Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Program Command Specification 406
The first data item for each axis is the scaled ending position or distance (depending on whether the axis
is in absolute (ABS) or incremental (INC) mode; position scaling is determined by the axis definition
statement), and the second data item (after the colon) is the ending velocity.
The velocity units are the scaled position units as established by the axis definition statements divided by
the time units as set by Isx90 for Coordinate System x. The velocity here is a signed quantity, not just a
magnitude. See the examples in the PVT mode description of the Writing and Executing Motion
Programs section.
The time for the segment is the argument for the most recently executed PVT or TM command.
In PVT mode, if no velocity is given for the segment, Turbo PMAC assumes an ending velocity of zero
for the segment.
Examples:
X1000:50
Y500:-32 Z737.2:68.93
A(P1+P2):(P3) B(SIN(Q1)):0
See Also:
PVT Mode Moves (Writing and Executing Motion Programs)
Axis Definition Statements (Setting Up a Coordinate System)
I-variables Isx89, Isx90
Motion program commands PVT, TM
{axis}{data}^{data}[{axis}{data}^{data}...]
Function: Move Until Trigger
Type: Motion program
Syntax: {axis}{data}^{data}[{axis}{data}^{data}...]
where:
 {axis} is the character specifying which axis (X, Y, Z, A, B, C, U, V, W);
 the first {data} is a constant (no parentheses) or expression (in parentheses) representing the end
position or distance in the absence of a trigger;
 the second {data} (after the ^ arrow) is a constant (no parentheses) or expression (in parentheses)
representing the distance from the trigger position;
 [{axis}{data}^{data}...] is the optional specification of simultaneous movement for more
axes
In the RAPID move mode, this move specification permits a move-until-trigger function. The first part of
the move description for an axis – before the ^ sign – specifies where to move in the absence of a trigger.
It is a position if the axis is in absolute mode; it is a distance if the axis is in incremental mode. In both
cases the units are the scaled axis user units. If no trigger is found before this destination is reached, the
move is a standard RAPID move.
The second part of the move description for an axis – after the ^ sign – specifies the distance from the
trigger position to end the post-trigger move if a trigger is found. The distance is expressed in the scaled
axis user units.
Each motor assigned to an axis specified in the command executes a separate move-until-trigger. All the
assigned motors will start together, but each can have its own trigger condition. If a common trigger is
required, the trigger signal must be wired into all motor interfaces. Each motor can finish at a separate
time; the next line in the program will not start to execute until all motors have finished their moves. No
blending into the next move is possible.