PMAC Quick Reference Guide
ii Table of Contents
Flags Power Supply (Optional) ..........................................................................................................................24
Overtravel Limits and Home Switches....................................................................................................................24
Disabling the Overtravel Limits Flags ...............................................................................................................24
Types of Overtravel Limits..................................................................................................................................24
Home Switches....................................................................................................................................................25
PMACPack and PMAC2 Flag Inputs .................................................................................................................25
Checking the Flag Inputs....................................................................................................................................25
Motor Signals Connections .....................................................................................................................................26
Incremental Encoder Connection .......................................................................................................................26
Checking the Encoder Inputs..............................................................................................................................26
Checking the DAC Outputs.................................................................................................................................26
DAC Output Signals ...........................................................................................................................................27
Amplifier Enable Signal (AENAx/DIRn).............................................................................................................27
Amplifier Fault Signal (FAULTn).......................................................................................................................28
General-Purpose Digital Inputs and Outputs (JOPTO Port) .............................................................................28
Machine Connections Example...............................................................................................................................29
PROGRAMMING PMAC........................................................................................................................................31
Online Commands...................................................................................................................................................31
Buffered (Program) Commands ..............................................................................................................................32
Computational Features...........................................................................................................................................32
I-Variables..........................................................................................................................................................32
P-Variables.........................................................................................................................................................33
Q-Variables ........................................................................................................................................................33
M-Variables ........................................................................................................................................................34
Array Capabilities ..............................................................................................................................................35
Operators............................................................................................................................................................36
Functions ............................................................................................................................................................36
Comparators.......................................................................................................................................................37
User-Written Phase and User-Written Servo Algorithms...................................................................................37
Memory Map...........................................................................................................................................................37
User Buffer Storage Space..................................................................................................................................38
Encoder Conversion Table ......................................................................................................................................38
Conversion Table Structure ................................................................................................................................39
Further Position Processing...............................................................................................................................39
PMAC Position Registers........................................................................................................................................40
Homing Search Moves ............................................................................................................................................41
Command and Send Statements ..............................................................................................................................42
MOTION PROGRAMS............................................................................................................................................43
How PMAC Executes a Motion Program ...............................................................................................................43
Coordinate Systems.................................................................................................................................................44
Axis Definitions...................................................................................................................................................44
Axis Definition Statements..................................................................................................................................45
Writing a Motion Program ......................................................................................................................................45
Running a Motion Program.....................................................................................................................................46
Subroutines and Subprograms.................................................................................................................................47
Passing Arguments to Subroutines .....................................................................................................................48
G, M, T, and D-Codes (Machine-Tool Style Programs).....................................................................................48
Linear Blended Moves ............................................................................................................................................49
Observations.......................................................................................................................................................50
Circular Interpolation ..............................................................................................................................................54
Splined Moves.........................................................................................................................................................56
PVT-Mode Moves...................................................................................................................................................56
Other Programming Features ..................................................................................................................................58
Rotary Motion Program Buffers.........................................................................................................................58
Internal Time Base, the Feedrate Override ........................................................................................................58
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