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Turbo PMAC User Manual
304
Writing and Executing Motion Programs
With this buffer defined for the coordinate system, if Turbo PMAC encounters one or more moves
perpendicular to the plane of compensation while compensation is active, these moves will be stored in
the CCBUF temporarily while the next move in the plane is found, so the intersections can be computed
correctly. However, if there is not enough room in the buffer to store all of the perpendicular moves
found, Turbo PMAC will assume an outside-corner intersection; if the next move in the plane actually
forms an inside corner, overcut will have occurred.
perpendicular to the plane of compensation while compensation is active, these moves will be stored in
the CCBUF temporarily while the next move in the plane is found, so the intersections can be computed
correctly. However, if there is not enough room in the buffer to store all of the perpendicular moves
found, Turbo PMAC will assume an outside-corner intersection; if the next move in the plane actually
forms an inside corner, overcut will have occurred.
When programmed moves are actually stored in the CCBUF, commands that change the current position
value – HOME, HOMEZ, and PSET – are not permitted. Turbo PMAC will report an ERR019 if I6 is set to
1 or 3.
value – HOME, HOMEZ, and PSET – are not permitted. Turbo PMAC will report an ERR019 if I6 is set to
1 or 3.
The CCBUF, which stores motion program blocks for the purpose of computing proper cutter
compensation intersection points, should not be confused with the LOOKAHEAD buffer, which stores
small motion “segments” generated from these programmed blocks for the purpose of guaranteeing
observance of position, velocity, and acceleration limits. Both of these buffers may be defined and active
for a coordinate system at the same time.
compensation intersection points, should not be confused with the LOOKAHEAD buffer, which stores
small motion “segments” generated from these programmed blocks for the purpose of guaranteeing
observance of position, velocity, and acceleration limits. Both of these buffers may be defined and active
for a coordinate system at the same time.
The CCBUF is a temporary buffer. Its contents are never retained through a power-down or card reset;
the buffer itself is only retained through a power-down or reset if it was defined, and I14 was set to 1, at
the time of the last SAVE command.
the buffer itself is only retained through a power-down or reset if it was defined, and I14 was set to 1, at
the time of the last SAVE command.
Single-Stepping While in Compensation
It is possible to execute moves in “single-step” mode while cutter compensation is active, but the user
should be aware of several special considerations for this mode of operation. Because of the need for the
program to see ahead far enough to find the next move in the plane of compensation before the current
move can be executed, the execution of an S single-step command may not produce the intuitively
expected results. The single-step command on a move in compensation causes the preliminary
calculations for that move to be done, not for the move actually to be executed. This has the following
ramifications:
should be aware of several special considerations for this mode of operation. Because of the need for the
program to see ahead far enough to find the next move in the plane of compensation before the current
move can be executed, the execution of an S single-step command may not produce the intuitively
expected results. The single-step command on a move in compensation causes the preliminary
calculations for that move to be done, not for the move actually to be executed. This has the following
ramifications:
•
A single-step command on the lead-in move for compensation will produce no motion, because the
next move has not yet been found.
next move has not yet been found.
•
Single-step commands on compensated moves in the plane of compensation will cause the previous
move to execute.
move to execute.
•
Single-step commands on compensated moves perpendicular to the plane of compensation will
produce no motion, as these will just be held in the CCBUFFER. A single-step command on the next
move in the plane of compensation will cause the previous move in the plane, plus all buffered moves
perpendicular to the plane to execute.
produce no motion, as these will just be held in the CCBUFFER. A single-step command on the next
move in the plane of compensation will cause the previous move in the plane, plus all buffered moves
perpendicular to the plane to execute.
•
A single-step command on the lead-out move will cause both the last fully compensated move and the
lead-out move to execute.
lead-out move to execute.
Unlike many controllers, Turbo PMAC can execute non-motion program blocks with single-step
commands with cutter compensation active. However, you should be aware that the execution of these
blocks may appear out of sequence, because the motion from the previous programmed move block will
not yet have been executed.
commands with cutter compensation active. However, you should be aware that the execution of these
blocks may appear out of sequence, because the motion from the previous programmed move block will
not yet have been executed.
Synchronous M-variable assignments in this mode are still buffered and not executed until the actual start
of motion execution of the next programmed move.
of motion execution of the next programmed move.