PMAC Quick Reference Guide
58
Motion Programs
vel
Time
V
2t
I190
6
t
V
5
2
P
⋅
⋅
⋅
=
V/2
I190
6
t
V
1
P
⋅
⋅
=
t
vel
Time
vel
Time
V
2t
I190
6
t
V
5
2
P
⋅
⋅
⋅
=
V/2
I190
6
t
V
1
P
⋅
⋅
=
t
V
2
t
( )
I190
2
1
V
P
⋅
⋅
+
=
t
2
V
V
1
Replace I190 for the appropriate Ix90 variable according to coordinate system x.
Example:
close delete gather undefine all
&1 #1->2000X
OPEN PROG 1 CLEAR
INC
PVT300
;Time is 300 msec per section
X5:50
;
user_units
5
3000
15000
3
msec
300
msec
I190
user_units
50
P
=
=
⋅
=
X5:0
;
user_units
5
3000
15000
3
msec
300
msec
I190
user_units
50
P
=
=
⋅
=
CLOSE
Other Programming Features
Rotary Motion Program Buffers
PMAC has a limited memory space shared for motion programs, PLCs, compensation tables and
gathering buffers. The rotary motion program buffers allow running motion programs larger than the
available space in PMAC’s memory.
Communication routines provided by Delta Tau have the necessary code to implement this feature in a
host computer.
Internal Time Base, the Feedrate Override
Each coordinate system has its own time base that helps control the speed of interpolated moves in that
coordinate system.
If Ix93 is set at default, this parameter could be changed by different means:
•
100
0
where
,
%
<
<
n
n
Online or CMD command that runs all motion commands in slow motion.
•
225
100
where
,
%
≤
<
n
n
Online or CMD command that runs all motion commands proportionally
faster.
•
0
%
Online or CMD command that freezes all motions and timing in that C.S.
Summary of Contents for PMAC Mini
Page 4: ......
Page 8: ...PMAC Quick Reference Guide iv Table of Contents ...
Page 28: ...PMAC Quick Reference Guide 20 PMAC Executive Program PEWIN ...
Page 80: ...PMAC Quick Reference Guide 72 Troubleshooting ...
Page 82: ...PMAC Quick Reference Guide 74 Appendix A PMAC Error Code Summary ...
Page 88: ...PMAC Quick Reference Guide 80 Appendix B PMAC I Variables Summary ...
Page 106: ...PMAC Quick Reference Guide 98 Appendix F I O Suggested M Variable Definitions ...
