Delta Tau GEO BRICK LV User Manual

 

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As soon as the actual execution of a move by the trajectory generating routines starts, a flag is set for 
Turbo PMAC to calculate all of the succeeding program statements down to and including the next move 
statement, putting the data thus computed into a queue for the trajectory generator.  Program calculation is 
then held up until the trajectory generator starts the next move, and Turbo PMAC performs other tasks 
(PLC programs, communications, etc.). 

Insufficient Calculation Time 

If Turbo PMAC cannot finish calculating the trajectory for a move by the time execution of that move is 
supposed to begin, Turbo PMAC will abort the program, showing a run-time error in its status word.  This 
usually happens when move times are made very short (a few milliseconds) and/or there is a very large 
amount of calculation in between move commands.  The limit on this move block calculation rate is very 
application-dependent, but is generally several hundred blocks per second. 

If concerned about this move calculation limit, during development make the move times continually 
shorter until Turbo PMAC fails.  Then for the final application, make sure that the minimum move time is 
greater than this, usually with a safety margin of at least 25%.