Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC On-line Command Specification 350
If there is no table for the addressed motor, Turbo PMAC will reject the command (reporting ERR003 if
I6=1 or 3).
Example:
LIST TCOMP ; Request contents of torque comp table
9 17 -3 6 35 87 65 24 18 -9 -16 -34 ; PMAC responds
-7 12 -3 -8 32 44 16 0 -20 -5 0 ; Continued response
See Also:
Torque Compensation Tables (Setting Up a Motor)
On-line commands DEFINE TCOMP, DELETE TCOMP, LIST TCOMP DEF
LIST TCOMP DEF
Function: List definition of addressed motor's torque compensation table
Scope: Motor specific
Syntax: LIST TCOMP DEF
This command causes Turbo PMAC to report to the host the definition of the torque compensation table
that belongs to the addressed motor. The definition reported consists of the two items established in the
DEFINE TCOMP command that set up the motor:
1. The number of entries in the table;
2. The span of the table in counts of the motor.
If there is no table for the addressed motor, Turbo PMAC will reject the command (reporting ERR003 if
I6=1 or 3).
Example:
LIST TCOMP DEF ; Request def of addressed motor torque comp table
100,100000 ; Turbo PMAC responds; 100 entries in table, span is 100,000 counts
See Also:
Torque Compensation Tables (Setting Up a Motor)
On-line commands DEFINE TCOMP, DELETE TCOMP, LIST TCOMP
LOCK{constant},P{constant}
Function: Check/set process locking bit
Scope: Global
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).
The locking bit itself is always set to 1 at the end of a LOCK command. It will stay at 1 until cleared by
an UNLOCK command.