Delta Tau GEO BRICK LV Reference Manual
Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Program Command Specification
471
The byte value of the control character sent is 64 ($40) less than the byte value of {letter}. The
letters that can be used and their corresponding control characters are:
letters that can be used and their corresponding control characters are:
{letter}
Letter Value
Control Character
Value
@
64
NULL
0
A
65
<CTRL-A>
1
B
66
<CTRL-B>
2
C
67
<CTRL-C>
3
...
X
88
<CTRL-X>
24
Y
89
<CTRL-Y>
25
Z
90
<CTRL-Z>
26
[
91
ESC
27
\
92
28
]
93
29
^
94
30
_
95
31
Note: Do not put the up-arrow character and the letter in quotes (e.g. do not use SENDx"^A")
or Turbo PMAC will attempt to send the two non-control characters ^ and A for this example,
instead of the control character.
or Turbo PMAC will attempt to send the two non-control characters ^ and A for this example,
instead of the control character.
SENDS transmits the control character to the main serial port.
SENDP transmits the control character to the parallel bus port: ISA, VME, or PCI, whichever is present
on the board.
SENDR transmits the control character through the DPRAM ASCII response buffer.
SENDA transmits the control character to the Option 9T auxiliary serial port.
SENDP transmits the control character to the parallel bus port: ISA, VME, or PCI, whichever is present
on the board.
SENDR transmits the control character through the DPRAM ASCII response buffer.
SENDA transmits the control character to the Option 9T auxiliary serial port.
When Turbo PMAC powers up or resets, the active response port is the serial port. When any command
is received over a bus port, the active response port becomes the bus port. Turbo PMAC must then
receive a <CONTROL-Z> command to cause the response port to revert back to the serial port.
is received over a bus port, the active response port becomes the bus port. Turbo PMAC must then
receive a <CONTROL-Z> command to cause the response port to revert back to the serial port.
It is possible, particularly in PLC programs, to order the sending of messages faster than the port can handle
them. Usually, this will happen if the same SEND command is executed every scan through the PLC.
them. Usually, this will happen if the same SEND command is executed every scan through the PLC.
For this reason, it is good practice to have at least one of the conditions that causes the SEND command to
execute to be set false immediately to prevent execution of this SEND command on subsequent scans of
the PLC.
execute to be set false immediately to prevent execution of this SEND command on subsequent scans of
the PLC.
See Also:
On-line command <CTRL-Z>
Program commands SEND"{message}", COMMAND"{command}", COMMAND^{letter}
On-line command <CTRL-Z>
Program commands SEND"{message}", COMMAND"{command}", COMMAND^{letter}
SETPHASE
Function:
Set commutation phase position value
Type:
Motion and PLC programs
Syntax:
SETPHASE {constant} [,{constant}…]
SETPHASE {constant}..{constant}
[,{constant}..{constant}]
where:
{constant} is an integer from 1 to 32 representing a motor number
The SETPHASE command causes Turbo PMAC to immediately copy the value of Ixx75 for the specified
motor or motors into the active phase position register for that motor or motors.
motor or motors into the active phase position register for that motor or motors.