Delta Tau GEO BRICK LV User Manual
Turbo PMAC User Manual
320
Writing and Executing Motion Programs
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A DWELL point
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A RAPID, SPLINE, or PVT-mode move
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A homing-search move
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A point where the program was stopped with a /, Q, or S command.
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A point where blending was stopped for any other reason (e.g. Isx92=1, double jump-back)
Remember that a DELAY command in a motion program does not disable blending, so it is possible to
reverse execution through a DELAY point. If a stop at a point is desired during execution of the program,
but the ability to reverse through the point is required, DELAY should be used instead of DWELL.
reverse execution through a DELAY point. If a stop at a point is desired during execution of the program,
but the ability to reverse through the point is required, DELAY should be used instead of DWELL.
Stopping Reverse Execution
The reverse execution can be halted before this point with the \ quick-stop command. Reverse execution
can be resumed with another < back-up command; forward execution can be re-started with a > resume, R
run, or S single-step command. The > resume command puts the coordinate system in either continuous
run mode, or single-step mode, whichever mode it was in before the back up.
can be resumed with another < back-up command; forward execution can be re-started with a > resume, R
run, or S single-step command. The > resume command puts the coordinate system in either continuous
run mode, or single-step mode, whichever mode it was in before the back up.
No synchronous M-variable assignments are executed either during a reversal or during the forward
execution over the reversed part of the path.
execution over the reversed part of the path.
Forward execution over the reversed part of the path will blend seamlessly into previously unexecuted
parts of the path. At this point, standard execution of the lookahead buffer will resume, with new points
being added to the end of the lookahead buffer, and execution of buffered synchronous M-variable
assignments starting again.
parts of the path. At this point, standard execution of the lookahead buffer will resume, with new points
being added to the end of the lookahead buffer, and execution of buffered synchronous M-variable
assignments starting again.
Quick Reversal from within Turbo PMAC
If you wish to reverse very quickly from within PMAC, as for quick retracts in EDM applications, it is
best to bypass the command interpreter, which acts in background. This can be done by writing directly
to a lookahead-control I-variable from the PMAC program.
best to bypass the command interpreter, which acts in background. This can be done by writing directly
to a lookahead-control I-variable from the PMAC program.
Variable Isx21 for each coordinate system contains the control bits for the state of lookahead execution.
By setting the value of this I-variable directly from a PLC program, the overhead and delay of the
command interpreter can be avoided and slightly faster reaction obtained. There are three values of use:
By setting the value of this I-variable directly from a PLC program, the overhead and delay of the
command interpreter can be avoided and slightly faster reaction obtained. There are three values of use:
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Setting Isx21 to 4 is the equivalent of issuing the \ quick-stop command
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Setting Isx21 to 7 is the equivalent of issuing the < back-up command
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Setting Isx21 to 6 is the equivalent of resuming forward motion with the > resume-forward command.
If you are monitoring Isx21 at other times, you will see that the 4’s bit is cleared after the command has
been processed. Therefore, you will see the following values:
been processed. Therefore, you will see the following values:
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Isx21 = 0 when stopped with a quick-stop command
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Isx21 = 3 when running reversed in lookahead
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Isx21 = 2 when running forward in lookahead
Axis Transformation Matrices
Turbo PMAC provides the capability to perform matrix transformation operations on the X, Y, and Z-
axes of a coordinate system. These operations have the same mathematical functionality as the matrix
forms of the axis definition statements, but these can be changed on the fly in the middle of programs; the
axis definition statements are meant to be fixed for a particular application.
axes of a coordinate system. These operations have the same mathematical functionality as the matrix
forms of the axis definition statements, but these can be changed on the fly in the middle of programs; the
axis definition statements are meant to be fixed for a particular application.
The matrix transformations permit translation, rotation, scaling, mirroring, and skewing of the X, Y, and
Z-axes. They can be very useful for English/metric conversion, floating origins, making duplicate mirror
images, repeating operations with angle offsets, and more.
Z-axes. They can be very useful for English/metric conversion, floating origins, making duplicate mirror
images, repeating operations with angle offsets, and more.
The basic mathematical operation that the matrix operation performs is as follows: