMAC to report the current value of the specified I-variable, or range or set
of I-variables.
of I-variables.
When I9 is 0 or 2, only the value of the I-variable itself is returned (e.g. 10000). When I9 is 1 or 3, the
entire variable value assignment statement (e.g. I130=10000) is returned by Turbo PMAC.
entire variable value assignment statement (e.g. I130=10000) is returned by Turbo PMAC.
When I9 is 0 or 1, the values of address I-variables are reported in decimal form. When I9 is 2 or 3, the
values of these variables are reported in hexadecimal form.
values of these variables are reported in hexadecimal form.