Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC On-line Command Specification 306
 The correction to the target motor at the zero position of both source motors is zero by definition.
This is an implied entry at the beginning of the table (shown by [0] in the above chart); it should not
be explicitly entered.
 Consecutive entries in the table are in the same row (except at row’s end) separated by one column
spacing of the position of the first source (row) motor.
 Both Row 0 and Row r must be entered into the table, so effectively (r+1) rows are being entered. If
there is any possibility that it may go beyond an edge of the table, matching entries of Row 0 and
Row r should have the same value to prevent a discontinuity in the correction. Row r in the table
may simply be an added row beyond the real range of concern used just to prevent possible
discontinuities at the edges of he real range of concern.
 Both Column 0 and Column c must be entered into the table, so effectively (c+1) columns are being
entered. If there is any possibility that it may go beyond an edge of the table, matching entries of
Column 0 and Column c should have the same value to prevent a discontinuity in the correction.
Column c in the table may simply be an added column beyond the real range of concern used just to
prevent possible discontinuities at the edges of the real range of concern.
 Because the outside rows and outside columns must match each other to prevent edge discontinuities,
the three explicitly entered corner corrections must be zero to match the implicit zero correction at the
first corner of the table.
Examples:
#1 DEFINE COMP 40.30,#1,#2,#3,300000,400000
; Create table belonging to Motor 1
ERR007 ; Turbo PMAC rejects this command
DELETE GATHER ; Clear other buffers to allow loading
&1 DELETE ROTARY
&2 DELETE ROTARY
#2 DELETE COMP
#3 DELETE COMP
#4 DEFINE COMP 30.40,#1,#2,#3,400000,300000
; Create same table, now belonging to Motor 4; #1 & #2 are sources, #3
; is target; 30 rows x 40 columns, spacing of 10,000 counts
(1270 entries) ; (30+1)*(40+1)-1 entries of constants
#3 DEFINE COMP 25.20,#2,#3,#1,200000,250000
; Create table belonging to Motor 3; #2 and #3 are sources, #1 is target;
; 25 rows x 20 columns, spacing of 10,000 counts
(545 entries) ;(25+1)*(20+1)-1 entries of constants
#2 DEFINE COMP 10.10,#1,#4,10000,20000
; Create table belonging to Motor 2; #1 and #4 are sources, #2 (default)
; is target; 10 rows x10 columns, spacing of 1000 cts between columns;
; spacing of 2000 cts between rows;
(120 entries) ; (10+1)*(10+1)-1 entries of constants
#1 DEFINE COMP 12.10,#4,1280,1200
; Create table belonging to Motor 1; #4 and #1 (default) are sources, #1
; (default) is target;12 rows x 10 columns; spacing of 128 cts between;
; columns spacing of 100 cts between rows
(142 entries) ; (12+1)*(10+1)-1 entries of constants
I51=1 ; Enable compensation tables