Reference Manual

PMAC 2 Software Reference
322 PMAC Program Command Specification
See Also
Homing-Search Moves (Basic Motor Moves)
On-line motor command HOME, HOMEZ
Program command HOME
I{data}
Function
I-Vector Specification for Circular Moves or Normal Vectors
Type
Motion program (PROG or ROT)
Syntax
I{data}
where:
• {data} is a floating-point constant or expression representing the magnitude of the
I-component of the vector in scaled user axis units.
Remarks
In circular moves, this specifies the component of the vector to the arc center that is
parallel to the X-axis. The starting point of the vector is either the move start point (for
INC (R) mode – default) or the XYZ-origin (for ABS (R) mode).
In a NORMAL command, this specifies the component of the normal vector to the plane of
circular interpolation and tool radius compensation that is parallel to the X-axis.
Example
X10 Y20 I5 J5
X(2*P1) I(P1)
I33.333 specifies a full circle whose center is 33.333 units in the positive
X-direction from the start and end point
NORMAL I-1 specifies a vector normal to the YZ plane
See Also
Circular Interpolation, Tool Radius Compensation (Writing a Motion Program)
On-line command I{constant}
Program Commands {axis}{data}{vector}{data}, ABS, INC, NORMAL, J, K,
I{constant}={expression}
I{constant}={expression}
Function
Set I-Variable Value
Type
Motion program (PROG and ROT), PLC Program
Syntax
I{constant}={expression}
where:
• {constant} is an integer value from 0 to 1023 representing the I-variable number.
• {expression) represents the value to be assigned to the specified I-variable.
Remarks
This command sets the value of the specified I-variable to that of the expression on the
right side of the equals sign. The assignment is done as the line is processed, which in a
motion program is usually one or two moves ahead of the move actually executing at the
time (because of the need to calculate ahead in the program).
Note:
If the assignment of the I-variable value should be synchronous with the
beginning of the next move in the program, assign an M-variable to the
register of the I-variable, and use a synchronous M-variable assignment
statement (M{constant}=={expression}).
Example
I130=30000
I902=1
I131=P131+1000