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Turbo PMAC User Manual
Turbo PMAC Computational Features
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When accessing a Q-variable from a motion program statement (including kinematic subroutines), the Q-
variable belonging to the coordinate system running the program is being used. If a different coordinate
system runs the same motion program, it will use different Q-variables.
variable belonging to the coordinate system running the program is being used. If a different coordinate
system runs the same motion program, it will use different Q-variables.
When accessing a Q-variable from a PLC program statement, the Q-variable for the coordinate system
that has been addressed by that PLC program with the ADDRESS command is being used. Each PLC
program can address a particular coordinate system independent of other PLC programs and independent
of the host addressing. If no ADDRESS command is used in the PLC program, the program uses the Q-
variables for C.S. 1.
that has been addressed by that PLC program with the ADDRESS command is being used. Each PLC
program can address a particular coordinate system independent of other PLC programs and independent
of the host addressing. If no ADDRESS command is used in the PLC program, the program uses the Q-
variables for C.S. 1.
Type of Memory Used
Q-variables can be located in either the main memory or in the supplemental battery-backed parameter
memory (if Option 16 is ordered). If I46 is set to 0 (default) or 1, the Q-variables are located in the main
memory, which has fast access (1 wait state) but whose values are not retained without a SAVE command
copying the values to flash memory. On power-up/reset, the last saved values are copied from flash
memory into the active variable registers in RAM.
memory (if Option 16 is ordered). If I46 is set to 0 (default) or 1, the Q-variables are located in the main
memory, which has fast access (1 wait state) but whose values are not retained without a SAVE command
copying the values to flash memory. On power-up/reset, the last saved values are copied from flash
memory into the active variable registers in RAM.
If I46 is set to 2 or 3, the Q-variables are located in the Option 16 battery-backed RAM, which has slow
access (9 wait states) but whose values are retained by the battery automatically when power is removed.
access (9 wait states) but whose values are retained by the battery automatically when power is removed.
Special-Use Q-Variables
Several Q-variables have special uses to watch for. The ATAN2 (two-argument arctangent) function
automatically uses Q0 as its second argument (the cosine argument). The READ command places the
values it reads following letters A through Z in Q101 to Q126, respectively, and a mask word denoting
which variables have been read in Q100. The S (spindle) statement in a motion program places the value
following it into Q127.
automatically uses Q0 as its second argument (the cosine argument). The READ command places the
values it reads following letters A through Z in Q101 to Q126, respectively, and a mask word denoting
which variables have been read in Q100. The S (spindle) statement in a motion program places the value
following it into Q127.
If the application uses kinematic subroutines to convert between tool-tip (axis) positions and joint (motor)
positions, variables Q1 – Q10 and possibly Q11 – Q19 for the coordinate system are used for the axis data
in these subroutines (Q1 – Q9 are for axis positions; Q10 tells whether PVT moves are being converted; if
PVT moves are converted, Q11 – Q19 are for axis velocities). If using the kinematic subroutines, make
sure not to use the Q-variables employed in the subroutines for any other purpose.
positions, variables Q1 – Q10 and possibly Q11 – Q19 for the coordinate system are used for the axis data
in these subroutines (Q1 – Q9 are for axis positions; Q10 tells whether PVT moves are being converted; if
PVT moves are converted, Q11 – Q19 are for axis velocities). If using the kinematic subroutines, make
sure not to use the Q-variables employed in the subroutines for any other purpose.
M-Variables
M-variables are provided to permit easy user access to Turbo PMAC’s memory and I/O space. Generally,
a definition only needs to be made once, with an on-line command. The SAVE command must be used to
retain the definition through a power-down or reset. Define an M-variable by assigning it to a location
and defining the size and format of the value in this location. An M-variable can be a bit, a nibble (4
bits), a byte (8 bits), 1-1/2 bytes (12 bits), a double-byte (16 bits), 2-1/2 bytes (20 bits), a 24-bit word, a
48-bit fixed-point double word, a 48-bit floating-point double word, or special formats for dual-ported
RAM and for the JTHW multiplexer port.
a definition only needs to be made once, with an on-line command. The SAVE command must be used to
retain the definition through a power-down or reset. Define an M-variable by assigning it to a location
and defining the size and format of the value in this location. An M-variable can be a bit, a nibble (4
bits), a byte (8 bits), 1-1/2 bytes (12 bits), a double-byte (16 bits), 2-1/2 bytes (20 bits), a 24-bit word, a
48-bit fixed-point double word, a 48-bit floating-point double word, or special formats for dual-ported
RAM and for the JTHW multiplexer port.
There are 8192 M-variables (M0 to M8191), and as with other variable types, the number of the M-
variable may be specified with either a constant or an expression: M576 or M(P1+20).
variable may be specified with either a constant or an expression: M576 or M(P1+20).
M-Variable Definitions
The definition of an M-variable is done using the defines-arrow (->) composed of the minus sign and
greater than symbol. Generally, a definition needs to be made only once, with in an on-line command,
because it is stored in battery-backed RAM or saved to flash memory. The M-variable thus defined may
be used repeatedly.
greater than symbol. Generally, a definition needs to be made only once, with in an on-line command,
because it is stored in battery-backed RAM or saved to flash memory. The M-variable thus defined may
be used repeatedly.
An M-variable may take one of the following types, as specified by the address prefix in the definition:
X:
1 to 24 bits fixed-point in X-memory
Y:
1 to 24 bits fixed-point in Y-memory
D:
48 bits fixed-point across both X- and Y-memory