Delta Tau GEO BRICK LV User Manual
Turbo PMAC User Manual
Writing and Executing Motion Programs
277
Maximum Move Time
The maximum time for one programmed move is 2
23
-1 (8,388,607) msec, approximately 2 hours and 20
minutes. This is the maximum value that Turbo PMAC will accept with a TM command. It is also the
maximum value Turbo PMAC will compute for a feedrate-specified move when it divides the vector
distance for the move by the feedrate. If the vector distance for the move divided by the feedrate yields a
time greater than 8,388,607 msec, Turbo PMAC will use 8,388,607 msec as the move time, and the speed
will be higher than what was programmed.
maximum value Turbo PMAC will compute for a feedrate-specified move when it divides the vector
distance for the move by the feedrate. If the vector distance for the move divided by the feedrate yields a
time greater than 8,388,607 msec, Turbo PMAC will use 8,388,607 msec as the move time, and the speed
will be higher than what was programmed.
The Blending Function
If more than one move is specified in succession without any intervening dwell commands, each motor
blends smoothly from its velocity for the first move to the velocity for the second move according to the
acceleration and S-curve values in force at the time. This change in speed (which can be a zero change)
starts at the point where the first move would start to decelerate to a stop at its specified end position, not
at the first move’s endpoint itself. (However, if Isx92 is set to one, “blended” moves in that coordinate
system always come to a stop before the next move.)
blends smoothly from its velocity for the first move to the velocity for the second move according to the
acceleration and S-curve values in force at the time. This change in speed (which can be a zero change)
starts at the point where the first move would start to decelerate to a stop at its specified end position, not
at the first move’s endpoint itself. (However, if Isx92 is set to one, “blended” moves in that coordinate
system always come to a stop before the next move.)
The acceleration parameters TA and TS can change between each move. To have the final deceleration to
a stop use a different TA or TS from the previous blending acceleration time in a sequence, declare the
new TA or TS after the final move command in the sequence, but before the DWELL or other feature that
stops the continuous sequence.
a stop use a different TA or TS from the previous blending acceleration time in a sequence, declare the
new TA or TS after the final move command in the sequence, but before the DWELL or other feature that
stops the continuous sequence.