Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Global I-Variables 189
If Isx88 is greater than zero, the acceleration will start at zero and linearly increase through Isx88 time,
then stay constant (for time TC) until Isx87-Isx88 time, and linearly decrease to zero at Isx87 time (that is
Isx87=2*Isx88 - TC).
If Isx88 is equal to Isx87/2, the entire acceleration will be spec in S-curve form (Isx88 values greater than
Isx87/2 override the Isx87 value; total acceleration time will be 2*Isx88).
Note:
The acceleration time will be extended automatically when any motor in the
coordinate system is asked to exceed its maximum acceleration rate (Ixx17) for a
programmed LINEAR-mode move with Isx13=0 (no move segmentation).
When polled, Isx88 will report the value from the most recently executed TS command in that coordinate
system.
Isx89 Coordinate System x Default Program Feedrate/Move Time
Range: positive floating point
Units: (user position units) / (Isx90 feedrate time units) or msec
Default: 1000.0
Isx89 sets the default feedrate (commanded speed) for programmed LINEAR and CIRCLE mode moves
in coordinate system x. The first use of an F or TM statement in a motion program overrides this value.
The velocity units are determined by the position and time units, as defined by axis definition statements
and Isx89. After power-up/reset, the coordinate system is in feedrate mode, not move-time mode.
Note:
Do not rely on this parameter but declare the feedrate in the program. This will
keep the move parameters with the move commands, lessening the chances of
future errors, and making debugging easier.
When polled, Isx89 will report the value from the most recently executed F or TM command in that
coordinate system.
Isx90 Coordinate System x Feedrate Time Units
Range: positive floating point
Units: msec
Default: 1000.0
Isx90 defines the time units used in commanded velocities (feedrates) in motion programs executed by
Coordinate System x. Velocity units are comprised of length or angle units divided by time units. The
length/angle units are determined in the axis definition statements for the coordinate system.
Isx90 sets the time units. Isx90 itself has units of milliseconds, so if Isx90 is 60,000, the time units are
60,000 milliseconds, or minutes. The default value of Ix90 is 1000 msec, specifying velocity time units
of seconds.
This affects two types of motion program values: F values (feedrate) for LINEAR- and CIRCLE-mode
moves; and the velocities in the actual move commands for PVT-mode moves.
Isx91 Coordinate System x Default Working Program Number
Range: 0 - 32,767
Units: Motion Program Numbers
Default: 0
Isx91 tells Turbo PMAC which motion program to run in Coordinate System x when commanded to run
from the control-panel input (START/ or STEP/ line taken low, or its equivalent in DPRAM). It performs