Reference Manual

PMAC 2 Software Reference
120 PMAC I-Variable Specifiation
If backlash tables are used, Ix86 represents the backlash at motor zero position; values in
the table should represent the difference between the backlash at a given position and Ix86.
Note:
The units of this parameter are 1/16 of a count so the value should
be 16 times the number of counts of backlash compensation desired.
Example
If you find that you have a backlash on reversal of motor direction of 7.5 encoder counts,
you would set Ix86 to 7.5 * 16 = 120.
See Also
I-variables I99, Ix64, Ix65, Ix68, Ix85
On-line commands DEFINE BLCOMP, DELETE BLCOMP
Backlash Compensation (Setting Up a Motor)
Coordinate System x I-Variables
x = Coordinate System Number (&x, x = 1 to 8)
Ix87 Coordinate System x Default Program Acceleration Time
Range
0 .. 8,388,607
Units
msec
Default
0 (so Ix88 controls)
Remarks
Ix87 sets the default time for commanded acceleration for programmed blended LINEAR
and CIRCLE mode moves in Coordinate System x. It also provides the default segment
time for SPLINE mode moves. The first use of a TA statement in a program overrides this
value.
Note:
Even though this parameter makes is possible not to specify
acceleration time in the motion program, you are strongly
encouraged to use TA in the program and not rely on this parameter,
unless you must keep to a syntax standard that does not support this
(e.g. RS-274 “G-Codes “). Specifying acceleration time in the
program along with speed and move modes makes it much easier
for later debugging.
If the specified S-curve time (see Ix88, below) is greater than half the specified
acceleration time, the time used for commanded acceleration in blended moves will be
twice the specified S-curve time.
The acceleration time is also the minimum time for a blended move; if the distance on a
feedrate-specified (F) move is so short that the calculated move time is less than the
acceleration time, or the time of a time-specified (TM) move is less than the acceleration
time, the move will be done in the acceleration time instead. This will slow down the
move.
Note:
The acceleration time will be extended automatically when any
motor in the coordinate system is asked to exceed its maximum
acceleration rate (Ix17) for a programmed LINEAR-mode move
with I13=0 (no move segmentation).