Delta Tau BRICK CONTROLLER User's Guide Page 10
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PMAC Quick Reference Guide
2 Introduction
Types of PMAC
PMAC PC or PMAC VME Features
Standard Features
Motorola DSP 56k digital signal processor Linear and circular interpolation
Four output digital-to-analog (DAC) converters 256 motion programs capacity
Four full encoder channels Asynchronous PLC program capability
16 general purpose I/O, OPTO-22 compatible Rotating buffer for large programs
Multiplexer port for expanded I/O 36-bit position range (+/- 64 billion counts)
Overtravel limit, home, amplifier fault/enable flags 16-bit DAC output resolution
Display port for LCD and VFD displays S-curve acceleration and deceleration
Bus and/or RS-422 control Cubic trajectory calculations, splines
Stand-alone operation Electronic gearing
G-code command processing for CNC Advanced PID servo motion algorithms
Optional Features
Up to 16 digital-to-analog (DAC) converters outputs Yaskawa absolute encoders inputs
Up to 16 full encoder channels Analog feedback inputs
8Kx16 dual-ported RAM MLDTs feedback inputs
Flash memory (no battery) Parallel binary feedback
40, 60 or 80 MHz CPU Optically isolated encoder inputs
Extended (pole-placement) servo algorithm RS-232 or RS-422 serial communication converters
Super-high accuracy clock crystal (<10 ppm) Analog-to-digital converted inputs
Voltage-to-frequency (V/F) converters On-board voltage to frequency converter
12-bit resolver-to-digital converter inputs Up to a total of 2048 multiplexed I/O points
Sinusoidal encoder feedback inputs Up to 100 meters remote I/O operation
PMAC PC
Recommended for applications with more than four channel requirements in either a PC based or stand
alone environment. More than four channels can be used for more than four motors operation, dual-
feedback axis (two encoder input each) or commutated motors (two DACs each). For three or four
channels applications, the PMAC Lite board is suggested instead.
PMAC Lite
The PMAC Lite is recommended for applications with three or four channel requirements in either a PC
based or stand alone environment. The term Lite stands for the limitation of only one DSPGATE Gate-
Array IC on board. The number of channels can always be expanded from 4 to 12 through the use of an
Acc-24P. The PMAC Lite board is provided also in a stand-alone box, the PMAC Pack, complete with
power supplies and connectors. For one or two channels applications, the PMAC Mini board is suggested
instead.
PMAC VME
With the same features as the PMAC PC, the PMAC VME is the only option for VME based
applications. The PMAC VME can be ordered with either four or maybe eight axes (Option 1). The dual-
ported RAM option in a PMAC VME is on-board.
PMAC STD
With the same features as the PMAC PC, the PMAC STD is the only option for STD based applications.
The dual-ported RAM option is not available for the PMAC STD and it is limited to eight channels, no
Acc-24 is available for it.
- ^2 PMAC Quick Reference 1
- Copyright Information 2
- REVISION HISTORY 3
- INTRODUCTION 9
- Types of PMAC 10
- PMAC Mini 11
- PMAC2 Ultralite 12
- Turbo PMAC Family 12
- Introduction 5 13
- Working with PMAC 14
- PMAC Tasks 15
- Single Character I/O 16
- Commutation Update 16
- Servo Update 16
- VME Mailbox Processing 17
- Real-Time Interrupt Tasks 17
- Background Tasks 17
- Observations 18
- Priority Level Optimization 19
- Configuring PEWIN 21
- Quick Plot Feature 22
- Downloading Compiled PLCCs 24
- PID Tuning Utility 24
- Other Features 27
- Jumpers Setup 29
- Serial Connections 29
- Terminal Mode Communications 30
- Connections 31
- Power Supplies 31
- Types of Overtravel Limits 32
- Home Switches 33
- Checking the Flag Inputs 33
- Motor Signals Connections 34
- DAC Output Signals 35
- Machine Connections Example 37
- Software Setup 38
- PROGRAMMING PMAC 39
- Buffered (Program) Commands 40
- Computational Features 40
- P-Variables 41
- Q-Variables 41
- M-Variables 42
- Array Capabilities 43
- Operators 44
- Functions 44
- Memory Map 45
- Encoder Conversion Table 46
- Conversion Table Structure 47
- Further Position Processing 47
- PMAC Position Registers 48
- Homing Search Moves 49
- Command and Send Statements 50
- MOTION PROGRAMS 51
- Coordinate Systems 52
- Writing a Motion Program 53
- Running a Motion Program 54
- Subroutines and Subprograms 55
- Linear Blended Moves 57
- 10 . 100 59
- Circular Interpolation 62
- Splined Moves 64
- PVT-Mode Moves 64
- ; user_units 5 66
- Cutter Radius Compensation 67
- Axis Transformation Matrices 68
- Learning a Motion Program 68
- PLC PROGRAMS 69
- Entering a PLC Program 70
- PLC Program Structure 71
- Calculation Statements 71
- Conditional Statements 71
- WHILE Loops 72
- COMMAND and SEND Statements 72
- Compiled PLC Programs 74
- TROUBLESHOOTING 75
- Establishing Communications 76
- Motor Parameters 77
- Motion Programs 78
- PLC Programs 79
- 72 Troubleshooting 80
- I6, Error Reporting Mode: 81
- -8,388,608 85
- -8,388,608 86
- SPECIFICATIONS 95
- PMAC Quick Reference Guide 101
- Motor Move 101
- Registers 101
- I/O M-Variables Definition 103
- PMAC ACC-8D 107
- TERMINAL BLOCK BOARD 107
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