Delta Tau GEO BRICK LV 사용자 설명서
Turbo PMAC User Manual
Turbo PMAC Computational Features
251
Synchronous Assignment of Other Variables
Only M-variables can be used in these synchronous assignments, but M-variables can be assigned to the
registers of any other variables (I, P, or Q), so these synchronous assignments can be used effectively on
other variable types as well. Refer to the detailed memory map for addresses of other variables.
registers of any other variables (I, P, or Q), so these synchronous assignments can be used effectively on
other variable types as well. Refer to the detailed memory map for addresses of other variables.
Limitations
There are a few limitations to these synchronous assignments that the user must be aware of:
There are a few limitations to these synchronous assignments that the user must be aware of:
Valid Forms: First, these statements may not be used with any of the thumbwheel-multiplexer-port M-
variable forms (TWB, TWD, TWR, or TWS). The Boolean assignments (&=, |=, ^=) cannot be used
with any double-width M-variable forms (D, L, or F).
variable forms (TWB, TWD, TWR, or TWS). The Boolean assignments (&=, |=, ^=) cannot be used
with any double-width M-variable forms (D, L, or F).
Queue Limits: The pending synchronous outputs must be stored in a queue of finite size. Without the
special lookahead buffer enabled (see below), the queue is fixed at a size of 256 words for all coordinate
systems combined, with two words required to store each assignment. Global variable I68, which
controls the number of active coordinate systems, determines how much of this queue is assigned to each
coordinate system.
special lookahead buffer enabled (see below), the queue is fixed at a size of 256 words for all coordinate
systems combined, with two words required to store each assignment. Global variable I68, which
controls the number of active coordinate systems, determines how much of this queue is assigned to each
coordinate system.
The following table shows how many words of the queue are assigned to each active coordinate system
for the different values of I68, and how many assignments can be made per move with and without cutter
radius compensation active. (Cutter radius compensation requires the motion program to work ahead an
extra move, so reduces the number per move.) Note that two words are required per assignment, and one
additional word per move.
for the different values of I68, and how many assignments can be made per move with and without cutter
radius compensation active. (Cutter radius compensation requires the motion program to work ahead an
extra move, so reduces the number per move.) Note that two words are required per assignment, and one
additional word per move.
I68
Value
Highest Numbered
Coordinate System
Activated
Sync. M-Var.
Stack per C.S.
Max. Sync M-Var.
Assignments per
move, no cutter comp
Max. Sync M-Var.
Assignments per
move, cutter comp on
0
C.S. 1
256 words
63
42
1
C.S. 2
128 words
31
20
2 - 3
C.S. 3 - 4
64 words
15
10
4 - 7
C.S. 5 - 8
32 words
7
4
8 - 15
C.S. 9 - 16
16 words
3
2
If you are using the special multi-block lookahead feature, the storage requirements for pending
synchronous assignments can be significant. For this reason, the special lookahead buffer permits you to
explicitly reserve space for pending synchronous outputs as well as pending move segments. If the
following command were given to define a lookahead buffer:
synchronous assignments can be significant. For this reason, the special lookahead buffer permits you to
explicitly reserve space for pending synchronous outputs as well as pending move segments. If the
following command were given to define a lookahead buffer:
&1 DEFINE LOOKAHEAD 500,100
then a lookahead buffer for Coordinate System 1 would be defined large enough to store 500 move
segments (each of Isx13 programmed time) for each motor in the coordinate system, plus 100
synchronous M-variable assignments.
segments (each of Isx13 programmed time) for each motor in the coordinate system, plus 100
synchronous M-variable assignments.
Comparators
A comparator evaluates the relationship between two values (constants or expressions). It is used to
determine the truth of a condition in a motion or PLC program. The valid comparators for Turbo PMAC are:
determine the truth of a condition in a motion or PLC program. The valid comparators for Turbo PMAC are:
= (equal to)
!= (not equal to)
> (greater than)
!> (not greater than; less than or equal to)
< (less than)
!< (not less than; greater than or equal to)
~ (approximately equal to -- within one)
!~ (not approximately equal to -- at least one apart)
These are described in detail in the Software Reference manual under Mathematical Features.