Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Program Command Specification 442
The INC command without arguments causes all subsequent command positions in motion commands for
all axes in the coordinate system running the motion program to be treated as incremental distances from
the latest command point. This is known as incremental mode, as opposed to the default absolute mode.
An INC statement with arguments causes the specified axes to be in incremental mode, and all others stay
the way they were before.
If R is specified as one of the axes, the I, J, and K terms of the circular move radius vector specification
will be specified in incremental form (i.e. as a vector from the move start point, not from the origin). An
INC command without any arguments does not affect this vector specification. The default radial vector
specification is incremental.
If no motion program buffer is open when this command is sent to Turbo PMAC, it will be executed as an
on-line coordinate system command.
Examples:
INC(A,B,C)
INC
INC(U)
INC(R)
See Also:
Circular Moves (Writing and Executing Motion Programs)
On-line commands ABS, INC
Program commands {axis}{data}, {axis}{data}{vector}{data}, ABS.
IROT{constant}
Function: Incremental rotation/scaling of X, Y, and Z axes
Type: Motion program (PROG and ROT)
Syntax: IROT{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 multiplies the currently selected (with TSEL) transformation matrix for the coordinate
system by the 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 existing rotation/scaling matrix by the matrix containing these Q-
variables, adding angles of rotation and multiplying scale factors.
The rotation and scaling is done relative to the latest rotation and scaling of the XYZ coordinate system,
defined by the most recent AROT or IROT commands. The math performed is:
[New Rot Matrix] = [Old Rot Matrix] [Incremental Rot Matrix]
[Xrot Yrot Zrot]
T
= [New Rot Matrix] [Xbase Ybase Zbase]
T
This command does not cause any movement of any 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