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PmacTutor12 - Using Coordinate System Definitions .............................................. 91 PmacTutor13 - Configuring and Monitoring Coordinate Systems............................ 94 PmacAcc ICVs......................................................................................................................... 97 PmacTutor14 – Machine Input and Output ............................................................... 97 PmacTutor15 – ACC16D Control Panel ................................................................... 99 Chapter 5 - Development Tools 102 Basics..................................................................................................................................... 102 Tool Menus............................................................................................................................ 103 Modifying the menu ................................................................................................ 104 Modifying PmacTerminalMenu .............................................................................. 104 Basic Tool VI Requirements ................................................................................... 105 Basic Tool VI Configuration ................................................................................... 106 PmacTerminal........................................................................................................................ 107 Basic Terminal 101 ................................................................................................. 108 Basic Command Editing.......................................................................................... 109 Buffer Management................................................................................................. 109 Terminal Indicators ................................................................................................. 110 Terminal Controls.................................................................................................... 110 Implementation Diagram......................................................................................... 111 PmacTerminalJog .................................................................................................................. 114 PmacTerminalEdit ................................................................................................................. 115 Encapsulating Motion Programs ............................................................................. 117 PmacTerminalExecute ........................................................................................................... 118 PmacTerminalMotors ............................................................................................................ 122 PmacTerminalMotorX-Y....................................................................................................... 124 PmacTerminalGather ............................................................................................................. 126 Specifying Gather Addresses................................................................................... 131 Chapter 6 - Encapsulated Motion Programs and PQMs 136 Basics..................................................................................................................................... 136 PmacProgSubVI .................................................................................................................... 136 PmacPQMExamp .................................................................................................................. 139 PmacPQM Clusters ................................................................................................. 142 PmacPQM Conversions........................................................................................... 143 PmacPQM Datalogging........................................................................................... 144 Using Encapsulated Motion Programs................................................................................... 146 PmacTestExamp .................................................................................................................... 147 Chapter 7 - Homing, Encoders, and Position Capture 151 Basics..................................................................................................................................... 151 Position Basics....................................................................................................................... 152 Position-Capture .................................................................................................................... 153 Trigger Condition .................................................................................................... 153 Homing .................................................................................................................................. 153 Action on Trigger .................................................................................................... 153 Home Complete....................................................................................................... 154 Home Position Offset .............................................................................................. 154 Zero-Move Homing................................................................................................. 155 Homing Into a Limit Switch.................................................................................... 155 Homing from PLC and Motion Programs ............................................................... 155 PmacHomeExamp ................................................................................................................. 155 Configuring the Position Capture Trigger ............................................................... 157 Monitoring the Home Position Capture................................................................... 160 Home Position Transformations.............................................................................. 162 Table of Contents iii
