Reference Manual

Turbo PMAC/PMAC2 Software Reference

Turbo PMAC Program Command Specification 429

See Also:

Display Port (Connecting Turbo PMAC to the Machine);

Accessory 12 (Basic Specifications)

Program commands DISPLAY"{message}", COMMAND"{command}"

DWELL

Function: Dwell for Specified Time

Type: Motion program (PROG and ROT)

Syntax: DWELL{data}

DWE{data}

where:

 {data} is a non-negative floating point constant or expression representing the dwell time in

milliseconds

This command causes the card to keep the commanded positions of all axes in the coordinate system

constant for the time specified in {data}. The maximum dwell time is 8,388,607 msec (about 2 hours

and 20 minutes). If a longer time is specified in the command, the actual dwell time will be limited to this

amount.

There are three differences between DWELL and the similar DELAY command. First, if the previous servo

command was a blended move, there will be a TA time deceleration to a stop before the dwell time starts.

Second, DWELL is not sensitive to a varying time base – it always operates in real time (as defined by

I10). Third, Turbo PMAC does not pre-compute upcoming moves (and the program lines before them

during the DWELL; it waits until after it is done to start further calculations, which it performs in the time

specified by I11 or Ixx12.

Use of any DWELL command, even a DWELL0, while in external time base will cause a loss of

synchronicity with the master signal.

Examples:

DWELL250

DWELL(P1+P2)

DWE0