Delta Tau PMAC Lite - User Manual

USER MANUAL
1^ REFERENCE GUIDE
^2 PMAC Quick Reference
^3 Reference Guide for PMAC Products
^4 3A0-PMACQR-xPRx
^5 September 29, 2009
Single Source Machine Control Power // Flexibility // Ease of Use
21314 Lassen Street Chatsworth, CA 91311 // Tel. (818) 998-2095 Fax. (818) 998-7807 // www.deltatau.com

Summary

INTRODUCTION

PMAC Connectors and Indicators

Explanation of various connectors and LED indicators on the PMAC board.

PROGRAMMING PMAC

PMAC Tasks

Description of PMAC's task prioritization and computational power allocation.

PMAC EXECUTIVE PROGRAM, PEWIN

Configuring PEWIN

Steps for setting up and configuring the PEWIN software for PMAC.

Saving and Retrieving PMAC Parameters

Methods for backing up and restoring PMAC configuration and parameters.

PID Tuning Utility

Guidance on using the PID Tuning Utility for optimizing servo performance.

INSTALLING AND CONFIGURING PMAC

Establishing Host Communications

Procedures for establishing initial communication between PMAC and the host.

Resetting PMAC for First Time Use

Steps to reset PMAC to factory defaults for initial setup.

Overtravel Limits and Home Switches

Configuration and function of overtravel limits and home switches.

Motor Signals Connections

Details on connecting motor signals, including encoders and DACs.

Incremental Encoder Connection

Amplifier Enable Signal (AENAx;DIRn)

MOTION PROGRAMS

How PMAC Executes a Motion Program

Coordinate Systems

Linear Blended Moves

Circular Interpolation

PVT-Mode Moves

PLC PROGRAMS

Compiled PLC Programs

Entering a PLC Program

TROUBLESHOOTING

Resetting PMAC to Factory Defaults

Procedure for restoring PMAC to its factory default settings.

The Watchdog Timer (Red LED)

Understanding the function and troubleshooting of the PMAC watchdog timer.

Establishing Communications (Troubleshooting)

Motor Parameters (Troubleshooting)

APPENDIX A - PMAC ERROR CODE SUMMARY

I6, Error Reporting Mode

Configuration of PMAC's error reporting modes and message formats.

APPENDIX B - PMAC I-VARIABLES SUMMARY

Global I-Variables

Motor Definition I-Variables

I-Variables related to motor configuration and identification.

Servo Control I-Variables

I-Variables used for configuring servo control loops and gains.

Delta Tau PMAC Lite Specifications

General

Model	PMAC Lite
Type	Motion Controller
Axis Control	Up to 8 axes
Communication Interface	Ethernet
Programming Language	PMAC Script
Digital I/O	Configurable
Analog Inputs	Configurable
PWM Outputs	Configurable
Encoder Inputs	Configurable
Operating Temperature	0°C
Dimensions	Varies by model