Reference Manual

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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.

For multiple cards on a single serial daisy-chain, this command affects all cards on the chain, regardless

of the current software addressing.

Example:

TRIGGER 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.

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.

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.

The coordinate-system-specific E command performs the comparable action for just the motors of the

addressed coordinate system.