Reference Manual
Turbo PMAC/PMAC2 Software Reference
Turbo PMAC On-line Command Specification 269
If the specified motor is currently assigned to an axis in a different coordinate system, Turbo PMAC will
reject this command (reporting an ERR003 if I6=1 or 3). If the specified motor is currently assigned to an
axis in the addressed coordinate system, the old definition will be overwritten by this new one.
To undo a motor's axis definition, address the coordinate system in which it has been defined, and use the
command #{constant}->0. To clear all of the axis definitions within a coordinate system, address
the coordinate system and use the UNDEFINE command. To clear all axis definitions in all coordinate
systems, use UNDEFINE ALL.
For more sophisticated systems, two or three cartesian axes may be defined as a linear combination of the
same number of motors. This allows coordinate system rotations and orthogonality corrections, among
other things. One to three axes may be specified (if only one, it amounts to the simpler definition above).
All axes specified in one definition must be from the same triplet set of cartesian axes: XYZ or UVW. If
this multi-axis definition is used, a command to move an axis will result in multiple motors moving.
Example:
#1->X ; User units = counts
#4->2000 A ; 2000 counts/user unit
#9->3333.333Z-666.667 ; Non-integers OK
#3->Y ; 2 motors may be assigned to the same axis;
#2->Y ; both motors move when a Y move is given
#1->8660X-5000Y ;This provides a 30o rotation of X and Y...
#2->5000X+8660Y ;with 10000 cts/unit -- this rotation does
#3->2000Z-6000 ;not involve Z, but it could have
This example corrects for a Y axis 1 arc minute out of square:
#5->100000X ;100000 cts/in
#6->-29.1X+100000Y ;sin and cos of 1/60
See Also:
Axes, Coordinate Systems (Setting Up a Coordinate System)
On-line commands #{constant}->, #{constant}->0, UNDEFINE, UNDEFINE ALL.
#{constant}->I
Function: Assign inverse-kinematic definition for specified motor
Scope: Coordinate-system specific
Syntax: #{constant}->I[+{offset}]
where:
{constant} is an integer from 1 to 32 representing the number of the motor whose axis definition
is to be made;
[+{offset}] (optional) is a floating-point constant representing the difference between axis zero
position and motor zero (home) position, in motor counts; if none is specified, Turbo PMAC assumes
a value of 0.0
Note:
No space is allowed between the motor number and the “arrow” double character.
This command assigns the specified motor to an inverse-kinematic axis in the addressed coordinate
system. It also defines the offset for the axis. A motor assigned in this way must get its commanded
positions each programmed move or segment from the inverse-kinematic program for the coordinate
system. This program, created with an OPEN INVERSE command, is executed automatically each
programmed move or segment if Isx50 for the coordinate system is set to 1.