Delta Tau GEO BRICK LV Reference Manual
Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Program Command Specification
411
This statement permits the user to mathematically determine which motor will be addressed. The value of
the floating-point P-variable is rounded to the nearest integer, and if this integer value is out of the range 1
– 32, the remainder of the number when divided by 32 is used. For example, if the P-variable had a value
of 34.3, Motor 2 would be addressed (remainder of 34/32 is 2).
the floating-point P-variable is rounded to the nearest integer, and if this integer value is out of the range 1
– 32, the remainder of the number when divided by 32 is used. For example, if the P-variable had a value
of 34.3, Motor 2 would be addressed (remainder of 34/32 is 2).
This statement does not affect subsequent COMMAND statements in this PLC that explicitly address a
motor. It does not affect COMMAND statements in any other PLC program. It does not affect any motor-
specific commands from a host computer issued over any of the communications ports
motor. It does not affect COMMAND statements in any other PLC program. It does not affect any motor-
specific commands from a host computer issued over any of the communications ports
Examples:
P4=12
; Set value of P4 to 12
ADDRESS#P4
; Address Motor 12
COMMAND “J+”
; Jog addressed motor (#12) in positive direction
COMMAND “#11J-”
; Jog motor 11 in negative direction
COMMAND “J/”
; Stop jogging addressed motor (#12 still). Routine to home all odd-numbered motors
P100=1
WHILE (P100<32)
WHILE (P100<32)
; Loop thru motors
ADDRESS#P100
; Address motor using P100 value
COMMAND “HM”
; Start homing addressed motor
P100=P100+2
; Increment to next odd-numbered motor
ENDWHILE
ADDRESS&P{constant}
Function:
Select program’s addressed coordinate system
Type:
PLC programs 1 to 31 only
Syntax:
ADDRESS&P{constant}
ADR&P{constant}
where:
{constant} is an integer from 0 to 8191 representing the P-variable number whose value
determines the coordinate to be addressed
determines the coordinate to be addressed
This statement, when executed, selects the coordinate system that will be addressed by this particular PLC
program when it issues coordinate-system-specific commands with subsequent COMMAND statements and
Q-variable assignments. The statement specifies the number of a P-variable whose value determines
which coordinate system is addressed. For example, if variable P4 had a value of 12, the statement
ADDRESS&P4, when executed, would select Motor 12.
program when it issues coordinate-system-specific commands with subsequent COMMAND statements and
Q-variable assignments. The statement specifies the number of a P-variable whose value determines
which coordinate system is addressed. For example, if variable P4 had a value of 12, the statement
ADDRESS&P4, when executed, would select Motor 12.
This statement permits the user to mathematically determine which coordinate system will be addressed.
The value of the floating-point P-variable is rounded to the nearest integer, and if this integer value is out of
the range 1 – 16, the remainder of the number when divided by 16 is used. For example, if the P-variable
had a value of 19.2, Motor 3 would be addressed (remainder of 19/16 is 3).
The value of the floating-point P-variable is rounded to the nearest integer, and if this integer value is out of
the range 1 – 16, the remainder of the number when divided by 16 is used. For example, if the P-variable
had a value of 19.2, Motor 3 would be addressed (remainder of 19/16 is 3).
This statement does not affect subsequent COMMAND statements in this PLC that explicitly address a
coordinate system. It does not affect COMMAND statements in any other PLC program. It does not affect
any coordinate-system-specific commands from a host computer issued over any of the communications
ports.
coordinate system. It does not affect COMMAND statements in any other PLC program. It does not affect
any coordinate-system-specific commands from a host computer issued over any of the communications
ports.
Examples:
P9=11
; Set value of P9 to 11
ADDRESS&P9
; Address C.S. 11
COMMAND “R”
; Run program in addressed C.S.
COMMAND “&2S”
; Single-step program in C.S. 2
Q10=3
; Set value of Q10 in addressed C.S. (&11 still!)