Name: Delta Tau Power PMAC
Brand: Delta Tau
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Single Source Machine Control

……………………………………………..…...……………….

Power // Flexibility // Ease of Use

21314 Lassen St. Chatsworth, CA 91311 // Tel. (818) 998-2095 Fax. (818) 998-7807 // www.deltatau.com

^1 USER’S MANUAL

^2 Power PMAC

^3 Power PMAC User’s Manual

^4 050-PRPMAC-0U0

^5 January 6, 2015

DELTA TAU

Data Systems, Inc.

NEW IDEAS IN MOTION …

Default Chapter4
- Updating the Manual for Firmware Version 1.6 Release4
- Table of Contents6
Power Pmac Family Overview27
- What Is Power PMAC27
- Power PMAC Configurations27
- What Power PMAC Does30
- Key Hardware Components33
  - CPU Section33
  - Machine Interface Ics34
Talking to Power Pmac39
- Physical Interface39
- Use of the Internet Protocol Suite39
  - Layers of the Internet Protocol Suite39
- Low-Level Terminal Communications40
- Establishing Communications with the IDE44
- Power PMAC Commands48
Power Pmac System Configuration55
- Physical Configuration Status Reporting55
- Power PMAC System Clock Source57
- Setting System Clock Frequencies60
- Diagnosing Issues with Clock Settings71
  - Missing Clock Signals71
  - Task Priority Duty Cycles71
Setting up the Macro Ring75
- MACRO Ring Overview75
- Power PMAC MACRO Interfaces75
- Configuring Master and Slave Devices76
  - PMAC2-Style MACRO IC76
  - PMAC3-Style MACRO IC77
- Setting the Ring Frequency79
- Enabling MACRO Nodes82
- Ring Check Function85
  - Ring Check Parameters85
- MACRO Node Register Organization85
- Processing Position Feedback from the MACRO Ring86
- Setting up Motor Addressing Elements90
- Setting up a Motor as a Network Slave95
Setting up Feedback and Master Position Sensors102
- Setting up Digital Quadrature Encoders102
- Setting up Digital Hall Sensors110
- Setting up Serial Encoders113
- Setting up Analog Sinusoidal Encoders127
- Setting up Resolvers149
- Setting up Mldts157
- Setting up Parallel Data Position Inputs163
- Setting up Analog Data Position Inputs166
Setting up the Encoder Conversion Table177
- What the Encoder Conversion Table Does177
- Conversion Table Execution178
- Conversion Table Structure178
- Conversion Method Overview179
- IDE Table Configuration Window179
- Scaling of Entry Results180
- Using Conversion Table Results181
- Default Conversion Table Setup182
- Conversion Method Details182
Basic Motor Setup206
- IDE Interactive Setup207
- Parameters to Set up Basic Motor Operation207
- Initial Setup Parameters209
  - Activating the Motor: Motor[X].Servoctrl209
  - Activating PMAC Motor Commutation: Motor[X].Phasectrl209
- Motor Address Setup Parameters210
- Is Power PMAC Commutating or Closing the Current Loop for this Motor217
- Setting up Power PMAC for Velocity or Torque Control217
  - Hardware Setup217
  - ASIC Programmable Signal Setup220
- Setting up Power PMAC for Pulse-And-Direction Control222
- Setting up Power PMAC for Position-Output Control230
  - Power PMAC Parameter Setup230
Setting up Power Pmac-Based Commutation And/Or Current Loop232
- Selection of Phase Update Frequency232
- Beginning Setup of Commutation232
- Setting up for Sine-Wave Output Control238
  - Hardware Setup238
  - Motor Software Setup240
- Setting up for Direct PWM Control244
- Direct PWM Control of Brush Motors261
- Direct Microstepping with Direct PWM Control264
- Establishing a Phase Reference (Synchronous Motors)270
  - Absolute Phasing Reads272
  - Correcting an Approximate Phase Reference278
- Finishing Setting up Power PMAC Commutation (Direct PWM or Sine Wave), Asynchronous (Induction) Motors279
  - Calculating Motor[X].Dtoverrotortc Slip Constant279
  - Setting Motor[X].IDCMD Magnetization Current281
Setting up the Servo Loop283
- Servo Update Rate283
- Types of Amplifiers285
- Selecting a Servo Algorithm288
- Position Command Output Algorithm289
- Basic PID Algorithm289
  - Feedback Terms290
  - Feedforward Filter292
- Standard Servo Algorithm293
- Adaptive Servo Control299
- Cross-Coupled Gantry Control304
- Custom User Servo Algorithms306
- Tuning the Servo Loop in the IDE307
  - Automatic Tuning308
  - Sample Interactive Tuning Process310
- Cascading Servo Loops315
- Trajectory Pre-Filter325
Setting up Compensation Tables332
- Reserving Memory for the Tables333
- Defining the Table Structure334
- Entering the Table Data Points344
- Enabling Compensation Tables345
- Action of the Compensation Tables345
- Use of "0D" Compensation Tables346
- Sample Compensation Tables347
- 1D "Leadscrew Compensation" Table347
- 2D "Planar" Position Compensation Table347
Setting up Electronic Cam Tables349
- Uses of Electronic Cam Tables349
- Comparison to External Time Base Techniques350
- Table Design Techniques351
- Reserving Memory for the Tables353
- Defining the Table Structure353
- Entering the Table Data Points356
- Returning Vs. Non-Returning Position Tables357
  - Returning Position Tables357
  - Non-Returning Position Tables358
