Delta Tau PMAC2 PCI Manuel d'utilisateur

^1 USER MANUAL ^2 PMAC2 ^3 Programmable Multi-Axis Control ^4 3Ax-602413-xUxx ^5 April 15, 2004 Single Source Machine

PMAC2 User Manual 2 Introduction ENCODER 1FLAG 1ENCODER 2FLAG 2ENCODER 3FLAG 3ENCODER 4FLAG 4ENCODER/FLAGSTATUS & CONTROLOUTPUT1 A,B,CADCIN1 A,

PMAC2 User Manual 92 Using the PMAC2 to Interrupt the Host Computer Interrupt Mask Control Register (Base+10) This register permits the PC to mask

PMAC2 User Manual Using the PMAC2 to Interrupt the Host Computer 93 M112=1 ; Prepare to set EQU1 high M111=1 ; Enable writing of M112 value to EQU1

PMAC2 User Manual Introduction 3 Manual Layout This manual provides a quick step-by-step guide for the beginner setting up a typical system, as well

PMAC2 User Manual 4 Introduction PMAC2 General Purpose I/O Use: This section describes the JIO port’s 32 discrete digital I/O lines and provides i

PMAC2 User Manual Introduction 5 Technical Support Delta Tau is happy to respond to any questions or concerns regarding PMAC. Contact the Delta Tau

PMAC2 User Manual 6 Introduction

PMAC2 User Manual Basic Motor Setup on PMAC2 7 BASIC MOTOR SETUP ON PMAC2 Controlling Motors PMAC2 has many modes for controlling motors. A major pa

PMAC2 User Manual 8 Basic Motor Setup on PMAC2 I901 (I997 for an Ultralite) controls the phase clock frequency for the card, the rate at which comm

PMAC2 User Manual Basic Motor Setup on PMAC2 9 The most important of these variables are I9n0 and I9n6. I9n0 specifies the encoder decode for channe

PMAC2 User Manual 10 Basic Motor Setup on PMAC2 ADC InputValue AADC InputValue BADC FrequencyControlADC StrobeControl24Data6AddressADC ShiftRegiste

PMAC2 User Manual Basic Motor Setup on PMAC2 11 OUTPUT1 A,B,CADCIN1 A,BENCODER/FLAG1ADCIN2 A,BGENERAL I/OOUTPUT/ADCINCONTROL626212226024-BitDATA BUS7

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

PMAC2 User Manual 12 Basic Motor Setup on PMAC2

PMAC2 User Manual Setting Up PMAC2 for Direct PWM Control 13 SETTING UP PMAC2 FOR DIRECT PWM CONTROL One of PMAC2’s important new features is the abi

PMAC2 User Manual 14 Setting Up PMAC2 for Direct PWM Control In a motor, there are three frames of reference that are important. The first is the

PMAC2 User Manual Setting Up PMAC2 for Direct PWM Control 15 ++MagnetizationCurrentIx77Torque Commandfrom Position/Velocity ServoDirect CurrentComman

PMAC2 User Manual 16 Setting Up PMAC2 for Direct PWM Control Hardware Setup The connection between PMAC2 and the direct PWM digital amplifier is al

PMAC2 User Manual Setting Up PMAC2 for Direct PWM Control 17 where n is the PMAC2 channel number. While each channel has its own pins for the clock

PMAC2 User Manual 18 Setting Up PMAC2 for Direct PWM Control IkHzPWMFreq kHz900117 841=−int,964.*() The frequency should be set within the sp

PMAC2 User Manual Setting Up PMAC2 for Direct PWM Control 19 I10 tells the PMAC2 interpolation routines how much time there is between servo clock cy

PMAC2 User Manual 20 Setting Up PMAC2 for Direct PWM Control Commutation Enable: Ix01 Ix01 is set to 1 to instruct PMAC2 to perform the phase commu

PMAC2 User Manual Setting Up PMAC2 for Direct PWM Control 21 PWM Scale Factor: Ix66 Ix66, the PWM Scale Factor, scales the output command values so t

PMAC2 User Manual Table of Contents i Table Of Contents INTRODUCTION ...

