Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Program Command Specification 475
Examples:
TA100
TA(P20)
TA(45.3+SQRT(Q10))
See Also:
Linear, Circular Blended Moves, Cubic Spline Moves, PVT Moves (Writing and Executing Motion
Programs)
I-variables Ixx17, Isx87, Isx88
Program commands TS, TM
TINIT
Function: Initialize selected transformation matrix
Type: Motion program (PROG and ROT)
Syntax: TINIT
This command initializes the currently selected (with TSEL) transformation matrix for the coordinate
system by setting it to the identity matrix. This makes the rotation angle 0, the scaling 1, and the
displacement 0, so the XYZ points for the coordinate system are as the axis definition statements created
them. Turbo PMAC will still perform the matrix calculations, even though they have no effect. TSEL0
should be used to stop the matrix calculations
The matrix can subsequently be changed with the ADIS, IDIS, AROT, and IROT commands.
Examples:
TSEL 4 ; Select transformation matrix 4
TINIT ; Initialize it to the identity matrix
IROT 71 ; Do incremental rotation/scaling with Q71-Q79
See Also:
Axis Matrix Transformations (Writing and Executing Motion Programs)
On-line command DEFINE TBUF
Program commands TSEL, ADIS, IDIS, AROT, IROT
TM{data}
Function: Set Move Time
Type: Motion program
Syntax: TM{data}
where:
 {data} is a floating-point constant or expression representing the move time in milliseconds.
This command establishes the time to be taken by subsequent LINEAR and CIRCLE, mode moves. If
global variable I42 is set to the default value of 0, it also established the time to be taken by subsequent
SPLINE and PVT mode moves. It overrides any previous TM or F statement, and is overridden by any
subsequent TM or F statement. It is irrelevant in RAPID move mode (or in SPLINE or PVT move mode
if I42 is set to 1), but the latest value will stay active through that mode for the next return to TM-
controlled move modes.
For LINEAR and CIRCLE mode moves, the effective move time can range from 0.5 msec to 2
23
msec
(about 2 hours 20 minutes), with floating-point resolution. For SPLINE and PVT mode moves, the
effective move time can range from 1 servo cycle to 4096 msec (about 4 seconds), with resolution of ¼-
microsecond.