Reference Guide

PMAC Quick Reference Guide
58 Motion Programs
vel
Time
V
2t
I1906
tV5
2
P
⋅
⋅⋅
=
V/2
I1906
tV
1
P
⋅
⋅
=
t
vel
Time
vel
Time
V
2t
I1906
tV5
2
P
⋅
⋅⋅
=
V/2
I1906
tV
1
P
⋅
⋅
=
t
V
2
t
()
I1902
1
V
P
⋅
⋅+
=
t
2
V
V
1
Replace I190 for the appropriate Ix90 variable according to coordinate system x.
Example:
close delete gather undefine all
&1 #1->2000X
OPEN PROG 1 CLEAR
INC
PVT300 ;Time is 300 msec per section
X5:50
; user_units 5
3000
15000
3
msec 300
msec I190
user_units 50
P ==⋅=
X5:0 ; user_units 5
3000
15000
3
msec 300
msec I190
user_units 50
P ==⋅=
CLOSE
Other Programming Features
Rotary Motion Program Buffers
PMAC has a limited memory space shared for motion programs, PLCs, compensation tables and
gathering buffers. The rotary motion program buffers allow running motion programs larger than the
available space in PMAC’s memory.
Communication routines provided by Delta Tau have the necessary code to implement this feature in a
host computer.
Internal Time Base, the Feedrate Override
Each coordinate system has its own time base that helps control the speed of interpolated moves in that
coordinate system.
If Ix93 is set at default, this parameter could be changed by different means:
• 1000 where ,% << nn Online or CMD command that runs all motion commands in slow motion.
• 225100 where ,% ≤< nn Online or CMD command that runs all motion commands proportionally
 faster.
• 0% Online or CMD command that freezes all motions and timing in that C.S.