Delta Tau GEO BRICK LV Guide D’Exploitation
Turbo PMAC/PMAC2 Software Reference
Turbo PMAC On-line Command Specification
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At the end of each execution of the inverse-kinematic program for the coordinate system, Turbo PMAC
expects to find the motor position calculated by the program for each Motor xx in the coordinate system
defined as an inverse-kinematic axis in variable Pxx (e.g. P13 for Motor 13).
expects to find the motor position calculated by the program for each Motor xx in the coordinate system
defined as an inverse-kinematic axis in variable Pxx (e.g. P13 for Motor 13).
See Also:
Inverse Kinematics
I-variable Isx50
On-line commands OPEN FORWARD, OPEN INVERSE
Inverse Kinematics
I-variable Isx50
On-line commands OPEN FORWARD, OPEN INVERSE
##
Function:
Report port’s motor group
Scope:
Port specific
Syntax:
##
This command causes Turbo PMAC to return the number of the motor group currently selected on this
port for on-line commands <CTRL-B>, <CTRL-F>, <CTRL-P>, and <CTRL-V>. This value can be set
for the port by the ##{constant} command, and defaults to 0 on power-up/reset. Each
communications port can have a different value.
port for on-line commands <CTRL-B>, <CTRL-F>, <CTRL-P>, and <CTRL-V>. This value can be set
for the port by the ##{constant} command, and defaults to 0 on power-up/reset. Each
communications port can have a different value.
Note:
This is not related to the individual motor addressed with the # command, and
reported with the #{constant} command
reported with the #{constant} command
The possible values returned and the motors they represent are:
0: Motors 1 – 8
1: Motors 9 – 16
2: Motors 17 – 24
3: Motors 25 – 32
Note:
In Turbo PMAC firmware versions 1.934 and older, this function was controlled
commonly for all ports by global I-variable I59.
commonly for all ports by global I-variable I59.
See Also:
I-variable I59
On-line commands <CTRL-B>, <CTRL-F>, <CTRL-P>, <CTRL-V>, ##{constant}
##{constant}
Function:
Select port’s motor group
Scope:
Port specific
Syntax:
##{constant}
where:
{constant} is an integer from 0 to 3 representing the motor group
This command selects the group of eight motors whose data will be supplied in response to subsequent
<CTRL-B> (report motor status words), <CTRL-F> (report motor following errors), <CTRL-P> (report
motor positions), and <CTRL-V> (report motor velocities) commands issued on this same port. It does
not affect the behavior of these commands issued on any other port.
<CTRL-B> (report motor status words), <CTRL-F> (report motor following errors), <CTRL-P> (report
motor positions), and <CTRL-V> (report motor velocities) commands issued on this same port. It does
not affect the behavior of these commands issued on any other port.
Note:
This is not related to the individual motor addressed with the # command, and
reported with the #{constant} command
reported with the #{constant} command