Delta Tau GEO BRICK LV Reference Manual
Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Global I-Variables
186
Example:
If it is desired that motion in Coordinate System 1 be stopped if the change in directed angle is greater
than 30
than 30
o
(included angle less than 150
o
), then I5183 should be set to 0.866, because cos
= cos 30
o
= 0.866.
Isx84
Coordinate System ‘x’ Outside Corner Stop Point Control
Range:
0 .. 1
Units:
none
Default:
0
Isx84 controls where the programmed movement stops when blending is disabled due to a corner sharper
than the Isx83 threshold on an outside corner in 2D cutter-radius compensation with an added arc at the
corner. If Isx84 is 0, the programmed movement will stop at the end of the added arc; if Isx84 is 1, the
programmed movement will stop at the beginning of the added arc.
than the Isx83 threshold on an outside corner in 2D cutter-radius compensation with an added arc at the
corner. If Isx84 is 0, the programmed movement will stop at the end of the added arc; if Isx84 is 1, the
programmed movement will stop at the beginning of the added arc.
If blending is disabled due to single-step operation (S), program termination (Q or /), or continuous-
motion-request bit cleared (usually from Isx92=1), programmed movement will always stop at the end of
the added arc, regardless of the setting of Isx92=1.
motion-request bit cleared (usually from Isx92=1), programmed movement will always stop at the end of
the added arc, regardless of the setting of Isx92=1.
Isx85
Coordinate System ‘x’ Corner Dwell Break Point
Range:
-1.0 .. 0.9999 (floating-point)
Units:
cosine
Default:
0.0 (disabled)
Isx85, if set to a non-zero value, controls the threshold in Coordinate System ‘x’ between corner angles
for which LINEAR and CIRCLE-mode moves are made without an automatically intervening dwell, and
those for which a dwell of Isx82 real-time-interrupt periods is automatically added. Isx85 is only used if
the “continuous motion request” (CMR) coordinate-system status/control bit is set to 1 permit blending.
(This can be set by Isx92=0 at the beginning of a motion program, or can be set directly afterwards.) If
the CMR bit is 0 (usually from Isx92=1), no blending occurs between any moves, and Isx85 is not used.
for which LINEAR and CIRCLE-mode moves are made without an automatically intervening dwell, and
those for which a dwell of Isx82 real-time-interrupt periods is automatically added. Isx85 is only used if
the “continuous motion request” (CMR) coordinate-system status/control bit is set to 1 permit blending.
(This can be set by Isx92=0 at the beginning of a motion program, or can be set directly afterwards.) If
the CMR bit is 0 (usually from Isx92=1), no blending occurs between any moves, and Isx85 is not used.
The corner angle is only evaluated against Isx85 if the blending at the corner has been disabled due to the
action of Isx83. This means that Isx85 must be set to a value less than Isx83 if it is to have any effect.
action of Isx83. This means that Isx85 must be set to a value less than Isx83 if it is to have any effect.
If Isx85 is set to 0.0, no dwell is ever automatically added. (If a threshold corner angle of 90
o
is desired –
for which the Isx85 would be 0.0 – Isx85 should be set to a value that is not exactly 0.0, for example to
0.00001).
0.00001).
Isx85 is expressed as the cosine of the change in directed angle between the incoming and outgoing
moves. (The change in directed angle is equal to 180
moves. (The change in directed angle is equal to 180
o
minus the included angle of the corner.) As such,
it can take a value between -1.0 and +1.0. If the two moves have the same directed angle at the move
boundary (i.e. they are moving in the same direction), the change in directed angle is 0, and the cosine is
1.0. As the change in directed angle increases, the corner gets sharper, and the cosine of the change in
directed angle decreases. For a total reversal, the change in directed angle is 180
boundary (i.e. they are moving in the same direction), the change in directed angle is 0, and the cosine is
1.0. As the change in directed angle increases, the corner gets sharper, and the cosine of the change in
directed angle decreases. For a total reversal, the change in directed angle is 180
o
, and the cosine is -1.0.
The change in directed angle is evaluated in the plane defined by the NORMAL command (default is the
XY-plane); if the corner also involves axis movement perpendicular to this plane, it is the projection of
movement into this plane that matters.
XY-plane); if the corner also involves axis movement perpendicular to this plane, it is the projection of
movement into this plane that matters.
If the cosine of the change in directed angle at a corner is less than Isx85 (a large change in directed
angle; a sharp corner), Turbo PMAC will automatically add a dwell of Isx82 real-time-interrupt periods
before the outgoing move is started. From the time the incoming commanded move begins, through any
angle; a sharp corner), Turbo PMAC will automatically add a dwell of Isx82 real-time-interrupt periods
before the outgoing move is started. From the time the incoming commanded move begins, through any