PMAC2 User Manual 22 Setting Up PMAC2 for Direct PWM Control If a non-zero value of Ix77 magnetization current will be used, for induction motor co

PMAC2 User Manual Setting Up PMAC2 for Direct PWM Control 23 For commutation with digital current loops, the proper setting of Ix72 is unrelated to t

PMAC2 User Manual 24 Setting Up PMAC2 for Direct PWM Control If there is only a permanent magnet field, the armature current reading can either be

PMAC2 User Manual Setting Up PMAC2 for Direct PWM Control 25 Testing PWM and Current Feedback Operation Warning: On many motor and drive systems, pot

PMAC2 User Manual 26 Setting Up PMAC2 for Direct PWM Control To allow reliable user access to these values, PMAC2 copies the input values into imag

PMAC2 User Manual Setting Up PMAC2 for Direct PWM Control 27 PWM Output and ADC Input Connection First enable the amp, then apply a very small positi

PMAC2 User Manual 28 Setting Up PMAC2 for Direct PWM Control Current Loop Polarity Check Observe the signs of the ADC register values in M105 and M

PMAC2 User Manual Setting Up PMAC2 for Direct PWM Control 29 • For synchronous motors (and possibly for induction motors), the physical change in ro

PMAC2 User Manual 30 Setting Up PMAC2 for Direct PWM Control Example: The following table shows the results for a sample run of this test. Step M1

PMAC2 User Manual Setting Up PMAC2 for Direct PWM Control 31 Establishing Basic Current Loop Operation Once the proper operation of the PMAC2 PWM out

PMAC2 User Manual ii Table of Contents Debugging ...

PMAC2 User Manual 32 Setting Up PMAC2 for Direct PWM Control Preparation To prepare PMAC2 for this test: • Set Ix00 for all other motors to 0 to d

PMAC2 User Manual Setting Up PMAC2 for Sine-Wave Output Control 33 SETTING UP PMAC2 FOR SINE-WAVE OUTPUT CONTROL How to Set up the Commutation Scheme

PMAC2 User Manual 34 Setting Up PMAC2 for Sine-Wave Output Control Supplemental Flags The Acc-8E can accept hall-effect signals for power-on phase

PMAC2 User Manual Setting Up PMAC2 for Sine-Wave Output Control 35 Hardware Clock Frequency Control: I903, I907 I903 determines the frequency of four

PMAC2 User Manual 36 Setting Up PMAC2 for Sine-Wave Output Control Command Output Address: Ix02 Ix02 instructs PMAC2 where to place its output comm

PMAC2 User Manual Setting Up PMAC2 for Sine-Wave Output Control 37 Establishing Basic Output Operation A quick test can establish basic operation of

PMAC2 User Manual 38 Setting Up PMAC2 for Sine-Wave Output Control

PMAC2 User Manual Setting Up PMAC2 Commutation (Direct PWM or Sine Wave) 39 SETTING UP PMAC2 COMMUTATION (DIRECT PWM OR SINE WAVE) Operation of the D

PMAC2 User Manual 40 Setting Up PMAC2 Commutation (Direct PWM or Sine Wave) Correcting Polarity Mismatch, Synchronous and Asynchronous Motors To co

PMAC2 User Manual Setting Up PMAC2 Commutation (Direct PWM or Sine Wave) 41 The Y-memory portion of this register has only fractional information, so

PMAC2 User Manual Table of Contents iii Parameter Setup...

PMAC2 User Manual 42 Setting Up PMAC2 Commutation (Direct PWM or Sine Wave) Direction Balance Fine Phasing Test Typically, the stepper motor phasin

PMAC2 User Manual Setting Up PMAC2 Commutation (Direct PWM or Sine Wave) 43 Using the Test Results for Absolute Sensor This test is only useful when

PMAC2 User Manual 44 Setting Up PMAC2 Commutation (Direct PWM or Sine Wave) Preparation Define M-variables to the hall-effect or equivalent inputs.

