Reference Manual

Turbo PMAC/PMAC2 Software Reference

Turbo PMAC Program Command Specification 440

Examples:

I130=30000

I902=1

I131=P131+1000

See Also:

How Turbo PMAC Executes a Motion Program (Writing and Executing Motion Programs)

On-line command I{constant}={expression}

Program commands M{data}={expression), P{data}={expression},

Q{data}={expression}, M{data}=={expression}

IDIS{constant}

Function: Incremental displacement of X, Y, and Z axes

Type: Motion program (PROG and ROT)

Syntax: IDIS{constant}

where:

 {constant} is an integer representing the number of the first of three consecutive Q-variables to

be used in the displacement vector

This command adds to the offset values of the currently selected (with TSEL) transformation matrix for

the coordinate system the values contained in the three Q-variables starting with the specified one. This

has the effect of renaming the current commanded X, Y, and Z axis positions (from the latest

programmed move) by adding the values of these variables (Xnew=Xold+Q{constant},

Ynew=Yold+Q({constant}+1), Znew=Zold+Q({constant}+2)).

This command does not cause any movement of any axes; it simply renames the present positions.

This command is similar to a PSET command, except that IDIS is incremental and does not force a stop

between moves, as PSET does.

Examples:

X0 Y0 Z0

Q20=7.5

Q21=12.5

Q22=20

IDIS 20 ; This makes the current position X7.5, Y12.5, Z20

IDIS 20 ; This makes the current position X15 Y25 Z40