Delta Tau BRICK CONTROLLER User's Guide Page 82
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- Table of contents
- TROUBLESHOOTING
- BOOKMARKS
- ^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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