PMAC Quick Reference Guide For example: G17 will cause a jump to N17000 of PROG 1000; G117 will cause a jump to N17000 of PROG 1010; G973.1 will cause a jump to N73100 of PROG 1090. M-codes are the same, except they use PROG 10n1; T-codes use PROG 10n2; D-codes use PROG 10n3. Most of the time, these codes have numbers within the range 0 to 99, so only PROGs 1000, 1001, 1002, and 1003 are required to execute them. For those who want to extend code numbers past 100, PROGs 1010, 1011, etc. will be required to execute them. Linear Blended Moves The move time is set directly by TM or indirectly based on the the distances and feedrate (F) parameters set:
TM100 X3 Y4 or FRAX(X,Y) 2 4 2 3 I190 TM = = + ⋅ = X3 Y4 F50 ; msec 100 50 5000 50 • If the move time above calculated is less than the TA time set, the move time used will be the TA time instead. In this case, the programmed TA (or 2*TS if TA results in the minimum move time of a linearly interpolated move. • If the TA programmed results to be less than twice the TS programmed, TA , the TA time used will be 2*TS instead. • The acceleration time TA of a blended move cannot be longer than two times the previous TM minus the previous TA, otherwise the value 2*(TM- Ѕ TA) will be used as the current TA instead.
• The safety variables Ix16 and Ix17 will override these parameters if they are found to violate the programmed limits. • If TM • If TA • If TA i+1 > 2*(TM i - Ѕ TA i ), TA i+1 = 2*(TM i - Ѕ TA i ) Example: To illustrate how PMAC blends linear moves, a series of velocity Vs time profiles will be shown. The moves are defined with zero S-curve components. The concepts described here could be used for non- zero S-curve linear moves. 1. Consider the following motion program code: close delete gather undefine all &1 #1->2000x OPEN PROG 1 CLEAR LINEAR ; Linear mode INC ; Incremental mode TA100 ; The acceleration time is 100 msec, TA 1 Motion Programs 49