Reference Guide

PMAC Quick Reference Guide

52 Motion Programs

In order to reach the desired position, since the move involves a change in direction and stop, simply

place a DWELL0 command between moves. This command will disable blending for that particular

move:

TA100

TM250

X10

DWELL0

X-10

4. Since the value of TA determines the minimum time in which a programmed move can be executed,

it could limit the maximum move velocity and therefore the programmed feedrate might not be

reached. This is seen in triangular velocity profile moves types, especially when a sequence of short

distance moves is programmed.

Example:

delete gather

undefine all

#1->2000X

I190=1000

OPEN PROG 1 CLEAR

LINEAR ; Linear mode

INC ; Incremental mode

TA100 ; Acceleration time is 100 msec, TA

TS0 ; No S-curve component

F40 ; Feedrate is 40 length_units / second

X3 ;

msec 75

3000

I190 . 3

TM ===

Since the calculated TM for the given feedrate is 75 msec and the programmed TA for this move is 100

msec, the TM used will be 100 msec instead. This yields the following feedrate value instead of the

programmed one:

second

distance of units

100

3000

100

I190 . 3

F ===