Reference Manual

PMAC 2 Software Reference
340 PMAC Program Command Specification
Example
X10Y20
PSET X0 Y0 ; Call this position (0,0)
N92000 READ(X,Y,Z) ; To implement G92 in PROG 1000
PSET X(Q124)Y(Q125)Z(Q126) ; Equivalent of G92 X..Y..Z.
See Also
Axes (Setting Up a Coordinate System)
On-line command {axis}={constant}
Program commands ADIS, AROT, IDIS, IROT
Suggested M-variable definitions Mx64
Memory map registers D:$0813, D:$08D3, etc.
PVT{data}
Function
Set Position-Velocity-Time mode
Type
Motion program (PROG and ROT)
Syntax
PVT{data}
where:
• {data} is a positive constant or expression representing the time of a segment in
milliseconds (PMAC will round this value to the nearest integer in actual use).
Remarks
This command puts the motion program into Position-Velocity-Time move mode, and
specifies the time for each segment of the move. In this mode, each move segment in the
program must specify the ending position and velocity for the axis. Taking the starting
position and velocity (from the previous segment), the ending position and velocity, and
the segment time, PMAC computes the unique cubic position profile (parabolic velocity
profile) to meet these constraints.
The segment time in a sequence of moves can be changed on the fly, either with another
PVT command, or with a TA command. TS, TM, and F settings are irrelevant in this
mode.
The PVT command takes the program out of any of the other move modes (LINEAR,
CIRCLE, SPLINE, RAPID), and any of the other move mode commands takes the
program out of PVT move mode.
Refer to the Writing a Motion Program section of this manual for more details.
Example
INC ; incremental mode, specify moves by distance
PVT200 ; enter this mode – move time 200ms
X100:1500 ; cover 100 units ending at 1500 units/sec
X500:3000 ; cover 500 units ending at 3000 units/sec
X500:1500 ; cover 500 units ending at 1500 units/sec
X100:0 ; cover 100 units ending at 0 units/sec
PVT(P37)
See Also
Position-Velocity-Time Mode Moves (Writing a Motion Program)
Program commands {axis}{data}:{data}..., TA, LINEAR, CIRCLEn, RAPID,
SPLINE1.