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Turbo PMAC User Manual
330
Writing and Executing Motion Programs
CLEAR
; To erase old version when sending new
RAPID
; First actual line of program
I5193=$2000
RETURN
G01 – Linear Interpolation Mode
Typically, this code is implemented in PMAC through use of the LINEAR command. The simplest
implementation of this is N01000 LINEAR RETURN. If feedrate override is desired, and it could have
been disabled in RAPID mode, the subroutine should set the time- base source address variable to the
register containing the external information (e.g. I193=$350A).
implementation of this is N01000 LINEAR RETURN. If feedrate override is desired, and it could have
been disabled in RAPID mode, the subroutine should set the time- base source address variable to the
register containing the external information (e.g. I193=$350A).
G02 – 2D Clockwise Arc Mode
Typically, this code is implemented in PMAC through use of the CIRCLE1 command. The simplest
implementation of this is N02000 CIRCLE1 RETURN. If feedrate override is desired, and it could
have been disabled in RAPID mode, the subroutine should set the time- base source address variable to
the register containing the external information (e.g. I193=$350A).
implementation of this is N02000 CIRCLE1 RETURN. If feedrate override is desired, and it could
have been disabled in RAPID mode, the subroutine should set the time- base source address variable to
the register containing the external information (e.g. I193=$350A).
G03 – 2D Counterclockwise Arc Mode
Typically, this code is implemented in PMAC through use of the CIRCLE2 command. The simplest
implementation of this is N02000 CIRCLE2 RETURN. If feedrate override is desired, and it could
have been disabled in RAPID mode, the subroutine should set the time- base source address variable to
the register containing the external information (e.g. I193=$350A).
implementation of this is N02000 CIRCLE2 RETURN. If feedrate override is desired, and it could
have been disabled in RAPID mode, the subroutine should set the time- base source address variable to
the register containing the external information (e.g. I193=$350A).
G04 – Dwell Command
This code requires the use of the READ command. Different dialects of G-codes have the dwell time after
a P or after an X. PMAC can handle either; just use a READ(P) or a READ(X) as appropriate; the P-
value would be place in Q116, and the X-value would be placed in Q124. Also, the units of time must be
considered. PMAC dwell units are in milliseconds. If the G04 units are seconds, the value passed must
be multiplied by 1000. A typical implementation would be N04000 READ(P)
DWELL(Q116*1000) RET.
a P or after an X. PMAC can handle either; just use a READ(P) or a READ(X) as appropriate; the P-
value would be place in Q116, and the X-value would be placed in Q124. Also, the units of time must be
considered. PMAC dwell units are in milliseconds. If the G04 units are seconds, the value passed must
be multiplied by 1000. A typical implementation would be N04000 READ(P)
DWELL(Q116*1000) RET.
G09 – Exact Stop
In some dialects of G-code, this code causes a stop between two moves so that no corner-rounding
blending between the moves is done. In PMAC, this can be implemented simply by executing a short
dwell. A typical implementation would be N09000 DWELL10 RET.
blending between the moves is done. In PMAC, this can be implemented simply by executing a short
dwell. A typical implementation would be N09000 DWELL10 RET.
G17, G18, G19 – Select Plane
These codes select the plane in which circular interpolation and cutter radius compensation will be done.
G17 selects the XY plane, G18 selects the ZX plane, and G19 selects the YZ plane. In PMAC, this is
performed by the NORMAL command, which specifies the vector normal to this plane (and is not limited
to these choices). The standard Turbo PMAC implementation of these codes would be:
G17 selects the XY plane, G18 selects the ZX plane, and G19 selects the YZ plane. In PMAC, this is
performed by the NORMAL command, which specifies the vector normal to this plane (and is not limited
to these choices). The standard Turbo PMAC implementation of these codes would be:
N17000 NORMAL K-1
RETURN
N18000 NORMAL J-1
RETURN
N19000 NORMAL I-1
RETURN
It is important here that the RETURN command be on a separate line; otherwise when PMAC returns to
the line that called the subroutine, the NORMAL command would try to “pick up” more arguments from
that line.
the line that called the subroutine, the NORMAL command would try to “pick up” more arguments from
that line.