Delta Tau GEO BRICK LV Reference Manual
Turbo PMAC/PMAC2 Software Reference
Turbo PMAC On-line Command Specification
311
corrections for positions between the table entries by a first-order interpolation between adjacent entries.
The correction from the table at motor zero position is zero by definition.
The correction is the magnitude added to Turbo PMAC’s servo loop output at that position. If Turbo
PMAC’s command is positive, a positive value from the table will increase the magnitude of the output; a
negative value will decrease the magnitude of the output. If Turbo PMAC’s command is negative, a
positive value from the table will increase the magnitude of the output in the negative direction; a
negative value will decrease the magnitude of the output.
The correction from the table at motor zero position is zero by definition.
The correction is the magnitude added to Turbo PMAC’s servo loop output at that position. If Turbo
PMAC’s command is positive, a positive value from the table will increase the magnitude of the output; a
negative value will decrease the magnitude of the output. If Turbo PMAC’s command is negative, a
positive value from the table will increase the magnitude of the output in the negative direction; a
negative value will decrease the magnitude of the output.
The last entry in the table represents the correction at {count length} distance from the motor’s zero
position. Since the table has the capability to roll over, this entry also represents the correction at the
motor’s zero position. If it is set to a non-zero value, the correction at zero will also be zero.
position. Since the table has the capability to roll over, this entry also represents the correction at the
motor’s zero position. If it is set to a non-zero value, the correction at zero will also be zero.
Note:
Turbo PMAC will reject this command, reporting an ERR003 if I6=1 or 3, if any
TCOMP buffer exists for a lower numbered motor, or if any BLCOMP, TBUF,
LOOKAHEAD, ROTARY, or GATHER buffer exists. Any of these buffers must
be deleted first. TCOMP buffers must be defined from high-numbered motor to
low-numbered motor, and deleted from low-numbered motor to high-numbered
motor.
TCOMP buffer exists for a lower numbered motor, or if any BLCOMP, TBUF,
LOOKAHEAD, ROTARY, or GATHER buffer exists. Any of these buffers must
be deleted first. TCOMP buffers must be defined from high-numbered motor to
low-numbered motor, and deleted from low-numbered motor to high-numbered
motor.
I51 must be set to 1 to enable the table.
See Also:
Torque Compensation (Setting Up a Motor)
I-variables I51
On-line command DELETE TCOMP
Torque Compensation (Setting Up a Motor)
I-variables I51
On-line command DELETE TCOMP
DEFINE UBUFFER
[modified description]
Function:
Create a buffer for user variable use.
Scope:
Global
Syntax:
DEFINE UBUFFER {constant}
DEF UBUF {constant}
where:
{constant} is a positive integer representing the number of 48-bit words of Turbo PMAC memory
to reserve for this purpose
to reserve for this purpose
This command reserves space in Turbo PMAC’s memory for the user’s discretionary use. This memory
space will be untouched by any Turbo PMAC automatic functions. User access to this buffer is through
M-variables, or possibly through on-line W (write) and R (read) commands.
space will be untouched by any Turbo PMAC automatic functions. User access to this buffer is through
M-variables, or possibly through on-line W (write) and R (read) commands.
The buffer starts at Turbo PMAC data memory end address ($0107FF for the standard data memory, and
$03FFFF for the extended data memory) and continues back toward the beginning of memory ($000000)
for the number of long (48-bit) words specified by {constant}. This memory space can be subdivided
any way the user sees fit. These registers are backed up by the flash memory, so the values in the buffer
at the last SAVE command will be copied from the flash memory into the buffer at power-up or reset.
$03FFFF for the extended data memory) and continues back toward the beginning of memory ($000000)
for the number of long (48-bit) words specified by {constant}. This memory space can be subdivided
any way the user sees fit. These registers are backed up by the flash memory, so the values in the buffer
at the last SAVE command will be copied from the flash memory into the buffer at power-up or reset.
All other buffers except for fixed motion programs (PROG) and PLC programs must be deleted before
Turbo PMAC will accept this command. There can be no rotary motion program, leadscrew
compensation table, transformation matrix, data gathering or lookahead buffers in Turbo PMAC memory
(any buffer created with a DEFINE command) for this command to be accepted. It is usually best to
reinitialize the card with a $$$*** command, or erase all defined buffers with the DELETE ALL
command, before sending the DEFINE UBUFFER command
Turbo PMAC will accept this command. There can be no rotary motion program, leadscrew
compensation table, transformation matrix, data gathering or lookahead buffers in Turbo PMAC memory
(any buffer created with a DEFINE command) for this command to be accepted. It is usually best to
reinitialize the card with a $$$*** command, or erase all defined buffers with the DELETE ALL
command, before sending the DEFINE UBUFFER command
The address of the end of unreserved memory is held in register X:$0031B2. If no UBUFFER is defined,
this register will hold a value of $010800 for the standard data memory configuration, or $040000 for the
this register will hold a value of $010800 for the standard data memory configuration, or $040000 for the