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PMAC Quick Reference Guide
Introduction 11
Most of the housekeeping functions are safety checks such as following error limits and overtravel limits.
Since compiled PLCCs are executed at the same rate as the housekeeping functions, code to complement
or replace these functions could be placed in a compiled PLCC. If, for example, an extra input flag is
wanted for position capturing purposes either the end-of-travel limit inputs or the amplifier fault input
could be used. The automatic check of the input flag could be disabled by an appropriate setting of the
corresponding Ix25 variable and replaced by a PLCC code that will check a general purpose input where
the amplifier fault or end-of-travel limit would be connected instead.
On power-up\reset, PLC programs are executed sequentially from 1 to 31. This makes PLC1, the first
code executed, the ideal place to perform initialization commands like other PLCs disabling, motors
phasing and motion programs start. After its execution, PLC1 could disable itself with the command DIS
PLC1, running only once on power-up\reset.
Bits of the first word returned from the global status bits request command, ???:
Bit 22 Real-Time Interrupt Re-entry: This bit is 1 if a real-time interrupt task has taken long enough so
that it was still executing when the next real-time interrupt came (I8+1 servo cycles later). It stays at 1
until the card is reset, or until this bit is changed manually to 0. If motion program calculations cause
this, it is not a serious problem. If PLC 0 causes this (no motion programs running) it could be serious.
Bit 20 Servo Error: This bit is 1 if PMAC could not complete its servo routines properly. This is a serious
error condition. It is 0 if the servo operations have been completed properly.
Priority Level Optimization
Usually, PMAC will have enough speed and calculation power to perform all of the tasks asked of it
without worry. Some applications will put a large demand on a certain priority level and to make PMAC
run more efficiently. When PMAC begins to run out of time, problems such as sluggish communications,
slow PLC/PLCC scan rates, run-time errors, and even tripping the watchdog timer can occur.
The active part of the Encoder Conversion Table is ended by the first Y word that is equal to all zeros. For
an application with less than eight encoders (the default table converts the eight incremental encoder
registers on the base PMAC), a last entry with all zeros in the Y word could be defined as necessary.
Check to see if everything performed in the Real Time Interrupt (RTI) is necessary or if some of it could
be moved to a lower priority or slowed down. PLC0 could be done as PLCC1, or the RTI could be done
every fourth or fifth servo cycle setting I8=3 or higher.
Large PLC programs can be split into a few shorter PLC programs. This increases the frequency of
housekeeping and communications by giving more breaks in PLC scans.
Motion program WHILE (condition)WAIT statements can be done as follows:
WHILE (condition)
DWELL20
ENDWHILE
This will give more time to other RTI jobs such as Move Planning and PLC/PLCC0.
If routines of lower priority than the servo loop are not executing fast enough, consider slowing down the
servo update rate (increasing the update time). The PMAC may be updating faster than is required for the
dynamic performance needed. If so, processor time is being wasted on needless extra updates. For
example, doubling the servo update time from 442 µsec to 885 µsec, virtually doubles the time available
for motion and PLC program execution, allowing much faster motion block rates and PLC scan rates.
This frequency change could be executed either by jumpers or individually per motor by means of the
Ix60 variable.
- ^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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