Delta Tau GEO BRICK LV Guide D’Exploitation
Turbo PMAC/PMAC2 Software Reference
Turbo PMAC On-line Command Specification
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No other program buffers (PLC, or fixed motion programs) may be open when this command is sent
(Turbo PMAC will report ERR007 if I6=1 or 3). It is a good idea always to precede an OPEN command
with a CLOSE or CLOSE ALL command to make sure no other buffers have been left open.
(Turbo PMAC will report ERR007 if I6=1 or 3). It is a good idea always to precede an OPEN command
with a CLOSE or CLOSE ALL command to make sure no other buffers have been left open.
Note:
The B0 command that points the coordinate system to the rotary buffer cannot be
given while the rotary buffers are open, because Turbo PMAC will interpret the
command as a B-axis move command.
given while the rotary buffers are open, because Turbo PMAC will interpret the
command as a B-axis move command.
Example:
&2 DEFINE ROT 100
; Create C.S. 2 rotary buffer
&1 DEFINE ROT 100
; Create C.S. 1 rotary buffer
&1 B0 &2 B0
; Point both C.S.s to rotary buffers
OPEN ROT
; Open buffers for entry
&1 X10 Y10 F5
; Write to C.S. 1's buffer
&2 X30 Y30 F10
; Write to C.S. 2's buffer
&1R &2R
; Start executing both buffers
See Also:
Rotary Motion Programs (Writing and Executing Motion Programs)
On-line commands CLOSE, DEFINE ROT, B{constant}, R
Rotary Motion Programs (Writing and Executing Motion Programs)
On-line commands CLOSE, DEFINE ROT, B{constant}, R
P
Function:
Report motor position
Scope:
Motor specific
Syntax:
P
This command causes Turbo PMAC to report the present actual position for the addressed motor to the
host as a decimal ASCII string, scaled in counts, rounded to the nearest 1/32 of a count.
host as a decimal ASCII string, scaled in counts, rounded to the nearest 1/32 of a count.
Turbo PMAC reports the value of the actual position register plus the position bias register plus the
compensation correction register, and if bit 1 of Ixx06 is 1 (handwheel offset mode), minus the master
position register.
compensation correction register, and if bit 1 of Ixx06 is 1 (handwheel offset mode), minus the master
position register.
Example:
P
; Request the position of the addressed motor
1995
; Turbo PMAC responds
#1P
; Request position of Motor 1
-0.5
; Turbo PMAC responds
#3P
; Request position of Motor 3
2.03125
; Turbo PMAC responds
#2P#4P
; Request positions of Motors 2 and 4
9998
; Turbo PMAC responds with Motor 2 position first
10002
; Turbo PMAC responds with Motor 4 position next
See Also:
On-line commands <CTRL-P>, F, V
Suggested M-variable definitions Mxx62, Mxx64, Mxx67, Mxx69
On-line commands <CTRL-P>, F, V
Suggested M-variable definitions Mxx62, Mxx64, Mxx67, Mxx69
P{constant}
Function:
Report the current P-variable values.
Scope:
Global
Syntax:
P{constant}[..{constant}]
where:
{constant} is an integer from 0 to 8191 representing the number of the P-variable;