Reference Manual

PMAC 2 Software Reference
PMAC Program Command Specification 293
Remarks
In the case of PVT (position, velocity, time) motion mode, both the ending position and
velocity are specified for each segment of each axis. The command consists of one or
more groupings of axes labels with two data items separated by a colon character.
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). 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 Ix90 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 a Motion Program section.
The time for the segment is the argument for the most recently executed PVT or TA
command, rounded to the nearest millisecond.
In PVT mode, if no velocity is given for the segment, PMAC assumes an ending velocity
of zero for the segment.
Example
X1000:50
Y500:-32 Z737.2:68.93
A(P1+P2):(P3) B(SIN(Q1)):0
See Also
PVT Mode Moves (Writing a Motion Program)
Axis Definition Statements (Setting Up a Coordinate System)
I-variables Ix87, Ix90
Motion program commands PVT, TA
{axis}{data}^{data}[{axis}{data}^{data}...]
Function
Move Until Trigger
Type
Motion program
Syntax
Remarks
{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.