Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Program Command Specification 444
Examples:
X10 Z20 I5 K5
Z(2*P1) K(P1)
K33.333 ; Specifies a full circle whose center is 33.333 units in the
; positive Z-direction from the start and end point
NORMAL K-1 ; Specifies a vector normal to the XY plane
See Also:
Circular Interpolation, Tool Radius Compensation (Writing and Executing Motion Programs)
Motion Program Commands {axis}{data}{vector}{data}, ABS, INC, NORMAL, I, J.
LINEAR
Function: Blended Linear Interpolation Move Mode
Type: Motion program (PROG and ROT)
Syntax: LINEAR
LIN
The LINEAR command puts the program in blended linear move mode (this is the default condition on
power-up/reset). Subsequent move commands in the program will be processed according to the rules of
this mode. On each axis, the card attempts to reach a constant velocity that is determined by the most
recent feedrate (F) or move time (TM) command.
The LINEAR command takes the program out of any of the other move modes (CIRCLE, PVT, RAPID,
SPLINE). A command for any of these other move modes takes the program out of LINEAR mode.
Examples:
LINEAR ABS
CIRCLE1 X10 Y20 I5
LINEAR X10 Y0
OPEN PROG 1000 CLEAR
N1000 LINEAR RETURN
See Also:
Linear Blended Moves (Writing and Executing Motion Programs);
I-variables Isx87, Isx88, Isx89, Isx90;
Program commands CIRCLE, PVT, RAPID, SPLINE, TA, TS, TM, F, {axis}{data}.
LOCK{constant},P{constant}
Function: Check/set process locking bit
Type: Motion program/PLC program
Syntax: LOCK{constant},P{constant}
where:
 the first {constant} is an integer from 0 to 7 representing the number of the locking bit;
 the second {constant} is an integer from 0 to 8191 specifying the number of the P-variable used
to report the status of the locking bit.
The LOCK command permits the user to check and possibly take possession of one of the eight process
locking bits in Turbo PMAC. 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.
When the LOCK command is invoked, the P-variable specified in the command takes the value of the
locking bit immediately before the command is invoked. It takes a value of 0 if the locking bit was not
set before the command (meaning the process is available for this task); it takes a value of 1 if the locking
bit was set before the command (meaning the process is not available for this task).