Reference Manual

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PMAC 2 Software Reference

354 PMAC Program Command Specification

TS{data}

Function

Set S-Curve Acceleration Time

Type

Motion program (PROG and ROT)

Syntax

TS{data}

where:

• {data} is a positive constant or expression representing the S-curve time in

milliseconds.

Remarks

This command specifies the time, at both the beginning and end of the total acceleration

time, in LINEAR and CIRCLE mode blended moves that is spent in S-curve

acceleration.

If TS is zero, the acceleration is constant throughout the TA time and the velocity profile

is trapezoidal. If TS is greater than zero, the acceleration will start at zero and linearly

increase through TS time, then stay constant (for time TC) until TA-TS time, and

linearly decrease to zero at TA time (that is, TA=2TS+TC). If TS is equal to TA/2, the

entire acceleration will be spent in S-curve form (TS values greater than TA/2 override

the TA value. Total acceleration time will be 2TS.

Note:

For LINEAR mode moves with PMAC not in segmentation mode

(I13=0), if the rate of acceleration for any motor in the coordinate system

exceeds that motor’s maximum as specified by Ix17, the acceleration

time for all motors is increased so that no motor exceeds its maximum

acceleration rate.

TS does not affect RAPID, PVT, or SPLINE mode moves, but it stays valid for the next

return to blended moves.

Note:

Make sure the specified acceleration time (TA or 2*TS) is greater than

zero, even if planning to rely on the maximum acceleration rate

parameters (Ix17). A specified acceleration time of zero will cause a

divide-by-zero error. The minimum specified time should be TA1 TS0.

In executing the TS command, PMAC rounds the specified value to the nearest integer

number of milliseconds (there is no rounding done when storing the command in the

buffer).

A blended move executed in a program before any TS statement will use the default S-

curve time specified by coordinate system I-variable Ix88.

Example

TS20

TS(Q17)

TS(39.32+P43)