User manual

PMAC User Manual
Computational Features 151
Coordinate System 3's Q0 is the same thing as the Q256 of &1; Coordinate System 4's Q0 is the same
thing as Q256 of &2, and as Q768 of &1. Q0 of &5 is equivalent to Q128 of &1; Q0 of &6 is equivalent
to Q128 of &2, and to Q640 of &1; Q0 of &7 is equivalent to Q128 of &3, and to Q384 of &1; Q0 of &8
is equivalent to Q128 of &4, and to Q896 of &1. See the table below for clarification. The bold numbers
denote the sequentially numbered Q-variables that can be used for a coordinate system without overlap
provided no higher number coordinate systems are used.
PMAC Q - Variable Memory Map
Memory
Location
Coord.
Sys. 1
Coord.
Sys. 2
Coord.
Sys. 3
Coord.
Sys. 4
Coord.
Sys. 5
Coord.
Sys. 6
Coord.
Sys. 7
Coord.
Sys. 8
$1400 0
512 768 256 896 384 640 128
... ...
... ... ... ... ... ... ...
$147F 127
639 895 383 1023 511 767 255
$1480 128
640 896 384
0
512 768 255
... ...
... ... ...
...
... ... ...
$14FF 255
767 1023 511
127
639 895 383
$1500 256
768
0
512 128 640 896 384
... ...
...
...
... ... ... ... ...
$157F 383
895
127
639 255 767 1023 511
$1580 384
896
128
640 256 768
0
512
... ...
...
...
... ... ...
...
...
$15FF 511
1023
255
767 383 895
127
639
$1600 512 0
256 768 384 896 128 640
... ... ...
... ... ... ... ... ...
$167F 639 127
383 895 511 1023 255 767
$1680 640 128
384 896 512
0
256 768
... ... ...
... ... ...
...
... ...
$16FF 767 255
511 1023 639
127
383 895
$1700 768 256
512
0
640 128 384 896
... ... ...
...
...
... ... ... ...
$177F 895 383
639
127
767 255 511 1023
$1780 896 384
640
128
768 256 512
0
... ... ...
...
...
... ... ...
...
$17FF 1023 511
767
255
895 383 639
127
Addressing a Q-Variable Set
How to know which set of Q-variables are working within a command? It depends on the type of
command. When you are accessing a Q-variable from an on-line (immediate) command from the host,
working with the Q-variable for the currently host-addressed coordinate system (with the &n command) is
selected.
When accessing a Q-variable from a motion program statement, the Q-variable belonging to the
coordinate system running the program is selected. If a different coordinate system runs the same motion
program, it will use different Q-variables.
When accessing a Q-variable from a PLC program statement, the Q-variable for the coordinate system
that has been addressed by that PLC program with the ADDRESS command is the one working. Each
PLC program can address a particular coordinate system independent of other PLC programs and
independent of the host addressing. If no ADDRESS command is used in the PLC program, the program
uses the Q-variables for Coordinate System 1.