Delta Tau GEO BRICK LV 사용자 설명서
Turbo PMAC User Manual
Writing and Executing Motion Programs
335
M02 – End of Program
Since PMAC automatically recognizes the end of a program, and resets the program pointer back to the
top of the program, the routine for this code could be empty (RETURN statement only). However, in
many systems, a lot of variables and modes get set to default values here. A typical end-of-program
routine might be:
top of the program, the routine for this code could be empty (RETURN statement only). However, in
many systems, a lot of variables and modes get set to default values here. A typical end-of-program
routine might be:
N02000 M55=0
; Turn off spindle
M7=0
; Turn off coolant
M2=0
; Turn off conveyor
DWELL 0
; Execute pending synchronous M-vars
LINEAR
; Make sure not in circular mode
RETURN
M03 – Spindle On Clockwise
M04 – Spindle On Counterclockwise
M05 – Spindle Stop
M04 – Spindle On Counterclockwise
M05 – Spindle Stop
If the spindle is simply doing constant speed moves, these routines can simply issue jog commands. For
instance:
instance:
N03000 CMD "#4J+"
RET
N04000 CMD "#4J-"
RET
N05000 CMD "#4J/"
RET
This assumes, of course, that motor #4 on Turbo PMAC is the spindle motor and that the counting-up
direction is clockwise. Spindle speed already will have been determined in other routines by setting I422
(motor #4 jog speed).
direction is clockwise. Spindle speed already will have been determined in other routines by setting I422
(motor #4 jog speed).
If Turbo PMAC is controlling the spindle with an open loop voltage, these routines would put a voltage
on an otherwise-unused analog output by writing to a DAC register. For example:
on an otherwise-unused analog output by writing to a DAC register. For example:
N03000 M402=P97*P9
RETURN
N04000 M402=-P97*P9
RETURN
N05000 M402=0
RETURN
This sample assumes M402 is assigned to the DAC4 register (Y:$07800A,8,16,S), P97 is the desired
spindle speed in RPM, and P9 is the scale factor relating RPM to DAC bits (3,276.7 DAC bits/volt). See
the Spindle Programs section for more details.
spindle speed in RPM, and P9 is the scale factor relating RPM to DAC bits (3,276.7 DAC bits/volt). See
the Spindle Programs section for more details.
If fancier tasks such as constant surface speed are desired, a separate motion program for the spindle will
be required, as demonstrated in an above example. If these M-codes were to interface with this example,
they would be:
be required, as demonstrated in an above example. If these M-codes were to interface with this example,
they would be:
N03000 M55=1
; Flag for clockwise spindle
CMD "&2B1010R"
; Start the spindle program
RET
N04000 M55=-1
N04000 M55=-1
; Flag for counterclockwise spindle
CMD "&2B1010R"
; Start the spindle program
RET
N05000 M55=0
N05000 M55=0
; Flag for spindle off
RET ;