User`s manual

4.3.2 - P-Variables______________________________________________________________________________ 30
4.3.3 - Q-Variables _____________________________________________________________________________ 31
4.3.4 - M-Variables _____________________________________________________________________________ 31
4.3.5 - Array capabilities _________________________________________________________________________ 32
4.3.6 - Operators _______________________________________________________________________________ 33
4.3.7 - Functions _______________________________________________________________________________ 33
4.3.8 - Comparators_____________________________________________________________________________ 34
4.3.9 - User-Written phase and User-Written servo algorithms ____________________________________________ 34
4.4 - Memory Map_______________________________________________________________________________ 34
4.4.1 - User Buffer Storage Space __________________________________________________________________ 35
4.5 - Encoder Conversion Table____________________________________________________________________ 35
4.5.1 - Conversion Table Structure _________________________________________________________________ 36
4.5.2 - Further Position Processing _________________________________________________________________ 36
4.6 - PMAC position registers______________________________________________________________________ 36
4.7 - Homing Search Moves _______________________________________________________________________ 38
4.8 - Command and Send statements________________________________________________________________ 39
5.0 - MOTION PROGRAMS ________________________________________________41
5.1 - How PMAC Executes a Motion Program________________________________________________________ 41
5.2 - Coordinate Systems__________________________________________________________________________ 42
5.2.1 - Axis definitions __________________________________________________________________________ 42
5.2.2 - Axis Definition Statements__________________________________________________________________ 42
5.3 - Writing a MOTION PROGRAM ______________________________________________________________ 43
5.4 - Running a MOTION PROGRAM _____________________________________________________________ 44
5.5 - Subroutines and Subprograms_________________________________________________________________ 45
5.5.1 - Passing Arguments to Subroutines____________________________________________________________ 45
5.5.2 - G, M, T, and D-Codes (Machine-Tool Style Programs)____________________________________________ 45
5.6 - Linear blended moves________________________________________________________________________ 46
5.6.1 - Observations: ____________________________________________________________________________ 47
5.7 - Circular Interpolation________________________________________________________________________ 50
5.8 - Splined Moves ______________________________________________________________________________ 52
5.9 - PVT-Mode Moves ___________________________________________________________________________ 52
5.10 - Other programming features _________________________________________________________________ 54
5.10.1 - Rotary Motion Program Buffers: ____________________________________________________________ 54
5.10.2 - Internal Timebase, the feedrate override_______________________________________________________ 54
5.10.3 - External Time-Base Control (Electronic Cams) _________________________________________________ 54
5.10.4 - Position Following (Electronic Gearing) ______________________________________________________ 55
5.10.5 - Cutter Radius Compensation _______________________________________________________________ 55
5.10.6 - Synchronous M-Variable Assignment ________________________________________________________ 55
5.10.7 - Synchronizing PMAC to Other PMACs ______________________________________________________ 55
5.10.8 - Axis Transformation Matrices ______________________________________________________________ 55
5.10.9 - Position-Capture and Position-Compare Functions ______________________________________________ 55
5.10.10 - Learning a Motion Program _______________________________________________________________ 55