Reference Manual

PMAC 2 Software Reference
350 PMAC Program Command Specification
CMD"#4HM" ; Homing searach move
WHILE(M440=0) ; Wait for motor in-position
ENDWHILE
SETPHASE4 ; Force phase value in
See Also
Power-On Phasing Search (Setting Up PMAC Commutation)
I-variables Ix75, Ix81
On-Line Command SETPHASE
SPLINE1
Function
Put program in uniform cubic spline motion mode
Type
Motion program (PROG and ROT)
Syntax
SPLINE1
Remarks
This modal command puts the program in cubic spline mode. In SPLINE1 mode, each
programmed move takes TA time (Ix87 is default) – there is no feedrate specification
allowed. Each move on each axis is computed as a cubic position trajectory in which the
intermediate positions are relaxed somewhat so there are no velocity or acceleration
discontinuities in blending the moves together.
Before the first move in any series of consecutive moves, a starting move of TA time is
added to blend smoothly from a stop. After the last move in any series of consecutive
moves, an ending move of TA time is added to blend smoothly to a stop. If the TA time
is changed in the middle of a series of moves, there will be a stop generated, with an
extra TA
1
move and an extra TA
2
move added.
This command will take the program out of any of the other move modes (LINEAR,
CIRCLE, PVT, RAPID). The program will stay in this mode until another move mode
command is executed.
Example
RAPID X10 Y10
SPLINE1 TA100
X20 Y15
X32 Y21
X43 Y26
X50 Y30
DWELL100
RAPID X0 Y0
See Also
Cubic Spline Mode (Writing a Motion Program)
I-variable Ix87
Program commands LINEAR, CIRCLE, RAPID, PVT, SPLINE2, TA
SPLINE2
Function
Put program in non-uniform cubic spline motion mode
Type
Motion program (PROG and ROT)
Syntax
SPLINE2
Remarks
This modal command puts the program in non-uniform cubic spline mode. This mode is
virtually identical to the SPLINE1 uniform cubic spline mode described above, except
that the TA segment time can vary in a continuous spline. This makes SPLINE2 mode
more flexible than SPLINE1 mode, but it takes slightly more computation time.
Example
RAPID X10 Y10
SPLINE2
X20 Y15 TA100