Reference Manual

PMAC 2 Software Reference
342 PMAC Program Command Specification
Note:
If you use the AROT or IROT commands 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.
If the distance from the start point to the end point is more than twice the
magnitude specified in {data}, there is no circular arc move possible.
If the distance is greater than twice {data} by an amount less than Ix96
(expressed in user length units), PMAC will execute a spiral to the end
point. If the distance is greater by more than Ix96, PMAC will stop the
program with a run-time error.
Example
RAPID X0 Y0 ; Move to origin
CIRCLE1 ; Clockwise circle mode
X10 Y10 R10 ; Quarter circle to (10, 10)
X0 Y0 R-10 ; Three-quarters circle back to (0, 0)
X(P101) R(P101/2) ; Half circle to (P101, 0)
See Also
Circular Blended Moves (Writing a Motion Program);
I-variables I13, Ix96
Program commands CIRCLE1, CIRCLE2, {axis}{data}{vector}{data}
RAPID
Function
Set Rapid Traverse Mode
Type
Motion program (PROG and ROT)
Syntax
RAPID
RPD
Remarks
This command puts the program into a mode in which all motors defined to the
commanded axes move to their destination points in jog-style moves. This mode is
intended to create the minimum-time move from one point to another. Successive moves
are not blended together in this mode, and the different motors do not necessarily all
reach their end points at the same time
The accelerations and decelerations in this mode are controlled by motor jog-acceleration
I-variables Ix19, Ix20, and Ix21. If global I-variable I50 is set to 0, the velocities in this
mode are controlled by the motor jog speed I-variables Ix22. If I50 is set to 1, they are
controlled by the motor maximum speed I-variables Ix16. Only the motor with the
greatest distance-to-speed ratio for the move actually moves at this speed. All other
motors are slowed from the specified speed to complete the move in approximately the
same time, so that the move is nearly linear.
The RAPID command takes the program out of any of the other move modes (LINEAR,
CIRCLE, PVT, SPLINE). Any of the other move-mode commands takes the program
out of RAPID mode.
Example
RAPID X10 Y20 ; Move quickly to starting cut position
M1=1 ; Turn on cutter
LINEAR X12 Y25 F2 ; Start cutting moves
...
M1=0 ; Turn off cutter
RAPID X0 Y ; Move quickly back to home position