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Turbo PMAC User Manual
Writing and Executing Motion Programs
273
The units of the TM time are milliseconds; the units of the F velocity are the user length (or angle) units of
the feedrate axes divided by the time units as defined by coordinate system variable Isx90 in milliseconds.
If Isx90 is at the default value of 1000, the F units are length units per second; if Isx90 is set to 60,000,
the F units are length units per minute.
If no F or TM value is specified after power-up/reset, the value of Isx89 is used for the moves as a feedrate
value. Any F value specified in a program is compared to maximum feedrate parameter Isx98; if greater
than this parameter, Isx98 is used instead.
the feedrate axes divided by the time units as defined by coordinate system variable Isx90 in milliseconds.
If Isx90 is at the default value of 1000, the F units are length units per second; if Isx90 is set to 60,000,
the F units are length units per minute.
If no F or TM value is specified after power-up/reset, the value of Isx89 is used for the moves as a feedrate
value. Any F value specified in a program is compared to maximum feedrate parameter Isx98; if greater
than this parameter, Isx98 is used instead.
Note:
Feedrate is a magnitude and should therefore always be a positive number. A
negative feedrate will cause the motion to be opposite of what is defined as
positive in the Coordinate System definition.
negative feedrate will cause the motion to be opposite of what is defined as
positive in the Coordinate System definition.
Vector Feedrate Axes
If a multi-axis move is specified by feedrate (and not time), theres is the further flexibility of specifying
which axes control the vector feedrate using the FRAX command (on-line or buffered) and velocity is
apportioned among these axes so that their vector combination (root of sum of squares) is the specified
velocity. Turbo PMAC calculates the move time as the vector distance of the feedrate axes divided by the
programmed feedrate. Therefore, each axis’ velocity does not have to be computed individually for each
different angle of movement. If a simultaneous move is requested of a non-feedrate axis, that move is
completed in the same time as that computed for the feedrate axes. The default feedrate axes for a
coordinate system are the X, Y, and Z-axes.
If there are other axes (non-feedrate axes) commanded on the same line, Turbo PMAC compares the
move time computed for the vector feedrate axes to the move time derived by taking the greatest distance
of a non-feedrate axis divided by the coordinate system’s alternate feedrate parameter Isx86. Whichever
of these move times is the longest is used for all axes.
which axes control the vector feedrate using the FRAX command (on-line or buffered) and velocity is
apportioned among these axes so that their vector combination (root of sum of squares) is the specified
velocity. Turbo PMAC calculates the move time as the vector distance of the feedrate axes divided by the
programmed feedrate. Therefore, each axis’ velocity does not have to be computed individually for each
different angle of movement. If a simultaneous move is requested of a non-feedrate axis, that move is
completed in the same time as that computed for the feedrate axes. The default feedrate axes for a
coordinate system are the X, Y, and Z-axes.
If there are other axes (non-feedrate axes) commanded on the same line, Turbo PMAC compares the
move time computed for the vector feedrate axes to the move time derived by taking the greatest distance
of a non-feedrate axis divided by the coordinate system’s alternate feedrate parameter Isx86. Whichever
of these move times is the longest is used for all axes.
Example Vector Feedrate Calculations (Isx86=40)
INC
Vect Dist = SQRT(32 + 42) = 5
FRAX(X,Y)
Move Time = 5/10 = 0.5
X3 Y4 F10
Vx = 3/0.5 = 6
Vy = 4/0.5 = 8
INC
Vect Dist = SQRT(32 + 42) = 5
FRAX(X,Y)
Vect Move Time = 5/10 = 0.5
X3 Y4 Z12 F10
Non-Vect Dist = 12
Non-Vect Move Time = 12/40 = 0.3
Vx = 3/0.5 = 6
Vy = 4/0.5 = 8
Vz = 12/0.5 = 24
INC
Vect Dist = SQRT(32+42+122)=13
FRAX(X,Y,Z)
Move Time = 13/10 = 1.3
X3 Y4 Z12 F10
Vx = 3/1.3 = 2.31
Vy = 4/1.3 = 3.08
Vz = 12/1.3 = 9.23
INC
Vect Dist = 0, Non-Vect Dist = 10
FRAX(X,Y,Z)
Move Time = 10/40 = 0.25
C10 F10
Vc = 40
Motor Velocity Limits
Turbo PMAC provides a velocity limit parameter Ixx16 for each Motor xx that can be used to
automatically limit the commanded velocity in linear-mode moves even if the motion program requests a
higher rate. The details of how this limiting function operates are dependent on the mode of operation.
automatically limit the commanded velocity in linear-mode moves even if the motion program requests a
higher rate. The details of how this limiting function operates are dependent on the mode of operation.