- Enabling the Cam Tables359
- Action of the Cam Tables359
- Adjusting of the Table Action361
- Rollover of the Table363
- Iterative Learning Control364
- Combining Cam Motion with Other Motion364
- Reporting Motor Position with Cam Table Motion365
- Disabling the Cam Tables365
- Switching between Cam Tables365
Making Your Power Pmac Application Safe366
- Watchdog Timer366
  - Soft Watchdog Trips366
  - Hard Watchdog Trips368
- Global Abort-All Input369
  - Software Setup369
  - Action on Trip369
- Voltage Interlock Circuits370
- Following Error Limits370
  - Fatal Following Error Limit370
  - Warning Following Error Limit372
- Position (Overtravel) Limits372
  - Software Overtravel Limit Parameters372
  - Hardware Overtravel Limit Switches374
- Encoder Loss Detection376
  - Signal Loss Detection Circuits377
  - Software Setup for Loss Detection379
- Auxiliary Fault Detection381
  - Software Setup for Auxiliary Fault Detection381
- Automatic Brake Control383
  - Specifying the Brake Control Output383
  - Specifying the Brake Timing383
- Amplifier Enable and Fault Lines384
- Current Limits385
- Velocity Limits400
- Acceleration Limits401
- Jerk Limits403
  - Programmed Motor Jerk Limit403
  - Motor Move Jerk Command403
- Commanded Safety Stops404
Executing Individual Motor Moves406
- Jogging Move Control406
- Triggered Motor Moves412
- Open-Loop Moves436
Setting up Coordinate Systems437
- What Is a Coordinate System437
- What Is an Axis438
- Axis Definition Statements439
- Coordinate-System Kinematic Subroutines446
  - Creating the Kinematic Program Buffers447
  - Generalizing the Routines to Multiple Coordinate Systems457
- Axis Transformation Matrices460
- Segmentation Mode464
- Time-Base Control and Override Techniques466
  - Time-Base Control466
  - Segmentation Override469
- Axis Target Position and Distance-To-Go Reporting472
  - Setting up the Target Position Buffer472
  - Querying the Target Position Data473
Power Pmac Computational Features476
- Computational Priorities476
- Numerical Values478
  - Internal Formats478
- Pre-Defined Data Structures481
  - Specifying Data Structure Indices482
- User Variables483
- Operators495
- Functions497
- Expressions499
- The {Data} Syntax500
- Standard Variable Value Assignment500
- Synchronous Variable Value Assignment501
- Comparators504
- Conditions505
Using General-Purpose Digital I/O with Power Pmac507
- Note on Using "Dedicated" I/O for General Purpose Use507
- Digital I/O Hardware and Configuration507
- Software Configuration for Digital I/O Use513
- Accessing Digital I/O Points in the Script Environment523
- Accessing Digital I/O Points in the C Environment529
Using General-Purpose Analog I/O with Power Pmac539
- Note on Using "Dedicated" I/O for General Purpose Use539
- Analog I/O Hardware and Configuration539
- Software Configuration for Analog I/O Use546
- Accessing Analog I/O Points in the Script Environment552
- Accessing Analog I/O Points in the C Environment564
Writing and Executing Script Programs in the Power Pmac579
- Classes of Script Programs579
- Script Language Syntax Features580
- Downloading Rules for Script Programs590
- Implementing Script Programs in the IDE592
- Execution Rules for Script Programs599
- Starting and Stopping Script Program Execution606
- Implementing an RS-274 Style Motion Program617
  - G, M, T, and D-Codes617
  - Standard G-Codes618
Power Pmac Move Mode Trajectories626
- Modal Move-Rule Commands626
- Move Commands626
- Rapid Move Mode627
- Linear Move Mode635
- Circle Move Mode648
- Tool (Cutter) Radius Compensation665
  - Two-Dimensional Tool Radius Compensation665
  - Three-Dimensional Tool Radius Compensation679
- PVT Move Mode686
- Spline Move Mode692
- Power PMAC Special Lookahead Function696
Synchronizing Power Pmac to External Events711
- A Note on "Master/Slave" Techniques711
- Processing the Master Position Signal712
- Position Following (Electronic Gearing)715
- External Time-Base Control722
- Electronic Cam Tables730
- Hardware Position-Capture Functions731
- Hardware Position-Compare Functions739
Writing C Functions and Programs in Power Pmac751
- Priorities for C Programs and Routines in Power PMAC751
- Creating C Functions and Programs752
- Accessing Shared Memory and Structures753
- Accessing ASIC Hardware Registers753
  - Using the Data Structures754
  - Using Direct Pointer Variables755
- Capture/Compare Interrupt Service Routine756
- User-Written Phase Routines760
- User-Written Servo Routines762
- Real-Time Interrupt C PLC Routine765
- Background C PLC Routines766
- Cfromscript Function767
- Background C Application Programs773
Example Script Programs774
- Simple Motion Programs774

Model	Power PMAC
Type	Motion Controller
Power Supply	24VDC
Communication Interfaces	Ethernet, USB, RS-232, CAN
Programming Language	PMAC Script, C, C++

Delta Tau Power PMAC User Manual

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