Delta Tau PMAC Manuel d'utilisateur

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1.0 - Introduction to PMAC Page - 4 1.3.6 – Mini-PMAC Recommended for applications with one or two channel requirements in either a PC based or stand

1.0 - Introduction to PMAC Page - 5 1.4 – PMAC(1) connectors and indicators 1.4.1 – Display Port Outputs (JDISP Port) The JDISP connector (J1) allow

1.0 - Introduction to PMAC Page - 6 1.5 - Working with PMAC When used for the first time the card must be configured for a specific application, usin

1.0 - Introduction to PMAC Page - 7 1.6 - PMAC Tasks As an example, a 40 MHz PMAC could perform the following tasks with the estimated percentage of

1.0 - Introduction to PMAC Page - 8 1.6.1 - Single Character I/O Bringing in a single character from, or sending out a single character to, the seri

1.0 - Introduction to PMAC Page - 9 1.6.5 - Real-Time Interrupt Tasks The real-time interrupt (RTI) tasks are the fifth highest priority on PMAC. Th

1.0 - Introduction to PMAC Page - 10 1.6.7 - Observations: - PMAC has an on-board "watchdog timer" circuit whose job it is to detect a num

1.0 - Introduction to PMAC Page - 11 1.6.8 - Priority Level Optimization PMAC will usually have enough speed and calculation power to perform all of

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Page - 13 2.0 - PMAC Executive program, PEWIN PEWIN enables you to configure, control and trouble-shoot your PMAC (s). PEWIN is designed as a deve

Copyright Information © 2003 Delta Tau Data Systems, Inc. All rights reserved. This document is furnished for the customers of Delta Tau Data Syste

2.0 - PMAC Executive program, PEWIN Page - 14 2.2 - Quick Plot feature 1) To run the quick plot feature, press ALT+P and press Enter 2) Select the

2.0 - PMAC Executive program, PEWIN Page - 15 2.4 - The WATCH and POSITION windows The position window is accessed through the “Position” command of

2.0 - PMAC Executive program, PEWIN Page - 16 2.8 - The PID Tuning Utility This function is accessible from the terminal window by pressing ALT+C for

2.0 - PMAC Executive program, PEWIN Page - 17 h) The calculated bandwidth could be increased up to three times. Uncheck the “Auto Select bandwidt

2.0 - PMAC Executive program, PEWIN Page - 18 4) Perform a parabolic move and use the following guidelines for the selection of the appropriate I-var

Page - 19 3.0 - Installing and Configuring PMAC 3.1 - Jumpers Setup On the PMAC, you will see many jumpers (pairs of metal prongs), called E-point

Installing and Configuring PMAC Page - 20 3.3 - Establishing Host Communications Either the Executive or Setup program can be used to establish init

Installing and Configuring PMAC Page - 21 3.4 - Connections Typically, the user connections are actually made to a terminal block that is attached t

Installing and Configuring PMAC Page - 22 3.6.1 - Disabling the overtravel limits flags If no overtravel limits are intended to be used, they must b

Installing and Configuring PMAC Page - 23 3.6.4 - PMACPack and PMAC2 flag inputs The PMACPack and PMAC2 interface accessories include a bipolar opto

1.0 - INTRODUCTION TO PMAC_____________________________________________1 1.1 - About this manual______________________________________________

Installing and Configuring PMAC Page - 24 Connect the A and B (quadrature) encoder channels to the appropriate terminal block pins. For encoder 1, t

Installing and Configuring PMAC Page - 25 format requires some parameter changes on PMAC; (see Ix02 and Ix25). Jumper E17 controls the polarity of t

Installing and Configuring PMAC Page - 26 3.8 - Machine Connections Example This diagram is jus

Installing and Configuring PMAC Page - 27 3.9 - Software Setup PMAC has a large set of Initialization parameters (I-variables) that determine the &qu

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Page - 29 4.0 - Programming PMAC Programming PMAC is very simple; the ease of use and power is based in the following features: - A clever interr

4.0 - Programming PMAC Page - 30 4.2 - Buffered (Program) Commands As their name implies, buffered commands are not acted on immediately, but held f

4.0 - Programming PMAC Page - 31 P-variables are general-purpose user variables. They are 48-bit floating-point variables at fixed locations in PMAC&

4.0 - Programming PMAC Page - 32 F: 32 bits floating-point (low 16 bits of X and Y) (for use in dual-ported RAM) TWD: Multiplexed BCD decoding from

4.0 - Programming PMAC Page - 33 It is possible to use a set of P-variables as an array. To read or assign values from the array, simply replace the c

2.4 - The WATCH and POSITION windows _________________________________________________________ 15 2.5 - Uploading and Downloading files_____________

4.0 - Programming PMAC Page - 34 TAN This is the standard trigonometric tangent function. ASIN This is the inverse sine (arc-sine) function with its r

4.0 - Programming PMAC Page - 35 PROGm PROGn … PROGz PLC0 PLC1 … PLC31 GATHER &1ROTARY … &8ROTARY TBUF #1BLCOMP … #8BLCOMP #1TCOMP … #8TCOMP #

