Delta Tau GEO BRICK LV Reference Manual
Turbo PMAC/PMAC2 Software Reference
Turbo PMAC On-line Command Specification
256
<CONTROL-D>
Function:
Disable all PLC programs.
Scope:
Global
Syntax:
ASCII Value 4D; $04
This command causes all PLC programs to be disabled (i.e. stop executing). This is the equivalent of
DISABLE PLC 0..31 and DISABLE PLCC 0..31. It is especially useful if a CMD or SEND
statement in a PLC has run amok.
DISABLE PLC 0..31 and DISABLE PLCC 0..31. It is especially useful if a CMD or SEND
statement in a PLC has run amok.
For multiple cards on a single serial daisy-chain, this command affects all cards on the chain, regardless
of the current software addressing.
of the current software addressing.
Example:
TRIGGER FOUND
TRIGTRIGER FOTRIGGER FOUND
TRTRIGTRIGGER FOUND
TRIGTRIGER FOTRIGGER FOUND
TRTRIGTRIGGER FOUND
(Out-of-control SEND message from PLC)
<CTRL-D> ........
(Command to disable the PLCs)
..........................
(No more messages; can now edit PLC)
See Also:
On-line commands DISABLE PLC, ENABLE PLC, DISABLE PLCC, ENABLE PLCC, OPEN PLC
Program commands DISABLE PLC, ENABLE PLC, DISABLE PLCC, ENABLE PLCC, COMMAND,
SEND
<CONTROL-E>
Function:
Enable disabled motors
Scope:
Global
Syntax:
ASCII value 5D,$05
This command enables all of the disabled motors on the Turbo PMAC, closing the position loop at the
present actual position. If a motor is open-loop enabled, it closes the position loop at the present actual
position. It has no effect on closed-loop enabled motors.
present actual position. If a motor is open-loop enabled, it closes the position loop at the present actual
position. It has no effect on closed-loop enabled motors.
If I36 is set to 1, the <CTRL-A> (abort all) command does not enable disabled motors, so the <CTRL-E>
command is used for enabling all motors together. If I36 is set to 0, either the <CTRL-A> or <CTRL-E>
command could be used.
command is used for enabling all motors together. If I36 is set to 0, either the <CTRL-A> or <CTRL-E>
command could be used.
Note that if the motor is a synchronous (zero-slip – Ixx78 = 0) motor commutated by Turbo PMAC
(Ixx01 bit 0 = 1), a phase referencing is required after power-up/reset before the motor can be enabled.
This is done automatically on power-up/reset if Ixx80 for the motor is set to 1 or 3, or subsequently with
the motor-specific $ command, or the coordinate-system-specific $$ command. The <CTRL-E>
command does not cause a phase referencing to be performed on any motor.
(Ixx01 bit 0 = 1), a phase referencing is required after power-up/reset before the motor can be enabled.
This is done automatically on power-up/reset if Ixx80 for the motor is set to 1 or 3, or subsequently with
the motor-specific $ command, or the coordinate-system-specific $$ command. The <CTRL-E>
command does not cause a phase referencing to be performed on any motor.
The coordinate-system-specific E command performs the comparable action for just the motors of the
addressed coordinate system.
addressed coordinate system.
See Also
On-line commands A, <CTRL-A> E, $, $$
I-variables I36, Ixx80.
I-variables I36, Ixx80.