Reference Manual

PMAC 2 Software Reference
PMAC On-Line Command Specification 217
DEFINE TBUF
Function
Create a buffer for axis transformation matrices.
Scope
Global
Syntax
DEFINE TBUF {constant}
DEF TBUF {constant}
where:
• {constant} is a positive integer representing the number of transformation matrices to
create
Remarks
This command reserves space in PMAC’s memory for one or more axis transformation
matrices. These matrices can be used for real-time translation, rotation, scaling, and
mirroring of the X, Y, and Z axes of any coordinate system. A coordinate system selects
which matrix to use with the TSELn command, where n is an integer from 1 to the number of
matrices created here.
Note:
PMAC will reject this command, reporting an ERR003 if I6=1 or 3, if
any ROTARYor GATHER buffer exists. Any of these buffers must
be deleted first.
The number of long words of unused buffer memory can be found by issuing the SIZE
command. Each defined matrix takes 21 words of memory.
Example
DELETE GATHER
DEF TBUF 1
DEFINE TBUF 8
See Also
Axis Transformation Matrices (Writing a Motion Program)
On-line commands DELETE TBUF, DELETE GATHER, SIZE.
Program commands TSEL, ADIS, AROT, IDIS, IROT, TINIT
DEFINE TCOMP
Function
Define torque compensation table
Scope
Motor specific
Syntax
DEFINE TCOMP {entries},{count length}
DEF TCOMP {entries},{count length}
where:
• {entries} is a positive integer constant representing the number of values in the table;
• {count length} is a positive integer representing the span of the table in encoder
counts of the motor.
Remarks
This command establishes a torque compensation table for the addressed motor. The next
{entries} constants sent to PMAC will be placed into this table. The last item on the
command line {count length} specifies the span of the torque compensation table in
encoder counts of the motor. In use, if the motor position goes outside of the range 0 to
count-length, the position is “rolled over” to within this range before the compensation is
computed. The spacing between entries in the table is {count length} divided by
{entries}.
On succeeding lines will be given the actual entries of the table as constants separated by
spaces and or carriage return characters. The entries are signed 24-bit integer values, with a
range of –8,388,608 to +8,388,607. The full range of these entries corresponds to the full
range of the 16-bit torque output of the servo loop, -32,768, to +32,767.