Reference Manual

PMAC 2 Software Reference

PMAC On-Line Command Specification 243

Note:

If a motor is closed loop, the learned position will differ from the

actual position by the amount of the position following error because

commanded position is used. If a motor is open-loop or killed, PMAC

automatically sets motor commanded position equal to motor actual

position, so the LEARN function can be used regardless of the state of

the motor.

Example

&1 ......... ; Address coordinate system 1

#1->10000X . ; Define motor 1 in C.S. 1

#2->10000Y ... ; Define motor 2 in C.S. 1

OPEN PROG 1 CLEAR ; Prepare program buffer for entry

F10 TA200 TS50 ; Enter required non-move commands

{Move motors to a position, e.g. #1 to 13450 commanded, #2 to 29317 commanded}

LEARN(X,Y) ... ; Tell PMAC to learn these positions

X1.345 Y2.9317 ; This is the line that PMAC adds to PROG 1

{move motors to new position, e.g. #1 to 16752 cmd., #2 to 34726 cmd}

LEARN ............... ; Tell PMAC to learn positions

A0 B0 C0 U0 V0 W0 X1.6752 Y3.4726 Z0

; PMAC adds positions for all axes to PROG 1