Delta Tau BRICK CONTROLLER User's Guide download pdf (Page 20)

PMAC Quick Reference Guide

12 Introduction

A faster than 20 MHz PMAC will perform calculations faster, in proportion to the corresponding clock

rate increase. In general, a clock rate increase is used to increase the real time interrupt (RTI) share of the

total computational time available. These cases include applications where large move calculations are

involved (small-moves contouring), maintaining the same servo-loop rate and therefore the same control

performance.

20 MHz PMAC,

8 commutated

servo-motors

40 MHz PMAC,

8 commutated

servo-motors

20 MHz PMAC,

8 non-commutated

servo-motors

40 MHz PMAC,

8 non-commutated

servo-motors

Servo Cycle

Phase Cycle

Real-Time

Interrupt

Background

Cycle

1 ... 19 20 21 ... 108

^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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Delta Tau BRICK CONTROLLER User's Guide Page 20

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