4.0 - Programming PMAC Page - 36 PMAC uses a multiple-step process to work with its feedback and master position information, and with external time-b

4.0 - Programming PMAC Page - 37 The PMAC Executive position window or the online “P” command reports the value of the actual position register plus t

4.0 - Programming PMAC Page - 38 - M166 is the actual velocity register. For display purposes use the Motor filtered actual velocity, M174 To read t

4.0 - Programming PMAC Page - 39 If PMAC is not using an absolute feedback sensor that will keep a point of reference on the machine, the axis should

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Page - 41 5.0 - Motion Programs PMAC can hold up to 256 motion programs at one time. Any coordinate system can run any of these programs at any ti

5.0 - Motion Programs Page - 42 5.2 - Coordinate Systems A coordinate system in PMAC is a grouping of one or more motors for the purpose of synchroni

5.0 - Motion Programs Page - 43 5.3 - Writing a MOTION PROGRAM 1) Open a program buffer with OPEN PROG {constant} where {constant} is an integer fro

4.3.2 - P-Variables______________________________________________________________________________ 30 4.3.3 - Q-Variables ___________________________

5.0 - Motion Programs Page - 44 5.4 - Running a MOTION PROGRAM 1) Select the Coordinate System where the motion program will be running under. This

5.0 - Motion Programs Page - 45 5.5 - Subroutines and Subprograms It is possible to create subroutines and subprograms in PMAC motion programs to cre

5.0 - Motion Programs Page - 46 5.6 - Linear blended moves - The move time is set directly by TM or indirectly based on the the distances and feedra

5.0 - Motion Programs Page - 47 2) The two move commands are plot without blending, placing a DWELL0 command in between the two moves: 3) The two m

5.0 - Motion Programs Page - 48 PMAC looks two moves ahead of actual move execution to perform its acceleration limit, and can recalculate these two m

5.0 - Motion Programs Page - 49 Since the calculated TM for the given feedrate is 75 msec and the programmed TA for this move is 100 msec, the TM used

5.0 - Motion Programs Page - 50 Starting point i (inc) j (inc) X (inc) Y (inc) End point Center Starting point j (abs)i (abs) Y (abs)X (abs)Center 0

5.0 - Motion Programs Page - 51 Start (0,0)Center (10,0)End (20,0) 7) PMAC's convention is to take the short arc path if the R value is positiv

5.0 - Motion Programs Page - 52 5.8 - Splined Moves PMAC can perform cubic splines (cubic in terms of the position vs time equations) to blend togeth

5.0 - Motion Programs Page - 53 Replace I190 for the appropriate Ix90 variable according to coordinate syste

6.0 - PLC PROGRAMS ___________________________________________________57 6.1 - Entering a PLC Program ______________________________________________

5.0 - Motion Programs Page - 54 5.10 - Other programming features 5.10.1 - Rotary Motion Program Buffers: PMAC has a limited memory space shared for

5.0 - Motion Programs Page - 55 5.10.4 - Position Following (Electronic Gearing) PMAC has several methods of coordinating the axes under its control

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Page - 57 6.0 - PLC Programs PMAC will stop the scanning of the motion program lines when enough move commands are calculated ahead of time. This fe

6.0 - PLC Programs Page - 58 6.1 - Entering a PLC Program - PLCs are programmed in the same way as motion programs are, in a text editor window for

6.0 - PLC Programs Page - 59 6.4 - Conditional Statements Most action in a PLC program is conditional, dependent on the state of PMAC variables, such

6.0 - PLC Programs Page - 60 6.6 - COMMAND and SEND statements One of the most common uses of PLCs is to start motion programs and Jog motors by mean

6.0 - PLC Programs Page - 61 If you need more timers, probably the best technique to use is in memory address X:0. This 24-bit register counts up onc

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Page - 63 7.0 - Troubleshooting Section PMAC is a highly reliable device and has several safety mechanisms to prevent continuous damage and malfunc

Page - 1 1.0 - Introduction to PMAC 1.1 - About this manual This manual is intended for first time users of the PMAC motion control. It is oriente

7.0 - Troubleshooting Section Page - 64 In the background, PMAC executes one scan through an individual PLC program, then checks to see if there are a

7.0 - Troubleshooting Section Page - 65 7.4 - Motor parameters 1. No movement at all. Check the following: a. Are both limits held low to AGND and

7.0 - Troubleshooting Section Page - 66 OPEN PROG 1 CLEAR ; Prepare buffer to be written LINEAR ; Linear interpolation INC ; Incremental mod

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1.0 - Introduction to PMAC Page - 2 1. 3 - Types of PMAC 1.3.1 - PMAC(1) PC or PMAC(1) VME features Standard Features - Motorola DSP 56k Digital Si

1.0 - Introduction to PMAC Page - 3 PMAC Types PMAC Lite PMAC PC Mini PMAC PMAC STDPMAC VME Some PMAC types have been omitted from this page. Pi