Delta Tau PMAC PC - Page 7

PMAC Quick Reference Guide
Table of Contents iii
External Time Base Control (Electronic Cams) .................................................................................................59
Position Following (Electronic Gearing) ...........................................................................................................59
Cutter Radius Compensation ..............................................................................................................................59
Synchronous M-Variable Assignment.................................................................................................................60
Synchronizing PMAC to Other PMACs..............................................................................................................60
Axis Transformation Matrices ............................................................................................................................60
Position-Capture and Position-Compare Functions ..........................................................................................60
Learning a Motion Program...............................................................................................................................60
PLC PROGRAMS.....................................................................................................................................................61
Entering a PLC Program .........................................................................................................................................62
PLC Program Structure ...........................................................................................................................................63
Calculation Statements ............................................................................................................................................63
Conditional Statements............................................................................................................................................63
Level-Triggered Conditions................................................................................................................................63
Edge-Triggered Conditions ................................................................................................................................63
WHILE Loops.........................................................................................................................................................64
COMMAND and SEND Statements .......................................................................................................................64
Timers .....................................................................................................................................................................65
Compiled PLC Programs.........................................................................................................................................66
TROUBLESHOOTING............................................................................................................................................67
Resetting PMAC to Factory Defaults......................................................................................................................67
The Watchdog Timer (Red LED)............................................................................................................................67
Establishing Communications.................................................................................................................................68
General ...............................................................................................................................................................68
Bus Communications ..........................................................................................................................................69
Serial Communications.......................................................................................................................................69
Motor Parameters ....................................................................................................................................................69
Motion Programs.....................................................................................................................................................70
PLC Programs .........................................................................................................................................................71
APPENDIX A – PMAC ERROR CODE SUMMARY...........................................................................................73
I6, Error Reporting Mode:.......................................................................................................................................73
APPENDIX B – PMAC I-VARIABLES SUMMARY............................................................................................75
APPENDIX C – PMAC ON-LINE (IMMEDIATE) COMMANDS......................................................................81
APPENDIX D – PMAC PROGRAM COMMAND SPECIFICATIONS .............................................................87
APPENDIX E – MOTOR SUGGESTED M-VARIABLE DEFINITIONS..........................................................91
APPENDIX F – I/O SUGGESTED M-VARIABLE DEFINITIONS....................................................................95
APPENDIX G – ACC-8D/8P PINOUT DESCRIPTIONS.....................................................................................99