Reference Manual

PMAC 2 Software Reference

PMAC On-Line Command Specification 207

On succeeding lines will be given the actual entries of the table as constants separated by

spaces and or carriage return characters. The units of these entries are 1/16 count, and the

entries must be integer values. The first entry is the correction at one spacing from the motor

zero position (as determined by the most recent home search move or power-up/reset), the

second entry is the correction two spacings away, and so on. The correction from the table at

motor zero position is zero by definition.

The correction is the amount subtracted (added in the negative direction) from the nominal

commanded position when the motor is moving in the negative direction to get the corrected

position. The correction from the backlash table is added to the Ix86 constant backlash

parameter before adjusting the motor position. Corrections from any leadscrew

compensation tables that have this motor as the target motor are always active in both

directions.

The last entry in the table represents the correction at {count length} distance from the

motor’s zero position. Since the table has the capability to roll over, this entry also represents

the correction at the motor’s zero position. For this reason, the last entry should virtually

always be set to zero.

Note:

PMAC will reject this command, reporting an ERR003 if I6=1 or 3, if

any BLCOMP buffer exists for a lower numbered motor, or if any

TBUF, ROTARY, or GATHER buffer exists. Any of these buffers

must be deleted first. BLCOMP buffers must be defined from high-

numbered motor to low-numbered motor, and deleted from low-

numbered motor to high-numbered motor.

I51 must be set to 1 to enable the table.