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Turbo PMAC/PMAC2 Software Reference

Turbo PMAC Program Command Specification 413

Note:

This logical AND command, which acts on conditions, should not be confused with

the bit-by-bit & (ampersand) operator that acts on values.

Examples:

IF (M11=1) ; This branch will start a motion program running

AND (M12=1) ; on a cycle where inputs M11 and M12 are 1 and

AND (M21=0) ; M21 is still zero. Note that M21 is immediately

CMD"R" ; set to one so the run command will not be given

M21=1 ; again in the next cycle.

ENDIF

See Also:

Writing a PLC Program

Conditions (Program Computational Features)

Program Commands IF, WHILE, OR

AROT{constant}

Function: Absolute rotation/scaling of X, Y, and Z axes

Type: Motion program (PROG and ROT)

Syntax: AROT{constant}

where:

 {constant} is an integer representing the number of the first of nine consecutive Q-variables to be

used in the rotation/scaling matrix

This command loads the currently selected (with TSEL) transformation matrix for the coordinate system

with rotation/scaling values contained in the nine Q-variables starting with the specified one. This has the

effect of renaming the current commanded X, Y, and Z axis positions (from the latest programmed move)

by multiplying the XYZ vector by this matrix.

The rotation and scaling is done relative to the base XYZ coordinate system, defined by the axis

definition statements. The math performed is:

[Xrot Yrot Zrot]

= [Rot Matrix] [Xbase Ybase Zbase]

This command does not cause any movement of axes; it simply renames the present positions.

Note:

When using this command to scale the coordinate system, do not use the radius

center specification for circle commands. The radius does not get scaled. Use the

I, J, K vector specification instead.

Examples:

Create a 3x3 matrix to rotate the XY plane by 30 degrees about the origin

Q40=COS(30) Q41=SIN(30) Q42=0

Q43=-SIN(30) Q44=COS(30) Q45=0

Q46=0 Q47=0 Q48=1

AROT 40 ; Implement the change

Create a 3x3 matrix to scale the XYZ space by a factor of 3

Q50=3 Q51=0 Q52=0

Q53=0 Q54=3 Q55=0

Q56=0 Q57=0 Q58=3

AROT 50 ; Implement the change