Reference Manual

PMAC 2 Software Reference
326 PMAC Program Command Specification
Example
Create a 3x3 matrix to rotate the XY plane by 30 degrees about the origin
Q40=COS(30) Q41=SIN(30) Q42=0
Q43=-SIN(30) Q44=COS(30) Q45=0
Q46=0 Q47=0 Q48=1
IROT 40 ; Implement the change, rotating 30 degrees from current
IROT 40 ; This rotates a further 30 degrees
Create a 3x3 matrix to scale the XYZ space by a factor of 3
Q50=3 Q51=0 Q52=0
Q53=0 Q54=3 Q55=0
Q56=0 Q57=0 Q58=3
IROT 50 ; Implement the change, scaling up by a factor of 3
IROT 50 ; Scale up by a further factor of 3 (total of 9x)
See Also
Axis Matrix Transformations (Writing a Motion Program)
On-line command DEFINE TBUF
Program commands TSEL, ADIS, IDIS, AROT, TINIT
J{data}
Function
J-Vector Specification for Circular Moves
Type
Motion program (PROG and ROT)
Syntax
J{data}
where:
• {data} is a floating-point constant or expression representing the magnitude of the
J-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 Y-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 Y-axis.
Example
X10 Y20 I5 J5
Y(2*P1) J(P1)
J33.333 specifies a full circle whose center is 33.333 units in the
positive Y-direction from the start and end point
NORMAL J-1 specifies a vector normal to the ZX plane
See Also
Circular Interpolation, Tool Radius Compensation (Writing a Motion Program)
Motion Program Commands {axis}{data}{vector}{data}, ABS, INC,
NORMAL, I, K.
K{data}
Function
K-Vector Specification for Circular Moves
Type
Motion program (PROG and ROT)
Syntax
K{data}
where:
• {data} is a floating-point constant or expression representing the magnitude of the
K-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 Z-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).