PMAC Product Guide Online Commands.......................................................................................................................................................44 Buffered (Program) Commands ..................................................................................................................................45 Computational Features...............................................................................................................................................45 I-Variables...............................................................................................................................................................45 P-Variables..............................................................................................................................................................46 Q-Variables .............................................................................................................................................................47 M-Variables.............................................................................................................................................................47 Array Capabilities ...................................................................................................................................................48 Operators.................................................................................................................................................................49 Functions.................................................................................................................................................................49 Comparators............................................................................................................................................................50 I-Variables Setup.........................................................................................................................................................51 Motor Definition I-Variables...................................................................................................................................51 Motor Safety I-Variables .........................................................................................................................................51 S-Curve and Linear Acceleration Variables............................................................................................................52 Rate vs Time:
Programming the Maximum Acceleration Parameters ....................................................................52 Benefits of Using S-Curve Acceleration Profiles.....................................................................................................53 Motor Movement I-Variables ..................................................................................................................................53 Servo Control I-Variables........................................................................................................................................54 Coordinate System I-Variables................................................................................................................................54 Encoder/Flag Setup I-Variables..............................................................................................................................55 Encoder Conversion Table ..........................................................................................................................................55 Jogging Moves.............................................................................................................................................................55 Jog Acceleration......................................................................................................................................................55 Jog Speed.................................................................................................................................................................56 Jog Commands ........................................................................................................................................................56 Indefinite Jog Commands ........................................................................................................................................56 Jogging to a Specified Position ...............................................................................................................................56 Jog Moves Specified by a Variable..........................................................................................................................56 Jog-Until-Trigger ....................................................................................................................................................56 Homing Search Moves ................................................................................................................................................57 Homing Acceleration...............................................................................................................................................57 Homing Speed..........................................................................................................................................................57 Home Trigger Condition .........................................................................................................................................58 Specify Flag Set .......................................................................................................................................................58 Software Capture Option.........................................................................................................................................58 Trigger Signals and Edges.......................................................................................................................................58 Torque-Mode Triggering.........................................................................................................................................59 Merits of Dual Trigger ............................................................................................................................................59 Action on Trigger.....................................................................................................................................................60 Home Command ......................................................................................................................................................60 On-Line Command ..................................................................................................................................................60 Monitoring for Finish..............................................................................................................................................60 Monitoring for Errors..............................................................................................................................................60 Buffered Program Command...................................................................................................................................60 Homing from a PLC Program.................................................................................................................................61 Motion vs.
PLC Program Homing...........................................................................................................................61 Zero-Move Homing..................................................................................................................................................61 Homing Into a Limit Switch.....................................................................................................................................62 Multi-Step Homing Procedures ...............................................................................................................................63 Which Direction to Home?......................................................................................................................................63 Already Into Home?.................................................................................................................................................64 Command and Send Statements ..................................................................................................................................65 PMAC Position Registers............................................................................................................................................66 MOTION PROGRAMS............................................................................................................................................69 Table of Contents iii