Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Global I-Variables 184
If Isx79 is set to 1, all motors involved in the multi-axis move will be commanded to move at their
specified speed. This means that motors with lower distance/speed ratios will finish sooner than those
with higher ratios, and the path in a Cartesian system will not be linear in the general case.
In both cases, each motor involved in the multi-axis move will use its own acceleration parameters Ixx19
– Ixx21 to calculate its acceleration and deceleration profile.
Isx81 Coordinate System ‘x’ Blend Disable In-Position Time-Out
Range: 0 .. 8,388,607
Units: real-time interrupt periods
Default: 0 (disabled)
Isx81, if set to a positive value, specifies that when blending is disabled between programmed moves,
Turbo PMAC will determine that all axes in the coordinate system will be “in-position” before starting
execution of the next move in the motion program. In this case, the value of Isx81 specifies the “time-
out” value for the in-position check, expressed in real-time interrupt periods (I8+1 servo cycles). If all
axes in the coordinate system are not in-position within this time from the end of the incoming
commanded move, the program will be stopped with a run-time error.
If Isx81 is set to 0, Turbo PMAC merely brings the commanded trajectory to a momentary stop before
starting the next move in the cases where blending is disabled; it does not verify that any of the actual
positions have reached this point. (This setting is fully compatible with firmware versions from before
Isx81 was implemented.)
The in-position check as specified by Isx81 is performed after programmed moves that are never blended
(RAPID-mode moves, programmed homing-search moves), or after moves that can be blended, but for
which blending has been disabled by the clearing of the coordinate system “continuous motion request”
status/control bit (directly or from Isx92), or because the corner is sharper than the angle specified by
Isx83.
The in-position check enabled by Isx81 is the “background” check function that uses the Ixx28 in-
position band for each motor, and the Ixx88 number of scans for each motor. When all axes in the
coordinate system have been verified to be “in position”, the coordinate-system “in-position” status bit is
set. After the in-position check, a dwell of the time specified by Isx82 is inserted before execution of the
next programmed move is started.
Isx82 Coordinate System ‘x’ Blend Disable Dwell Time
Range: 0 .. 8,388,607
Units: real-time interrupt periods
Default: 0
Isx82 specifies the dwell time that is automatically inserted between programmed moves when blending
is disabled. This dwell time is inserted after programmed moves that are never blended (RAPID-mode
moves, programmed homing-search moves), or after moves that can be blended, but for which blending
has been disabled by the clearing of the coordinate system “continuous motion request” status/control bit
(directly or from Isx92), or because the corner is sharper than the angles specified by Isx83 and Isx85. (If
the angle is sharper than that specified by Isx83 but not sharper than that specified by Isx85, blending will
be disabled at the corner, but no dwell will be added.) The units of this dwell are in real-time interrupt
periods (I8+1 servo cycles), not milliseconds as in a directly programmed dwell.
If Isx81 is 0, this dwell time is inserted immediately after the end of commanded execution of the
previous move. If Isx81 is greater than 0, this dwell time is inserted after all axes in the coordinate
system have been verified to be “in position”.