Reference Manual

PMAC 2 Software Reference

294 PMAC Program Command Specification

The second part of the move description for an axis (after the ^ sign) specifies the

distance from the trigger position to end the post-trigger move if a trigger is found. The

distance is expressed in the scaled axis user units.

Each motor assigned to an axis specified in the command, executes a separate move-

until-trigger. All the assigned motors will start together, but each can have its own

trigger condition. If a common trigger is required, the trigger signal must be wired into

all motor interfaces. Each motor can finish at a separate time. The next line in the

program will not start to execute until all motors have finished their moves. No blending

into the next move is possible.

The trigger for a motor can be either a hardware input trigger (if bit 17 of Ix03 is 0), or

the motor warning following error status bit (if bit 17 of Ix03) is 1. Bit 16 of Ix03 should

also be set to 1 in this case. If a hardware input trigger is used, Encoder/Flag I-variables

2 and 3 (e.g. I902 and I903) for the flag channel specified by Ix25 determine which

edge(s) of which flag(s) cause the trigger. If the warning following error bit is used for

torque-limited triggering, then Ix12 sets the size of the warning following error.

The speed of the move, both before the trigger and after, is set by Ix22 if I50=0 or by

Ix16 if I50=1. The acceleration is set by Ix19 to Ix21.

On the same line, some axes may be specified for normal untriggered RAPID moves that

will execute simultaneously.

If the move ends for a motor without a trigger being found, the “trigger move” status bit

(bit 7 of the second motor status word returned on a ? command) is left set after the end

of the move. If the trigger has been found, this bit is cleared to 0 at the end of the move.

Example

X1000^0

X10^-0.01 Y5.43^0.05

A(P1)^(P2) B10^200 C(P3)^0 X10