Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Program Command Specification 477
Examples:
TR1.356
TR(Q10)
See Also:
Three-Dimensional Compensation
Program commands CC3, CCR{data}, NX{data}, NY{data}, NZ{data}, TX{data},
TY{data}, TZ{data}
TS{data}
Function: Set S-Curve Acceleration Time
Type: Motion program (PROG and ROT)
Syntax: TS{data}
where:
 {data} is a positive constant or expression representing the S-curve time in milliseconds.
This command specifies the time, at both the beginning and end of the total acceleration time, in LINEAR
and CIRCLE mode blended moves that is spent in S-curve acceleration. The units are milliseconds.
Turbo PMAC will round the specified value to the nearest integer number of milliseconds when executing
this command (no rounding is done when storing the value in the buffer).
If TS is zero, the acceleration is constant throughout the TA time and the velocity profile is trapezoidal.
If TS is greater than zero, the acceleration will start at zero and linearly increase through TS time, then
stay constant (for time TC) until TA-TS time, and linearly decrease to zero at TA time (that is,
TA=2TS+TC).
If TS is equal to TA/2, the entire acceleration will be spent in S-curve form (TS values greater than
TA/2 override the TA value; total acceleration time will be 2TS.
Note:
For LINEAR mode moves with Turbo PMAC not in segmentation mode
(Isx13=0), if the rate of acceleration for any motor in the coordinate system
exceeds that motor’s maximum as specified by Ixx17, the acceleration time for all
motors is increased so that no motor exceeds its maximum acceleration rate.
TS does not affect RAPID, PVT, or SPLINE mode moves, but it stays valid for the next return to blended
moves.
Note:
If the coordinate system is not in segmentation mode (Isx13 = 0), make sure the
specified acceleration time (TA or 2*TS) is greater than zero, even if planning to
rely on the maximum acceleration rate parameters (Ixx17). A specified
acceleration time of zero will cause a divide-by-zero error. In this case, the
minimum specified time should be TA1 TS0.
In executing the TS command, Turbo PMAC rounds the specified value to the nearest integer number of
milliseconds (there is no rounding done when storing the command in the buffer).
A blended move executed in a program before any TS statement will use the default S-curve time
specified by coordinate system I-variable Isx88.
Examples:
TS20
TS(Q17)
TS(39.32+P43)