Delta Tau GEO BRICK LV Verweishandbuch
Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Program Command Specification
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See Also:
Homing-Search Moves (Basic Motor Moves)
On-line motor command HOME, HOMEZ
Program command HOME
Homing-Search Moves (Basic Motor Moves)
On-line motor command HOME, HOMEZ
Program command HOME
I{data}
Function:
I-Vector Specification for Circular Moves or Normal Vectors
Type:
Motion program (PROG or ROT)
Syntax:
I{data}
where:
{data} is a floating-point constant or expression representing the magnitude of the I-component of
the vector in scaled user axis units.
the vector in scaled user axis units.
In circular moves, this specifies the component of the vector to the arc center that is parallel to the X-axis.
The starting point of the vector is either the move start point (for INC (R) mode – default) or the XYZ-
origin (for ABS (R) mode).
The starting point of the vector is either the move start point (for INC (R) mode – default) or the XYZ-
origin (for ABS (R) mode).
In a NORMAL command, this specifies the component of the normal vector to the plane of circular
interpolation and tool radius compensation that is parallel to the X-axis.
interpolation and tool radius compensation that is parallel to the X-axis.
Examples:
X10 Y20 I5 J5
X(2*P1) I(P1)
I33.333
X(2*P1) I(P1)
I33.333
; specifies a full circle whose center is 33.333 units in the
; positive X-direction from the start and end point
NORMAL I-1
; specifies a vector normal to the YZ plane
See Also:
Circular Interpolation, Tool Radius Compensation (Writing and Executing Motion Programs)
On-line command I{constant}
Program Commands {axis}{data}{vector}{data}, ABS, INC, NORMAL, J, K,
Circular Interpolation, Tool Radius Compensation (Writing and Executing Motion Programs)
On-line command I{constant}
Program Commands {axis}{data}{vector}{data}, ABS, INC, NORMAL, J, K,
I{constant}={expression}
I{data}={expression}
Function:
Set I-Variable Value
Type:
Motion program (PROG and ROT), PLC Program
Syntax:
I{data}={expression}
where:
{data} is a constant, or an expression in parentheses, for an integer value from 0 to 8191
representing the I-variable number;
representing the I-variable number;
{expression) represents the value to be assigned to the specified I-variable.
This command sets the value of the specified I-variable to that of the expression on the right side of the
equals sign. The assignment is done as the line is processed, which in a motion program is usually one or
two moves ahead of the move actually executing at the time (because of the need to calculate ahead in the
program).
equals sign. The assignment is done as the line is processed, which in a motion program is usually one or
two moves ahead of the move actually executing at the time (because of the need to calculate ahead in the
program).
Note:
To have the assignment of the I-variable value to be synchronous with the
beginning of the next move in the program, assign an M-variable to the register of
the I-variable and use a synchronous M-variable assignment statement
(M{data}=={expression}).
beginning of the next move in the program, assign an M-variable to the register of
the I-variable and use a synchronous M-variable assignment statement
(M{data}=={expression}).