Reference Manual

PMAC 2 Software Reference
PMAC I-Variable Specification 31
Note:
When I13=0, moves are done without this ongoing spline technique,
and CIRCLE mode moves are done as LINEAR mode moves.
See Also
Circular Interpolation, Cutter Radius Compensation (Writing a Motion Program)
On-line commands /, \
Program commands {axis}{data}{vector}{data}, CIRCLE1, CIRCLE2,
CC0, CC1, CC2
I14 Auto Position Match on Run Enable
Range
0 .. 1
Units
none
Default
1
Remarks
I14, when set to 1, performs an automatic re-matching of motor and axis starting position
registers to current motor commanded positions whenever a motion program is started. A
mismatch can occur whenever a motor move (jog, open-loop, abort, or limit) changes the
motor’s target position without letting the axis position “know” of the change, or on
power-up when an absolute position sensor starts up with a position other than zero.
With I14=1, PMAC will execute the PMATCH function on any Run or Step command to
make sure that the axes in the motion program have the proper starting-position
information. The only users who would not want this function, setting I14 to 0, are those
who cannot afford the extra millisecond (approximately) of calculation time this requires.
With I14=0, PMAC uses the last motion program target position as the starting point for
the calculations of the next move, even if these do not match the positions currently
commanded for the motors assigned to the axes.
See Also
Axis-Motor Position Re-Matching (Setting Up a Coordinate System)
On-line command PMATCH
Suggested M-variable definitions Mx61, Mx63, Mx64 Mx65
I15 Degree/Radian Control for User Trig Functions
Range
0 .. 1
Units
none
Default
0 (degrees)
Remarks
I15 controls whether the angle values for trigonometric functions in user programs (motion
and PLC) and on-line commands are expressed in degrees (I15=0) or radians (I15=1).
See Also
SIN, COS, TAN, ASIN, ACOS, ATAN, ATAN2 (Computational Features)
I16 Rotary Buffer Request On Point
Range
0 .. 8,388,607
Units
Command lines.
Default
5
Remarks
I16 controls the point at which an executing rotary program will signal that it is ready to
take more command lines (BREQ line taken high, coordinate system Rotary Buffer Full
status bit – Y:$0817 bit 11 – taken low).
This occurs when the executing point in the program has caught up to within fewer lines
behind the last line sent to PMAC than the value in this parameter. This can be detected as
an interrupt to the host or be checked by the host on a polled basis.