Reference Manual

PMAC 2 Software Reference
PMAC On-Line Command Specification 209
ERR003 ; PMAC rejects this command
DELETE GATHER ; Clear other buffers to allow loading
DELETE ROTARY
#8DEFINE COMP 500,20000 ; Uses motor 8 actual position as source and
; motor 8 as target, ; 500 entries, spacing
; of 40 counts
#7DEFINE COMP 256,#3D,32768 ; Belongs to motor 7, uses motor 3 desired
; position as source, motor 7 as target, 256
; entries, spacing of 128 counts
#6 DEFINE COMP 400,#5,#4,40000 ; Belongs to motor 6, uses #5 as source, #4 as
; target, 400 entries, spacing of 100 counts
#5 DEFINE COMP 200,#1D,#1,30000 ; “Belongs” to motor 5, uses #1 desired position
; as source and target, 200 entries, spacing of
; 150 count
I51=1 ; Enable compensation tables
See Also
Leadscrew compensation (Setting Up a Motor)
I-variable I51
On-line commands {constant}, LIST COMP, LIST COMP DEF, DELETE COMP,
DELETE GATHER, DELETE ROTARY, SIZE
DEFINE COMP (two-dimensional)
Function
Define two-dimensional leadscrew compensation table.
Scope
Motor specific
Syntax
DEFINE COMP {Rows}.{Columns}, #{RowMotor}[D],
[#{ColumnMotor}[D], [#{TargetMotor}]],
{RowLength},{ColumnLength}
DEF COMP...
where:
• {Rows} is a positive integer constant representing the number of rows in the table,
where each row represents a fixed location of the second (column) source motor;
• {Columns} is a positive integer constant representing the number of columns in the
table, where each column represents a fixed location of the first (row) source motor;
• {RowMotor} is an integer constant from 1 to 8 representing the number of the first
source motor; defaults to addressed motor; if a D is specified after the source motor
number, the desired position of the motor is used to calculate the correction; otherwise
the actual position is used;
• {ColumnMotor} is an integer constant from 1 to 8 representing the number of the
second source motor; if a D is specified after the source motor number, the desired
position of the motor is used to calculate the correction; otherwise the actual position is
used;
• {TargetMotor} is an integer constant from 1 to 8 representing the number of the
target motor; defaults to addressed motor;
• {RowSpan} is the span of the table, in counts, along the first (row) source motor’s
travel;
• {ColumnSpan} is the span of the table, in counts, along the second (column) source
motor’s travel.