PMAC Product Guide Running a Motion Program 1. Select the coordinate system where the motion program will be running. Issue the & command followed by the coordinate system number, e.g. &1 for the coordinate system one. 2. Select the program that to run with the B{constant} command, where the {constant} represents the number of the motion program buffer. Use the B command to change motion programs and after any motion program buffer has been opened. If repeatedly running the same motion program without modification, it is not necessary to use it.
When PMAC finishes executing a motion program, the program counter for the coordinate system is set to point to the beginning of that program automatically, ready to run it again. 3. Once pointing to the motion program to run, issue the command to start execution of the program. To execute the program continuously, use the R command ( for all coordinate systems simultaneously). The program will execute all the way through unless stopped by command or error condition. 4. To execute just one move or a small section of the program, use the S command ( for all coordinate systems simultaneously).
The program will execute to the first move DWELL , or DELAY , or if it first encounters a BLOCKSTART command, it will execute to the BLOCKSTOP command. 5. When a run or step command is issued, PMAC checks the coordinate system to make sure it is in proper working order. If it finds anything in the coordinate system is not set up properly, it will reject the command, sending a command back to the host. If I6 is set to 1 or 3, it will report an error number as well telling the reason the command was rejected. PMAC will reject a run or step command for any of the following reasons:
• A motor in the coordinate system has both overtravel limits tripped (ERR010) • A motor in the coordinate system is currently executing a move (ERR011) • A motor in the coordinate system is not in closed-loop control (ERR012) • A motor in the coordinate system in not activated {Ix00=0} (ERR013) • There are no motors assigned to the coordinate system (ERR014) • A fixed (non-rotary) motion program buffer is open (ERR015) • No motion program has been pointed to (ERR016) • After a / or \ stop command, a motor in the coordinate system is not at the stop point (ERR017) 6.
Before starting the program, issue a CTRL+A command to PMAC to ensure that all the motors will be potentially in closed loop and that all previous motions are aborted. Also, if in doubt, the functioning of each motor can be checked individually prior to run a program by means of Jog commands. For example, #1J^2000 will make motor 1 move 2000 encoder counts and that would confirm if the motors are able to run motion programs or not. 7. All motors in the addressed coordinate system must be ready to run a motion program.
Depending on Ix25, even if one motor defined in the coordinate system is not closing the loop, all motors in the coordinate system can be brought down impeding of running any motion program. 8. Sometimes the feedrate override for the current addressed coordinate system is set at zero and no motion will occur as a result. Check the feedrate override parameter by issuing a &1% command on the terminal window (replace 1 for the appropriate coordinate system number). If it is zero or too low, set it to an appropriate value. The &1%100 command will set it to 100 %. 72 Motion Programs