Reference Manual

PMAC 2 Software Reference
PMAC Program Command Specification 353
TINIT
Function
Initialize selected transformation matrix
Type
Motion program (PROG and ROT)
Syntax
TINIT
Remarks
This command initializes the currently selected (with TSEL) transformation matrix for
the coordinate system by setting it to the identity matrix. This makes the rotation angle
0, the scaling 1, and the displacement 0, so the XYZ points for the coordinate system are
as the axis definition statements created them. PMAC will still perform the matrix
calculations, even though they have no effect. TSEL0 should be used to stop the matrix
calculations
The matrix can subsequently be changed with the ADIS, IDIS, AROT, and IROT
commands.
Example
TSEL 4 ; Select transformation matrix 4
TINIT ; Initialize it to the identity matrix
IROT 71 ; Do incremental rotation/scaling with Q71-Q79
See Also
Axis Matrix Transformations (Writing a Motion Program)
On-line command DEFINE TBUF
Program commands TSEL, ADIS, IDIS, AROT, IROT
TM{data}
Function
Set Move Time
Type
Motion program
Syntax
TM{data}
where:
• {data} is a floating-point constant or expression representing the move time in
milliseconds. The maximum effective TM value is 2
23
msec. The minimum effective
TM value is 1 msec.
Remarks
This command establishes the time to be taken by subsequent LINEAR or CIRCLE mode
(blended) motions. It overrides any previous TM or F statement, and is overridden by any
subsequent TM or F statement. It is irrelevant in RAPID, SPLINE, and PVT move
modes, but the latest value will stay active through those modes for the next return to
blended moves.
The acceleration time is the minimum time for a blended move. If the specified move
time is shorter than the acceleration time, the move will be done in the acceleration time
instead. This will slow down the move. If TM controls the move time it must be greater
than the I13 time and the I8 period.
Note:
For LINEAR mode moves with I13=0 (no move segmentation), if the
commanded velocity (distance/TM) of any motor in the move exceeds its
maximum limit (Ix16), all motors in the coordinate system will be
slowed down in proportion so that no motor exceeds its limit.
Example
TM30
TM47.635
TM(P1/3)
See Also
Linear and Circular Blended Moves (Writing a Motion Program)
I-variable Ix16
Program commands F, TA, TS, LINEAR, CIRCLE