PMAC Product Guide 10 . 100 10 = − X10 ; This would reach only to position = 9 250 . 4 X-10 In order to reach the desired position and since the move involves a change in direction and stop, place a DWELL0 command between moves. This command will disable blending for that particular move: TA100 TM250 X10 DWELL0 X-10 4. Since the value of TA determines the minimum time in which a programmed move can be executed, it can limit the maximum move velocity and therefore the programmed feedrate might not be reached. This is seen in triangular velocity profile moves types, especially when a sequence of short distance moves is programmed. Example:
close delete gather undefine all &1 #1->2000X I190=1000 OPEN PROG 1 CLEAR LINEAR ; Linear mode INC ; Incremental mode TA100 ; Acceleration time is 100 msec, TA 1 TS0 ; No S-curve component F40 ; Feedrate is 40 length_units / second X3 ; c mse 75 40 I190 . 3 TM = = = 3000 40 CLOSE Since the calculated TM for the given feedrate is 75 msec and the programmed TA for this move is 100 msec, the TM used will be 100 msec instead. This yields the following feedrate value instead of the programmed one: I190 . 3 F = = = 3000 100 distance of units 30 100 second Motion Programs 77