Reference Guide

PMAC Quick Reference Guide
Appendix D – PMAC Program Command Specifications 89
Incremental Move Mode INC [({axis}[,{axis}...])] PROG / ROT
Incremental rotation/scaling of X, Y, and
Z axes
IROT{constant} PROG / ROT
J-Vector Specification for Circular Moves J{data} PROG / ROT
K-Vector Specification for Circular
Moves
K{data} PROG / ROT
Blended Linear Interpolation Move Mode LINEAR LIN PROG / ROT
Set M-Variable Value M{constant}={expression} PROG / ROT
Synchronous M-Variable Value
Assignment
M{constant}=={expression} Motion
Program
M-Variable 'And-Equals' Assignment M{constant}&={expression} PROG / ROT
M Variable 'Or-Equals' Assignment M{constant}|={expression} PROG / ROT
M-Variable 'XOR-Equals' Assignment M{data}^={expression} PROG / ROT
Machine Code (M-Code) M{data} PROG / ROT
Read MACRO auxiliary parameter value MACROAUXREAD{NodeN
um}{ParamNum}{Variable}
MXR{NodeNum}{Par
amNum}{Variable}
background
PLC only
Write MACRO auxiliary parameter value MACROAUXWRITE{Node
Num}{ParamNum}{Variable
}
MXW{NodeNum}{Pa
ramNum}{Variable}
background
PLC only
Read (copy) Type 1 MACRO auxiliary
parameter value
MACROSLVREAD{node
#},{slave variable},{PMAC
variable}
MSR{node #},{slave
variable},{PMAC
variable}
PLC 1 to 31
only
Write (copy) Type 1 MACRO auxiliary
parameter value
MACROSLVWRITE{node
#},{slave variable},{PMAC
variable}
MSW{node #},{slave
variable},{PMAC
variable}
PLC 1 to 31
only
Program Line Label N{constant} PROG / ROT
Define Normal Vector to Plane of Circular
Interpolation and Cutter Radius
Compensation
NORMAL {vector}{data}
[{vector}{data}...]
NRM {vector}{data}
[{vector}{data}...]
PROG / ROT
Alternate Line Label O{constant} PROG / ROT
Conditional OR OR ({condition}) PLC program
only
Set P-Variable Value P{constant}={expression} PROG / ROT
Pause execution of PLC program(s) PAUSE PLC
{constant}[,{constant}...]
PAUSE PLC
{constant}[..{constant}]
PAU PLC {constant}
[,{constant}...]
PAU PLC {constant}
[..{constant}]
PROG / ROT /
PLC
Specify automatic subroutine call function PRELUDE1{command}
PRELUDE0
Motion
Program
Redefine current axis positions (Position
SET)
PSET{axis}{data}
[{axis}{data}...]
Motion
Program
Set Position-Velocity-Time mode PVT{data} PROG / ROT
Set Q-Variable Value Q{constant}={expression} PROG / ROT /
PLC
Set Circle Radius R{data} PROG / ROT
Set Rapid Traverse Mode RAPID RPD PROG / ROT
Read Arguments for Subroutine READ({letter},[{letter}...]) Motion
Program
Resume execution of PLC programs(s) RESUME PLC
{constant}[,{constant}...]
RESUME
PLC{constant}[..{constant}]
RES PLC {constant}
[,{constant}...]
RES PLC {constant}
[..{constant}]
PROG / ROT /
PLC