Reference Manual

PMAC 2 Software Reference
298 PMAC Program Command Specification
This command is almost equivalent to a PSET X(Q{data}) Y(Q({data}+1))
Z(Q({data}+2)) command, except that ADIS does not force a stop between moves
as PSET does.
Example
Q20=7.5
Q21=12.5
Q22=25
ADIS 20 ; This makes the current X position 7.5, Y 12.5, Z25
See Also
Axis Matrix Transformations (Writing a Motion Program)
On-line command DEFINE TBUF
Program commands TSEL, AROT, IDIS, IROT, TINIT
AND ({condition})
Function
Conditional AND
Type
PLC program only
Syntax
AND ({condition})
where:
• {condition} is a simple or compound condition
Remarks
This statement forms part of an extended compound IF or WHILE condition to be
evaluated in a PLC program. It must immediately follow an IF, WHILE, AND, or OR
statement This AND is a Boolean operator logically combining the full conditions on its
line and the program line immediately above. It takes lower precedence than AND or OR
operators within a compound condition on a single line (the parentheses cause those to be
executed first), but it takes higher precedence than an OR operator that starts a line.
In motion programs, there can be compound conditions within one program line, but not
across multiple program lines, so this statement is not permitted in motion programs.
Note:
This logical AND command, which acts on condition should not be
confused with the bit-by-bit & (ampersand) operator that acts on values.
Example
IF (M11=1) ; This branch will start a motion program running
AND (M12=1) ; on a cycle where inputs M11 and M12 are 1 and
AND (M21=0) ; M21 is still zero. Note that M21 is immediately
CMD”R” ; set to one so the run command will not be given
M21=1 ; again in the next cycle.
ENDIF
See Also
Writing a PLC Program
Conditions (Program Computational Features)
Program Commands IF, WHILE, OR
AROT{constant}
Function
Absolute rotation/scaling of X, Y, and Z axes
Type
Motion program (PROG and ROT)
Syntax
AROT{constant}
where:
• {constant} is an integer representing the number of the first of nine consecutive
Q-variables to be used in the rotation/scaling matrix.