Delta Tau GEO BRICK LV Manual De Referência
Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Program Command Specification
481
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 no motion program buffer or PLC program buffer is open when this command is issued, this command
will be executed immediately as an on-line command.
will be executed immediately as an on-line command.
Examples:
P10=1
; Assume locked to start
WHILE(P10=1)
; Loop until unlocked
LOCK4,P10
; Check status of locking bit 4
ENDWHILE
M1=M1^1
M1=M1^1
; Invert Machine Output 1
UNLOCK4
; Release process 4 for other tasks
V{data}
Function:
V-Axis Move
Type:
Motion program (PROG and ROT)
Syntax:
V{data}
where:
{data} is a floating point constant or expression representing the position or distance in user units
for the V-axis.
for the V-axis.
This command causes a move of the V-axis. (See {axis}{data} description, above.) If it follows a
subroutine call (explicit or with PRELUDE) on a program line, it can be used instead to pass its value to
the subroutine through use of the READ command.
subroutine call (explicit or with PRELUDE) on a program line, it can be used instead to pass its value to
the subroutine through use of the READ command.
Examples:
V20
U56.5 V(P320)
Y10 V10
V(SQRT(Q20*Q20+Q21*Q21))
CALL300 V(Q400)
U56.5 V(P320)
Y10 V10
V(SQRT(Q20*Q20+Q21*Q21))
CALL300 V(Q400)
See Also:
Program commands {axis}{data}, A, B, C, U, W, X, Y, Z, CALL, PRELUDE, READ
Program commands {axis}{data}, A, B, C, U, W, X, Y, Z, CALL, PRELUDE, READ
W{data}
Function:
W-Axis Move
Type:
Motion program
Syntax:
W{data}
where:
{data} is a floating point constant or expression representing the position or distance in user units
for the W-axis.
for the W-axis.
This command causes a move of the W-axis. (See {axis}{data} description, above.) If it follows a
subroutine call (explicit or with PRELUDE) on a program line, it can be used instead to pass its value to
the subroutine through use of the READ command.
subroutine call (explicit or with PRELUDE) on a program line, it can be used instead to pass its value to
the subroutine through use of the READ command.
Examples:
W5
W(P10+33.5)
W(P10+33.5)