Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC On-line Command Specification 379
If the kinematic-enable variable Isx50 for the coordinate system is set to 1, Turbo PMAC will
automatically execute the forward-kinematic program for the coordinate system any time an R (run), S
(step), or PMATCH command is given to the coordinate system. Before running the program PMAC will
place the commanded position value (in counts) for each Motor xx in the coordinate system into global
variable Pxx.
After the program is run, Turbo PMAC will take the values in Q1 – Q9 for the coordinate system and use
them as the starting positions for the A, B, C, U, V, W, X, Y, and Z axes, respectively (in engineering
units).
No other program buffers (PLC, fixed or rotary motion) may be open when this command is sent (Turbo
PMAC will report ERR007 if I6=1 or 3). It is a good idea always to precede an OPEN command with a
CLOSE command to make sure no other buffers have been left open.
No motion programs may be running in any coordinate system when this command is sent (Turbo PMAC
will report ERR001 if I6=1 or 3). As long as a forward kinematic program buffer is open, no motion
program may be run in any coordinate system (Turbo PMAC will report ERR015 if I6=1 or 3).
Forward kinematic programs can be protected by password. If there is a password for the Turbo PMAC,
and the password has not been given, Turbo PMAC will reject this command (reporting an ERR002 if I6
is 1 or 3).
See Also:
Kinematic Calculations
I-variable Isx50
On-line commands LIST FORWARD, LIST INVERSE, OPEN INVERSE
OPEN INVERSE
Function: Open an inverse-kinematic program buffer for entry
Scope: Port, coordinate-system specific
Syntax: OPEN INVERSE
OPEN INV
This command causes Turbo PMAC to open the inverse-kinematic program buffer for the addressed
coordinate system for entry or editing through this port. Subsequent program commands valid for these
programs sent on this port will be entered into this buffer. Kinematic programs can accept all commands
that are valid for PLC programs except ADDRESS, CMD, and SEND commands. When entry of the
program is finished, the CLOSE command should be used to prevent further lines from being put in this
buffer.
If the kinematic-enable variable Isx50 for the coordinate system is set to 1, Turbo PMAC will
automatically execute the inverse-kinematic program for the coordinate system any time axis positions
are calculated during motion program execution. This is either the end of the programmed move for non-
segmented moves, or the end of each move segment for segmented LINEAR and CIRCLE-mode moves
with Isx13 greater than 0.
Before each instance of running the inverse-kinematic program, Turbo PMAC will automatically place
the commanded position values (in engineering units) for the A, B, C, U, V, W, X, Y, and Z axes into Q1
– Q9, respectively, for the coordinate system. After the program is run, for each Motor xx in the
coordinate system whose axis definition statement is #xx->I, Turbo PMAC automatically places the
value of Pxx into the target position register for the motor. If executing a PVT-mode move, Turbo PMAC
will also place the commanded velocity value (in engineering units) for the axes into Q11 – Q19 before,
and place the value of P1xx into the motor target velocity register after.