User's Manual

PMAC User Manual
viii Table of Contents
I-Variable Default Value Assignment ...............................................................................................................158
Synchronous M-Variable Value Assignment.....................................................................................................158
Syntax................................................................................................................................................................160
Execution ..........................................................................................................................................................160
Special Boolean Feature...................................................................................................................................160
Limitations ........................................................................................................................................................160
Comparators ..........................................................................................................................................................161
Conditions .............................................................................................................................................................161
Simple Conditions.............................................................................................................................................161
Compound Conditions ......................................................................................................................................162
Single-Line Condition Actions..........................................................................................................................162
Multiple-Line Conditions..................................................................................................................................162
Timers ...................................................................................................................................................................162
Computational Considerations ..............................................................................................................................163
WRITING PROGRAMS FOR PMAC ..................................................................................................................165
Writing a Motion Program ....................................................................................................................................165
Flow Control.....................................................................................................................................................165
G-Codes............................................................................................................................................................165
Modal Commands.............................................................................................................................................165
Move Commands ..............................................................................................................................................165
Motion Program Trajectories ................................................................................................................................166
Linear Blended Moves ..........................................................................................................................................166
Acceleration Parameters ..................................................................................................................................166
Acceleration Limit ............................................................................................................................................166
Feedrate or Move-Time Specification...................................................................................................................168
Short Moves ......................................................................................................................................................169
Long Moves.......................................................................................................................................................169
Feedrate Axes ...................................................................................................................................................174
Velocity Limit....................................................................................................................................................174
The Blending Function .....................................................................................................................................174
Rapid-Mode Moves...........................................................................................................................................175
Motion Program Move-Until-Trigger ...................................................................................................................175
Circular Blended Moves........................................................................................................................................176
Specifying the Interpolation Plane....................................................................................................................176
Circle Modes.....................................................................................................................................................177
Center Vector....................................................................................................................................................177
Radius Size Specification ..................................................................................................................................178
No Center Specification....................................................................................................................................178
Feedrate Axes ...................................................................................................................................................179
Circle Radius Errors.........................................................................................................................................179
Move Segmentation...........................................................................................................................................179
PVT-Mode Moves.................................................................................................................................................179
Mode Statement ................................................................................................................................................179
Move Statements ...............................................................................................................................................179
PMAC Calculations..........................................................................................................................................180
Problems in Stepping........................................................................................................................................180
Use to Create Arbitrary Profiles.......................................................................................................................180
Use in Contouring.............................................................................................................................................180
Splined Moves.......................................................................................................................................................181
How They Work ................................................................................................................................................182
Added Pieces.....................................................................................................................................................183
Quantifying the Position Adjustment ................................................................................................................183
5-Point Spline Correction.................................................................................................................................183
Non-Uniform Spline..............................................................................................................................................183
Cutter Radius Compensation.................................................................................................................................184