Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Variable and Command Summary 30
LIST TCOMP – Report contents of torque compensation table for motor
LIST TCOMP DEF – Report definition of torque compensation table for motor
Buffer Control Commands
DEFINE BLCOMP {entries},{count length} – Establish backlash compensation table for
motor; to be filled by specified number of values
DELETE BLCOMP – Erase backlash compensation table for motor
DEFINE COMP {entries},[#{source},[#{target},]],{count length} – Establish
leadscrew compensation table for motor; to be filled by specified number of values
DEFINE COMP {rows}.{columns}, [#{source1}, [#{source2},
[#{target},]]],{count length1},{count length2} – Establish two-
dimensional leadscrew compensation table for motor; to be filled by specified number of
values
DELETE COMP – Erase leadscrew compensation table for motor
DEFINE TCOMP {entries},{count length} – Establish torque compensation table for motor;
to be filled by specified number of values
DELETE TCOMP – Erase torque compensation table for motor
Motion Program Commands
Move Commands
{axis}{data}[{axis}{data}] – Simple position movement statement; can be used in LINEAR,
RAPID, or SPLINE modes
Example: X1000 Y(P1) Z(P2*P3)
{axis}{data}:{data}[{axis}{data}:{data}...] – Position/velocity move statement; to
be used only in PVT mode
Example: X5000:750 Y3500:(P3) A(P5+P6):100
{axis}{data}^{data}[{axis}{data}^{data}...] – Move-until-trigger statement, to be
used only in RAPID mode
{axis}{data}[{axis}{data}...][{vector}{data}...] – Arc move statement; to be used
only in CIRCLE mode; vector is to circle center
Example: X2000 Y3000 Z1000 I500 J300 K500
{axis}{data}[{axis}{data}...] R{data} -- Arc move statement; to be used only in
CIRCLE mode; R-value is radius magnitude
Example: X2000 Y3000 Z1000 R500
DWELL{data} – Zero-distance statement; fixed time base
DELAY{data} – Zero-distance; variable time base
HOME{constant}[,{constant}...] – Homing search move statement for specified motors
HOMEZ{constant}[,{constant}...] – Zero-move homing statement for specified motors
Move Mode Commands
LINEAR – Set blended linear interpolation move mode
RAPID – Set minimum-time point-to-point move mode
CIRCLE1 – Set clockwise circular interpolation move mode
CIRCLE2 – Set counterclockwise circular interpolation move mode
PVT{data} – Set position/velocity/time move mode (parabolic velocity profiles)
SPLINE1 – Set uniform cubic spline move mode
SPLINE2 – Set non-uniform cubic spline move mode
CC0 – Set cutter radius compensation off