PMAC2 User Manual Setting Up PMAC2 Commutation (Direct PWM or Sine Wave) 45 It is advisable to create a table listing the values of M124 through M128

PMAC2 User Manual 46 Setting Up PMAC2 Commutation (Direct PWM or Sine Wave) 64*oo360360%HEZOffset = The offset computed here should be rounded to

PMAC2 User Manual Setting Up PMAC2 Commutation (Direct PWM or Sine Wave) 47 M171=I171*3/12 ; Set phase angle to 90 deg P170=1 ; Phasing OK flag

PMAC2 User Manual 48 Setting Up PMAC2 Commutation (Direct PWM or Sine Wave) When properly phased, a positive O-command should cause movement in the

PMAC2 User Manual Setting Up PMAC2 Commutation (Direct PWM or Sine Wave) 49 If the stepper motor phasing search is done outside of the power-on/reset

PMAC2 User Manual 50 Setting Up PMAC2 Commutation (Direct PWM or Sine Wave) The time between typing the commands would provide sufficient delay for

PMAC2 User Manual Setting Up PMAC2 Commutation (Direct PWM or Sine Wave) 51 What To Do Next Once the appropriate steps in this section have been take

PMAC2 User Manual iv Table of Contents Hardware Characteristics ...

PMAC2 User Manual 52 Setting Up PMAC2 Commutation (Direct PWM or Sine Wave)

PMAC2 User Manual Setting Up PMAC2 For Velocity or Torque Control 53 SETTING UP PMAC2 FOR VELOCITY OR TORQUE CONTROL Single Output Command If PMAC2 i

PMAC2 User Manual 54 Setting Up PMAC2 For Velocity or Torque Control The servo clock frequency is determined by the settings of I900, I901, and I90

PMAC2 User Manual Setting Up PMAC2 For Velocity or Torque Control 55 Parameters to Set Up Per-Channel Hardware Signals For each machine interface cha

PMAC2 User Manual 56 Setting Up PMAC2 For Velocity or Torque Control When using the Type 1 MACRO protocol commonly found on multi-axis MACRO compon

PMAC2 User Manual Setting Up PMAC2 for Pulse-and-Direction Control 57 SETTING UP PMAC2 FOR PULSE-AND-DIRECTION CONTROL Pulse-And-Direction Format Inp

PMAC2 User Manual 58 Setting Up PMAC2 for Pulse-and-Direction Control Signal Timing The PULSEn and DIRn signals are driven from the internal PFM_CL

PMAC2 User Manual Setting Up PMAC2 for Pulse-and-Direction Control 59 The PFMCLK/addition frequency sets a lower limit on the pulse frequency as well

PMAC2 User Manual 60 Setting Up PMAC2 for Pulse-and-Direction Control Encoder Decode Control: I9n0 I9n0 controls the source of the position feedbac

PMAC2 User Manual Setting Up PMAC2 for Pulse-and-Direction Control 61 However, if the output pulse train is used for simulated feedback, it is best t

PMAC2 User Manual Table of Contents v Figures Figure Number Figure Title Page NumberFigure 1 PMAC2 Block Diagram...

PMAC2 User Manual 62 Setting Up PMAC2 for Pulse-and-Direction Control Output (Frequency) Limit: Ix69 Ix69 controls the maximum pulse frequency for

PMAC2 User Manual Setting Up PMAC2 for Pulse-and-Direction Control 63 Integration mode Ix34 is irrelevant if Ix33 is set to zero. If Ix33 is used, s

PMAC2 User Manual 64 Setting Up PMAC2 for Pulse-and-Direction Control 3. Assign an M-variable to the output command register pointed to by Ix02, d

PMAC2 User Manual Using PMAC2 with MACRO Interface 65 USING PMAC2 WITH MACRO INTERFACE The PMAC2 controller supports the MACRO ring interface to driv

PMAC2 User Manual 66 Using PMAC2 with MACRO Interface The second hex digit specifies which packet will cause a sync lock when received by this PMAC

PMAC2 User Manual Using PMAC2 with MACRO Interface 67 Ring Cycle Frequency Control The MACRO ring communications cycle is started on the phase clock

PMAC2 User Manual 68 Using PMAC2 with MACRO Interface However, in the Type 1 MACRO protocol, it is the same in all modes. The following table cont

PMAC2 User Manual Using PMAC2 with MACRO Interface 69 WY:$0720,$28C0A0,$FFFFFF ; Node 0 conversion WY:$0722,$28C0A4,$FFFFFF ; Node 1 conversion WY:

