Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Program Command Specification 474
(Usually, programs 10n2 are used to implement the machine codes as the system designer sees fit.) The
value of {data’} can be from 0.0 to 99.999, corresponding to line labels N0 to N99999.
This structure permits the implementation of customizable T-Code routines for machine-tool style
applications by the writing of subroutines in motion programs 10n2. Arguments can be passed to these
subroutines by following the T-Code with one or more sets of {letter}{data}, as in CALL and
READ statements.
Most users will have T-codes only in the range 0-99, which permits the use of PROG 1002 only, and
allows {data’} to equal {data} for direct specification of the line label.
Examples:
T01 jumps to N1000 of PROG 1002
T12 jumps to N12000 of PROG 1002
T115 jumps to N15000 of PROG 1012
See Also:
Program commands CALL{data}, D{data}, M{data}, T{data}, RETURN
TA{data}
Function: Set Acceleration Time
Type: Motion program (PROG and ROT)
Syntax: TA{data}
where:
 {data} is a constant or expression representing the acceleration time in milliseconds
This statement specifies the commanded acceleration time between blended moves (LINEAR and
CIRCLE mode), and from and to a stop for these moves. If global variable I42 is set to 1, it also specifies
the segment time for PVT and SPLINE mode moves. The units are milliseconds, and the range is 0 to
8,388,607 msec (about 2 hours, 20 minutes). Turbo PMAC will round the specified value to the nearest
integer number of milliseconds when executing this command (no rounding is done in storing the value in
the buffer).
Note:
If the coordinate system is not in segmentation mode (Isx13 = 0), make sure the
specified acceleration time (TA or 2*TS) is greater than zero, even if planning to
rely on the maximum acceleration rate parameters (Ixx17). A specified
acceleration time of zero will cause a divide-by-zero error. The minimum
specified time in this case should be TA1 TS0.
If the specified S-curve time (from TS, or Isx88) is greater than half the TA time, the time used for the
acceleration for blended moves will be twice the specified S-curve time.
The acceleration time is also the minimum time for a blended move; if the distance on a feedrate-
specified (F) move is so short that the calculated move time is less than the acceleration time, or the time
of a time-specified (TM) move is less than the acceleration time, the move will be done in the acceleration
time instead. This will slow down the move. If TA controls the move time it must be greater than the
Isx13 time and the I8 period.
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).
A move executed in a program before any TA statement will use the default acceleration time specified by
coordinate system I-variable Isx87.