Reference Manual

PMAC/PMAC2 Software Reference Manual
PMAC Command and Variable Summary 5
Axis Attribute Commands
{axis}={expression} – Change value of commanded axis position
Z – Make present commanded
position of all axes in coordinate system equal to zero.
INC[({axis}[,{axis}...])] – Make all [or specified] axes do their moves incrementally
ABS[({axis}[,{axis}...])] – Make all [or specified] axes do their moves absolute
FRAX({axis}[,{axis}...]) – Make specified axes to be used in vector feedrate calculations
PMATCH – Re-match coordinate system axis positions to motor commanded positions
(used in case axis definition or motor position changed since last axis move)
Buffer Control Commands
PC – Report next program number and line (offset) to be executed to host
LIST PC[,[{constant}] – List next line of working program [and specified lines afterward]
to be calculated
PE – Report working program number and line (offset) currently executing to host
LIST PE[,[{constant}] – List currently executing line of working program [and specified
lines afterward]
DEFINE ROT {constant} – Establish rotary motion program buffer of specified word size
for the addressed coordinate system
DELETE ROT – Erase rotary motion program buffer for addressed coordinate system
PR – Report number of lines between executing point and last loaded line in rotary program buffer.
LEARN – Read present commanded positions and add as axis commands to open program buffer
On-Line Motor Commands
(These act immediately on the currently-addressed motor. Except for the reporting commands, these
commands are rejected if the motor is in a coordinate system that is currently running a motion program.)
General Motor Commands
$ – Reset motor – feedback device(s) and phasing
$* – Read absolute position of motor according to Ix10
HM – Perform homing routine for motor
HMZ – Perform zero-move homing routine for motor
SETPHASE – Set commutation angle for present position to Ix75
K – Kill output for motor
O{constant} – Open-loop output of specified magnitude
Jogging Commands
J+ – Jog motor indefinitely in positive direction
J- – Jog motor indefinitely in negative direction
J/ – Stop jogging motor; also restore to position control
J= – Jog motor to last pre-jog or pre-handwheel position
J={constant} – Jog motor to specified position
J=* – Variable jog to position
J:{constant} – Jog motor specified distance from current commanded position
J:* – Variable incremental jog from current commanded position
J^{constant} – Jog motor specified distance from current actual position
J^* – Variable incremental jog from current actual position
{jog command}^{constant} – Jog until trigger, final value specifies distance from trigger
position to stop