Attached is a new document describing how to use CfromScript() in Power PMAC, which is a function that permits users to call C functions directly from PMAC Script programs, such as PLCs and Kinematics Subroutines.

CfromScript() can be used for general purpose calculations, but CfromScript() is useful primarily for performing kinematics calculations, because to perform these calculations in a compiled C program is significantly faster than to calculate them using the interpreted PMAC Script kinematics subroutines. This is especially useful for highly nonlinear, computationally-intensive calculations, such as that which occurs in Hexapod or Delta Robot kinematics. Another advantage is that with CfromScript(), the user can more easily implement common C-based nonlinear iterative solvers, such as those given in the famous Numerical Recipes in C cookbook.

If you have any questions on the usage or implementation of this function, please feel free to post them.

CfromScript() can be used for general purpose calculations, but CfromScript() is useful primarily for performing kinematics calculations, because to perform these calculations in a compiled C program is significantly faster than to calculate them using the interpreted PMAC Script kinematics subroutines. This is especially useful for highly nonlinear, computationally-intensive calculations, such as that which occurs in Hexapod or Delta Robot kinematics. Another advantage is that with CfromScript(), the user can more easily implement common C-based nonlinear iterative solvers, such as those given in the famous Numerical Recipes in C cookbook.

If you have any questions on the usage or implementation of this function, please feel free to post them.