Delta Tau GEO BRICK LV User Manual
Turbo PMAC User Manual
324
Writing and Executing Motion Programs
A
CLOSE
DELETE GATHER
OPEN PROG n
CLEAR
{program statements}
CLOSE
After the program has been downloaded and the buffer CLOSEd, a coordinate system that is to execute
this program must be pointed to the program with the B command. For example, B6 would point the
addressed coordinate system’s program counter to the beginning of motion program 6. This can be
confirmed with the PC (program counter) query command, which should return P6:0 if it is pointing to
the top of program 6. If it returns a <BELL> character, it is not pointing to any valid program. Once the
coordinate system is pointing to the top of the program, execution can be started with the R command.
The B and the R commands can be combined into one command line, such as B6R.
this program must be pointed to the program with the B command. For example, B6 would point the
addressed coordinate system’s program counter to the beginning of motion program 6. This can be
confirmed with the PC (program counter) query command, which should return P6:0 if it is pointing to
the top of program 6. If it returns a <BELL> character, it is not pointing to any valid program. Once the
coordinate system is pointing to the top of the program, execution can be started with the R command.
The B and the R commands can be combined into one command line, such as B6R.
Learning a Motion Program
It is possible to have Turbo PMAC learn lines of a motion program using the on-line LEARN command.
In this operation, the axes are moved to the desired position and the command is given to Turbo PMAC.
Turbo PMAC then adds a command line to the open motion program buffer that represents this position.
This process can be repeated to learn a series of points.
In this operation, the axes are moved to the desired position and the command is given to Turbo PMAC.
Turbo PMAC then adds a command line to the open motion program buffer that represents this position.
This process can be repeated to learn a series of points.
The motors can be open-loop or closed-loop as they are moved around. At the time of the LEARN
command, Turbo PMAC reads the motor commanded positions (in open-loop, commanded positions are
always equal to actual positions) and converts them to axis positions by effectively executing a PMATCH
command, inverting the axis definition equations.
command, Turbo PMAC reads the motor commanded positions (in open-loop, commanded positions are
always equal to actual positions) and converts them to axis positions by effectively executing a PMATCH
command, inverting the axis definition equations.
If the LEARN command specifies which axes are to be learned (e.g. LEARN(A,B,C) ), only those axis
commands will be added to the program. If the LEARN command does not specify any axes, commands
for all 9 axis names are added to the motion program.
commands will be added to the program. If the LEARN command does not specify any axes, commands
for all 9 axis names are added to the motion program.
The LEARN function can add only axis move commands to the program. Any other parts of the motion
program, including math, logic, move modes, and move times, must be sent to the open motion program
buffer directly.
program, including math, logic, move modes, and move times, must be sent to the open motion program
buffer directly.
Motion Program Structure
Turbo PMAC motion programs typically are combinations of movement specification statements,
calculation statements, and logic statements. The movement specification statements are used to generate
commanded trajectories for the axes, according to the rules explained in the descriptions for each
trajectory mode earlier in this section. The calculation statements can be used to determine the
parameters for the movement specifications, and the logic statements can be used to determine which
movement statements get executed, and when.
calculation statements, and logic statements. The movement specification statements are used to generate
commanded trajectories for the axes, according to the rules explained in the descriptions for each
trajectory mode earlier in this section. The calculation statements can be used to determine the
parameters for the movement specifications, and the logic statements can be used to determine which
movement statements get executed, and when.
Basic Move Specifications
The simplest motion programs contain only movement specifications. Take the example:
F5000
X10000
DWELL1000
X0
(Remember that in entering this program, these statements would be surrounded with the buffer control
commands explained above.)
commands explained above.)