Reference Manual

Turbo PMAC/PMAC2 Software Reference

Turbo PMAC Program Command Specification 445

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.

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.

Example:

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

M{data}

Function: Machine Code (M-Code)

Type: Motion program

Syntax: M{data}

where:

 {data} is a floating-point constant or expression in the range 0.000 to 999.999, specifying the

program number and the line label to jump to

Turbo PMAC interprets this statement as a CALL 10n1.({data’}*1000) command, where n is the

hundreds’digit of {data}, and {data’} is the value of {data} without the hundred’s digit (modulo

100 in mathematical terms). That is, this statement causes a jump (with return) to motion program 10n1,

and the specified line label. (Usually programs 10n1 are used to implement the machine codes as the

system designer sees fit.) The value of {data’} can be from 0.0 to 99.999, corresponding to line labels

N0 to N99999.

This structure permits the implementation of customizable M-Code routines for machine-tool style

applications by the writing of subroutines in motion programs 10n1. Arguments can be passed to these

subroutines by following the M-Code with one or more sets of {letter}{data}, as in CALL and

READ statements.

Most users will have M-codes only in the range 0-99, which permits the use of PROG 1001 only, and

allows {data’} to equal {data} for direct specification of the line label.

Example:

M01 jumps to N1000 of PROG 1001

M12 jumps to N12000 of PROG 1001

M115 jumps to N15000 of PROG 1011