Delta Tau GEO BRICK LV User Manual

 

This velocity limiting is active either if segmentation mode is not active (Isx13 = 0), in which case 
circular interpolation and cutter-radius compensation are not permitted, or if segmentation mode is active 
(Isx13 > 0) and the special lookahead buffer is active (Isx20 > 0, defined lookahead buffer). 
If the velocity limits are active, Turbo PMAC compares the motor velocity magnitudes requested by the 
motion program to the Ixx16 limit for each motor.  If the request for any motor exceeds the limit, the 
move time is extended so that motor will not exceed its limit; this automatically slows the other motors in 
the coordinate system in proportion so that the relationship between motors (path in space) is maintained. 

The acceleration to and from velocity can be constant, providing trapezoidal velocity profiles; it can be 
linearly varying, yielding S-curve velocity profiles; or it can be a combination of the two.  Specify the 
time for the full acceleration (TA – default parameter is coordinate system I-variable Isx87) and the time 
in each half of the S (TS – default parameter Isx88).  If the specified TA time is less than twice the 
specified TS time, the TA time used will be twice TS (users who want pure S-curve acceleration can just 
set TA to 0).  Turbo PMAC can use only integer values for TA and TS.  If a non-integer value is 
specified, PMAC will round it to the nearest integer before using it in trajectory calculations.