PMAC2 User Manual 70 Using PMAC2 with MACRO Interface Flag Address I-variables: Ix25 When bit 18 of Ix25 is set to 1, PMAC2 will expect that the f

PMAC2 User Manual Using PMAC2 with MACRO Interface 71 When commutating across the MACRO ring with Type 1 protocol, the commutation position feedback

PMAC2 User Manual vi Table of Contents

PMAC2 User Manual 72 Using PMAC2 with MACRO Interface

PMAC2 User Manual Setting Up PMAC2 for MLDT Feedback 73 SETTING UP PMAC2 FOR MLDT FEEDBACK PMAC2 can provide direct interface to magnetostrictive lin

PMAC2 User Manual 74 Setting Up PMAC2 for MLDT Feedback Hardware Setup The PULSEn output that is commonly used to command stepper drives is used as

PMAC2 User Manual Setting Up PMAC2 for MLDT Feedback 75 To produce the desired pulse output frequency, the following formula can be used (assuming a

PMAC2 User Manual 76 Setting Up PMAC2 for MLDT Feedback MLDT Feedback Select: I9n0 For proper decoding of the MLDT signal, I9n0 for Channel n must

PMAC2 User Manual Setting Up PMAC2 for MLDT Feedback 77 WY:$0729,$30C018,$07FFFF,32 ; Parallel read of Timer 4 WY:$072C,$30C000,$07FFFF,32 ; Parall

PMAC2 User Manual 78 Setting Up PMAC2 for MLDT Feedback Scaling the Feedback Units Motor Units For a motor set up with MLDT feedback, a count is on

PMAC2 User Manual PMAC2 General Purpose I/O Use 79 PMAC2 GENERAL PURPOSE I/O USE JIO Port The JIO port has 32 discrete digital I/O lines for general

PMAC2 User Manual 80 PMAC2 General Purpose I/O Use M28->Y:$C081,4 ; I/O28 Data Line; J3 Pin 29 M29->Y:$C081,5 ; I/O29 Data Line; J3 Pin 30

PMAC2 User Manual PMAC2 General Purpose I/O Use 81 Multiplexer Port (JTHW) The JTHW multiplexer port has 16 discrete digital I/O lines for general pu

PMAC2 User Manual Introduction 1 INTRODUCTION PMAC Overview The Delta Tau Data Systems, Inc. Programmable Multi-Axis Controller2 (PMAC2) is a family

PMAC2 User Manual 82 PMAC2 General Purpose I/O Use In addition, the bi-directional buffer IC for each byte has a direction control line accessible

PMAC2 User Manual PMAC2 General Purpose I/O Use 83 The -12V and matching +12V supply voltages are available on the J1 connector to supply the analog

PMAC2 User Manual 84 PMAC2 General Purpose I/O Use PMAC2 Address X Word Upper 12 Bits X Word Lower 12 Bits Y Word Upper 12 Bits Y Word Lower 1

PMAC2 User Manual PMAC2 General Purpose I/O Use 85 M1000->Y:$0708,0,12,U ; ANAI00 image register; from J1 pin 1 M1001->Y:$0709,0,12,U ; ANAI0

PMAC2 User Manual 86 PMAC2 General Purpose I/O Use Motor variables Ix03 and Ix04 should contain the addresses of these resulting values to use the

PMAC2 User Manual Using the Position Compare Feature on PMAC2 87 USING THE POSITION COMPARE FEATURE ON PMAC2 Software-Configurable Hardware Registers

PMAC2 User Manual 88 Using the Position Compare Feature on PMAC2 Principle of Operation When the encoder counter value matches the value in either

PMAC2 User Manual Using the Position Compare Feature on PMAC2 89 M108=1000 ; Set front end compare in A M109=1010 ; Set back end compare in B M110=

PMAC2 User Manual 90 Using the Position Compare Feature on PMAC2 The home capture offset is a 24-bit signed integer, expressed in counts. It is be

PMAC2 User Manual Using the PMAC2 to Interrupt the Host Computer 91 USING THE PMAC2 TO INTERRUPT THE HOST COMPUTER Programmable Interrupt Controller