Reference Guide

PMAC Quick Reference Guide
Motion Programs 51
PMAC looks two moves ahead of actual move execution to perform its acceleration limit and can
recalculate these two moves to keep the accelerations under the Ix17 limit. However, there are cases
where more than two moves, some much more than two, would have to be recalculated in order to
keep the accelerations under the limit. In these cases, PMAC will limit the accelerations as much as it
can, but because the earlier moves have been executed already, they cannot be undone and therefore,
the acceleration limit will be exceeded.
3. When performing a blended move that involves a change of direction, the end point might not be
reached.
Example:
TA100
TM250
X10 ; This would reach only to position =
9
250 . 4
10 . 100
10 =−
X-10