Reference Manual

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.

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.

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 ; 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.

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.

Examples:

V20

U56.5 V(P320)

Y10 V10

V(SQRT(Q20*Q20+Q21*Q21))

CALL300 V(Q400)