Delta Tau GEO BRICK LV Reference Manual
Turbo PMAC/PMAC2 Software Reference
Turbo PMAC On-line Command Specification
319
Example:
DISABLE PLCC 1
DIS PLCC 5
DIS PLCC 3,4,7
DISABLE PLCC 0..31
DIS PLCC 5
DIS PLCC 3,4,7
DISABLE PLCC 0..31
See Also:
I-variable I5
On-line commands DISABLE PLC, ENABLE PLC, ENABLE PLCC, OPEN PLC, <CONTROL-D>.
Program commands DISABLE PLC, DISABLE PLCC, ENABLE PLC, ENABLE PLCC
I-variable I5
On-line commands DISABLE PLC, ENABLE PLC, ENABLE PLCC, OPEN PLC, <CONTROL-D>.
Program commands DISABLE PLC, DISABLE PLCC, ENABLE PLC, ENABLE PLCC
E
Function:
Enable disabled motors
Scope:
Coordinate-system specific
Syntax:
E
This command enables the disabled motors of the addressed coordinate system, closing the position loop
at the present actual position. If a motor in the coordinate system is open-loop enabled, it closes the
position loop at the present actual position. It has no effect on closed-loop enabled motors.
at the present actual position. If a motor in the coordinate system 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 A (abort) command does not enable disabled motors, so the E command is used for
enabling the motors of a coordinate system. If I36 is set to 0, either the A or E command could be used.
enabling the motors of a coordinate system. If I36 is set to 0, either the A or 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 $$ command. The E command does
not cause a phase referencing to be performed on any motor.
(Ixx01 bit 0 = 1), a phase referencing is required after power-up/reset before the motor can be enabled.
This is done automatically on power-up/reset if Ixx80 for the motor is set to 1 or 3, or subsequently with
the motor-specific $ command, or the coordinate-system-specific $$ command. The E command does
not cause a phase referencing to be performed on any motor.
The global <CTRL-E> command performs the comparable action for all of the motors on Turbo PMAC.
See Also
On-line commands A, <CTRL-A> <CTRL-E>, $, $$
I-variables I36, Ixx80.
I-variables I36, Ixx80.
EAVERSION
Function:
Report firmware version information
Scope:
Global
Syntax:
EAVERSION
EAVER
This command causes Turbo PMAC to report information about the firmware version it is using. Turbo
PMAC responds with seven decimal digits.
PMAC responds with seven decimal digits.
The first four digits represent the firmware version number, without the decimal point (e.g. 1934 for
version 1.934).
The fifth digit is 0 for a released firmware version. If it has a value ‘n’ greater than 0, it is reporting the
‘nth’ test (pre-release) revision of this numerical firmware version.
The sixth digit is reserved for future use. It presently always reports a 0.
version 1.934).
The fifth digit is 0 for a released firmware version. If it has a value ‘n’ greater than 0, it is reporting the
‘nth’ test (pre-release) revision of this numerical firmware version.
The sixth digit is reserved for future use. It presently always reports a 0.
The seventh digit is a 0 for a Turbo PMAC1; it is a 1 for a Turbo PMAC2.