Reference Manual

PMAC 2 Software Reference
PMAC Program Command Specification 325
Remarks
The INC command without arguments causes all subsequent command positions in
motion commands for all axes in the coordinate system running the motion program to be
treated as incremental distances from the latest command point. This is known as
incremental mode, as opposed to the default absolute mode.
An INC statement with arguments causes the specified axes to be in incremental mode,
and all others stay the way they were before.
If R is specified as one of the axes, the I, J, and K terms of the circular move radius
vector specification will be specified in incremental form (i.e. as a vector from the move
start point, not from the origin). An INC command without any arguments does not
affect this vector specification. The default radial vector specification is incremental.
If no motion program buffer is open when this command is sent to PMAC, it will be
executed as an on-line coordinate system command.
Example
INC(A,B,C)
INC
INC(U)
INC(R)
See Also
Circular Moves (Writing a Motion Program)
On-line commands ABS, INC
Program commands {axis}{data}, {axis}{data}{vector}{data}, ABS.
IROT{constant}
Function
Incremental rotation/scaling of X, Y, and Z axes
Type
Motion program (PROG and ROT)
Syntax
IROT{constant}
where:
• {constant} is an integer representing the number of the first of nine consecutive
Q-variables to be used in the rotation/scaling matrix
Remarks
This command multiplies the currently selected (with TSEL) transformation matrix for
the coordinate system by the rotation/scaling values contained in the nine Q-variables
starting with the specified one. This has the effect of renaming the current commanded
X, Y, and Z axis positions (from the latest programmed move) by multiplying the
existing rotation/scaling matrix by the matrix containing these Q-variables, adding angles
of rotation and multiplying scale factors.
The rotation and scaling is done relative to the latest rotation and scaling of the XYZ
coordinate system, defined by the most recent AROT or IROT commands. The math
performed is:
[New Rot Matrix] = [Old Rot Matrix] [Incremental Rot Matrix]
[Xrot Yrot Zrot]
T
= [New Rot Matrix] [Xbase Ybase Zbase]
T
This command does not cause movement of any axes. It simply renames the present
positions.
Note:
When using this command to scale the coordinate system, do not use the
radius center specification for circle commands. The radius does not get
scaled. Use the I, J, K vector specification instead.