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6.0 - Motion Programs
Programmed
feedrate reached
OPEN PROG 1 CLEAR
LINEAR
INC
TS0
F40
TA100
X3
TA75
X3
CLOSE
5) All the previous analysis was performed assuming a zero ‘S” curve component. A move executed with an ‘S” curve
component will be similar in shape but with rounded sections at the beginning and end of the acceleration lines.
No ‘S’ curve
with ‘S’ curve
TS
TA
TS
TA
Circular Interpolation
PMAC allows circular interpolation on the X, Y, and Z axes in a coordinate system. As with linear blended moves, TA and
TS control the acceleration to and from a stop, and between moves. Circular blended moves can be either feedrate-specified
(F) or time-specified (TM), just as with linear moves. It is possible to change back and forth between linear and circular
moves without stopping. This is accomplished by entering the command LINEAR when linear interpolation is needed and
CIRCLE1 or CIRCLE2 for circular interpolation.
Starting point
Starting point
Y
End point
Y
Y (inc)
j (inc)
Z
End point
X (inc)
i (inc)
Y (abs)
Center
Y
j (abs)
X
0,0
Center
X
i (abs)
X (abs)
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X
k-1