Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Program Command Specification 465
Note:
If the distance from the start point to the end point is more than twice the
magnitude specified in {data}, there is no circular arc move possible. If the
distance is greater than twice {data} by an amount less than Isx96 (expressed in
user length units), Turbo PMAC will execute a spiral to the end point. If the
distance is greater by more than Isx96, Turbo PMAC will stop the program with a
run-time error.
Examples:
RAPID X0 Y0 ; Move to origin
CIRCLE1 ; Clockwise circle mode
X10 Y10 R10 ; Quarter circle to (10, 10)
X0 Y0 R-10 ; Three-quarters circle back to (0, 0)
X(P101) R(P101/2) ; Half circle to (P101, 0)
See Also:
Circular Blended Moves (Writing and Executing Motion Programs);
I-variables Isx13, Isx96
Program commands CIRCLE1, CIRCLE2, {axis}{data}{vector}{data}...
RAPID
Function: Set Rapid Traverse Mode
Type: Motion program (PROG and ROT)
Syntax: RAPID
RPD
This command puts the program into a mode in which all motors defined to the commanded axes move to
their destination points in jog-style moves. This mode is intended to create the minimum-time move from
one point to another. Successive moves are not blended together in this mode, and the different motors do
not necessarily all reach their end points at the same time.
The accelerations and decelerations in this mode are controlled by motor jog-acceleration I-variables
Ixx19, Ixx20, and Ixx21. If motor I-variable Ixx90 is set to 0, the velocities in this mode are controlled by
the motor jog speed I-variables Ixx22. If Ixx90 is set to 1, they are controlled by the motor maximum
speed I-variables Ixx16. Only the motor with the greatest distance-to-speed ratio for the move actually
moves at this speed; all other motors are slowed from the specified speed to complete the move in
approximately the same time, so that the move is nearly linear.
The RAPID command takes the program out of any of the other move modes (LINEAR, CIRCLE, PVT,
SPLINE); any of the other move-mode commands takes the program out of RAPID mode.
Examples:
RAPID X10 Y20 ; Move quickly to starting cut position
M1=1 ; Turn on cutter
LINEAR X12 Y25 F2 ; Start cutting moves
...
M1=0 ; Turn off cutter
RAPID X0 Y0 ; Move quickly back to home position
See Also:
Rapid Mode Moves (Writing and Executing Motion Programs)
I-variables Ixx90, Ixx16, Ixx19, Ixx22
Program commands LINEAR, CIRCLE, PVT, SPLINE