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

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

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.

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.

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.

The global <CTRL-E> command performs the comparable action for all of the motors on Turbo PMAC.