Delta Tau GEO BRICK LV Reference Manual
Turbo PMAC/PMAC2 Software Reference
Turbo PMAC On-line Command Specification
401
On-line commands #{constant}->0, #{constant}->, UNDEFINE.
UNLOCK{constant}
Function:
Clear process locking bit
Scope:
Global
Syntax:
UNLOCK{constant}
where:
{constant} is an integer from 0 to 7 representing the number of the locking bit
The UNLOCK command permits the user to clear one of the eight process locking bits in Turbo PMAC,
releasing the process for other tasks. These locking bits can prevent conflicts between tasks of different
priorities attempting to manipulate the same register. On-line commands and PLCs 1 –31 are background
tasks; motion programs and PLC 0 are higher-priority foreground tasks.
releasing the process for other tasks. These locking bits can prevent conflicts between tasks of different
priorities attempting to manipulate the same register. On-line commands and PLCs 1 –31 are background
tasks; motion programs and PLC 0 are higher-priority foreground tasks.
The user can check the status of a locking bit with the LOCK command.
The status of locking bits 0 – 7 is reported as bits 4 – 11, respectively, of I4904.
If a motion program buffer or a PLC program buffer is open when this command is issued, this command
will be entered into that buffer as a program command for future execution; it will not be treated as an on-
line command.
will be entered into that buffer as a program command for future execution; it will not be treated as an on-
line command.
UPDATE
Function:
Copy present date and time to non-volatile storage
Scope:
Global
Syntax:
UPDATE
This command causes Turbo PMAC to copy the present date and time information from active volatile
memory to the Option 18B non-volatile clock and calendar IC. Date and time information that has been
entered into active memory is not retained through a power-down or board reset unless the UPDATE
command has been used once to put this information in the non-volatile IC as well.
memory to the Option 18B non-volatile clock and calendar IC. Date and time information that has been
entered into active memory is not retained through a power-down or board reset unless the UPDATE
command has been used once to put this information in the non-volatile IC as well.
If there is no Option 18B non-volatile clock and calendar IC present on the Turbo PMAC, this command is
rejected with an error, with the Turbo PMAC reporting an ERR003 if I6 is set to 1 or 3.
rejected with an error, with the Turbo PMAC reporting an ERR003 if I6 is set to 1 or 3.
Example:
TODAY=06/15/1998
; Set present date in active memory
UPDATE
; Copy to non-volatile IC
$$$
; Reset Turbo PMAC
TODAY
; Request present date
06/15/1998
; Turbo PMAC reports date
TODAY=11/23/2000
; Set new present date
$$$
; Reset board (without updating)
TODAY
; Request present date
06/15/1998
; Turbo PMAC reports last UPDATEd date
V
Function:
Report motor velocity
Scope:
Motor specific
Syntax:
V
This command causes Turbo PMAC to report the velocities of the addressed motor to the host. The
velocity units are typically scaled in encoder counts per servo cycle, rounded to the nearest tenth.
velocity units are typically scaled in encoder counts per servo cycle, rounded to the nearest tenth.
To scale these values into counts/msec, multiply the response by 8,388,608/I10 (servo cycles/msec).