Delta Tau GEO BRICK LV Reference Manual
Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Global I-Variables
98
Ixx16 Motor xx Maximum Program Velocity
Range:
Positive Floating-Point
Units:
counts / msec
Default:
32.0
Ixx16 sets a limit to the magnitude of the commanded velocity for certain programmed moves in certain
modes on Turbo PMAC.
modes on Turbo PMAC.
1. Non-segmented LINEAR mode moves: If the Isx13 segmentation time parameter for the coordinate
system containing Motor xx is set to 0, which takes the coordinate system out of segmentation mode, then
Ixx16 serves as the maximum velocity for Motor xx in LINEAR-mode moves in the coordinate system. If
a LINEAR move command in a motion program requests a higher velocity magnitude of this motor, all
motors in the coordinate system are slowed down proportionately so that the motor will not exceed this
parameter, yet the path will not be changed.
system containing Motor xx is set to 0, which takes the coordinate system out of segmentation mode, then
Ixx16 serves as the maximum velocity for Motor xx in LINEAR-mode moves in the coordinate system. If
a LINEAR move command in a motion program requests a higher velocity magnitude of this motor, all
motors in the coordinate system are slowed down proportionately so that the motor will not exceed this
parameter, yet the path will not be changed.
If Isx13 is set to 0, CIRCLE mode moves and cutter radius compensation can not be performed.
2. Segmented LINEAR and CIRCLE mode moves with lookahead: If the Isx13 segmentation time
parameter for the coordinate system containing Motor xx is set greater than 0, put the coordinate system
in segmentation mode and the special multi-block lookahead function is active (lookahead buffer defined
and Isx20 greater than 0). Then Ixx16 serves as the maximum velocity for Motor xx in all segments of
LINEAR and CIRCLE mode moves in the coordinate system. If a segment of one of these programmed
moves requests a higher velocity magnitude of this motor, all motors in the coordinate system are slowed
down proportionately so that the motor will not exceed this parameter, yet the path will not be changed.
parameter for the coordinate system containing Motor xx is set greater than 0, put the coordinate system
in segmentation mode and the special multi-block lookahead function is active (lookahead buffer defined
and Isx20 greater than 0). Then Ixx16 serves as the maximum velocity for Motor xx in all segments of
LINEAR and CIRCLE mode moves in the coordinate system. If a segment of one of these programmed
moves requests a higher velocity magnitude of this motor, all motors in the coordinate system are slowed
down proportionately so that the motor will not exceed this parameter, yet the path will not be changed.
Note:
Ixx16 is not used for segmented LINEAR and CIRCLE mode moves when the
special lookahead buffer is not active.
special lookahead buffer is not active.
3. RAPID mode moves: Ixx16 also sets the speed of a programmed RAPID mode move for the motor,
provided that variable Ixx90 is set to 1 (if Ixx90 is set to 0, jog speed parameter Ixx22 is used instead).
This happens regardless of the setting of Isx13.
provided that variable Ixx90 is set to 1 (if Ixx90 is set to 0, jog speed parameter Ixx22 is used instead).
This happens regardless of the setting of Isx13.
The Ixx16 velocity limit calculations assume that the coordinate system is operating at the %100 override
value (real-time). The true velocity will vary proportionately with the override value.
value (real-time). The true velocity will vary proportionately with the override value.
Ixx17 Motor xx Maximum Program Acceleration
Range:
Positive Floating-Point
Units:
counts / msec
2
Default:
0.5
Ixx17 sets a limit to the magnitude of the commanded acceleration for certain programmed moves in
certain modes on Turbo PMAC.
certain modes on Turbo PMAC.
1. Non-segmented LINEAR mode moves: If the Isx13 segmentation time parameter for the coordinate
system containing Motor xx is set to 0, which takes the coordinate system out of segmentation mode, then
Ixx17 serves as the maximum acceleration for Motor xx in LINEAR-mode moves in the coordinate
system. If a LINEAR move command in a motion program requests a higher acceleration magnitude of
this motor given its TA and TS time settings, the acceleration time for all motors in the coordinate system
is extended so that the motor will not exceed this parameter, yet full coordination is maintained.
system containing Motor xx is set to 0, which takes the coordinate system out of segmentation mode, then
Ixx17 serves as the maximum acceleration for Motor xx in LINEAR-mode moves in the coordinate
system. If a LINEAR move command in a motion program requests a higher acceleration magnitude of
this motor given its TA and TS time settings, the acceleration time for all motors in the coordinate system
is extended so that the motor will not exceed this parameter, yet full coordination is maintained.
If Isx13 is set to 0, CIRCLE mode moves and cutter radius compensation can not be performed.
In this mode, Turbo PMAC cannot extend the acceleration time to a greater value than the incoming move
time, because to go further would require re-calculating already executed moves. If observing
acceleration limits (especially for deceleration) requires acceleration or deceleration over multiple
time, because to go further would require re-calculating already executed moves. If observing
acceleration limits (especially for deceleration) requires acceleration or deceleration over multiple