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UMAC Turbo System
Delta Tau UMAC Turbo System User Manual
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USER MANU
AL
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
2
Table of Contents
Table of Contents
5
Introduction
9
Description of PMAC
9
Types of PMAC
10
PMAC PC or PMAC VME Features
10
Pmac Pc
10
PMAC Lite
10
Pmac Vme
10
Pmac Std
10
PMAC Mini
11
Pmac2
12
PMAC2 Ultralite
12
Turbo PMAC Family
12
PMAC Connectors and Indicators
13
Display Port Outputs (JDISP Port)
13
Control-Panel Port I/O (JPAN Port)
13
Thumbwheel Multiplexer Port I/O (JTHW Port)
13
Serial Port Connection
13
General-Purpose Digital Inputs and Outputs (JOPTO Port)
13
Machine Connectors
13
LED Indicators
13
Working with PMAC
14
Hardware Setup
14
Software Setup
14
Programming PMAC
15
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
Pmac Executive Program, Pewin
21
Configuring PEWIN
21
Quick Plot Feature
22
Saving and Retrieving PMAC Parameters
23
The Watch and Position Windows
23
Uploading and Downloading Files
23
Using MACRO Names and Include Files
23
Downloading Compiled Plccs
24
PID Tuning Utility
24
Other Features
27
Installing and Configuring Pmac
29
Jumpers Setup
29
Serial Connections
29
Establishing Host Communications
30
Terminal Mode Communications
30
Resetting PMAC for First Time Use
31
Connections
31
Power Supplies
31
Digital Power Supply
31
Analog Power Supply
31
Flags Power Supply (Optional)
32
Overtravel Limits and Home Switches
32
Disabling the Overtravel Limits Flags
32
Types of Overtravel Limits
32
Home Switches
33
Pmacpack and PMAC2 Flag Inputs
33
Checking the Flag Inputs
33
Motor Signals Connections
34
Incremental Encoder Connection
34
Checking the Encoder Inputs
34
Checking the DAC Outputs
34
DAC Output Signals
35
Amplifier Enable Signal (Aenax/Dirn)
35
Amplifier Fault Signal (Faultn)
36
General-Purpose Digital Inputs and Outputs (JOPTO Port)
36
Machine Connections Example
37
Programming Pmac
39
Online Commands
39
Buffered (Program) Commands
40
Computational Features
40
I-Variables
40
P-Variables
41
Q-Variables
41
M-Variables
42
Array Capabilities
43
Operators
44
Functions
44
Comparators
45
User-Written Phase and User-Written Servo Algorithms
45
Memory Map
45
User Buffer Storage Space
46
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
How PMAC Executes a Motion Program
51
Coordinate Systems
52
Axis Definitions
52
Axis Definition Statements
53
Writing a Motion Program
53
Running a Motion Program
54
Subroutines and Subprograms
55
Passing Arguments to Subroutines
56
G, M, T, and D-Codes (Machine-Tool Style Programs)
56
Linear Blended Moves
57
Observations
58
Circular Interpolation
62
Splined Moves
64
PVT-Mode Moves
64
Other Programming Features
66
Rotary Motion Program Buffers
66
Internal Time Base, the Feedrate Override
66
External Time Base Control (Electronic Cams)
67
Position Following (Electronic Gearing)
67
Cutter Radius Compensation
67
Synchronous M-Variable Assignment
68
Synchronizing PMAC to Other Pmacs
68
Axis Transformation Matrices
68
Position-Capture and Position-Compare Functions
68
Learning a Motion Program
68
Plc Programs
69
Entering a PLC Program
70
PLC Program Structure
71
Calculation Statements
71
Conditional Statements
71
Level-Triggered Conditions
71
Edge-Triggered Conditions
71
WHILE Loops
72
COMMAND and SEND Statements
72
Timers
73
Compiled PLC Programs
74
Troubleshooting
75
Resetting PMAC to Factory Defaults
75
The Watchdog Timer (Red LED)
75
Establishing Communications
76
General
76
Bus Communications
77
Serial Communications
77
Motor Parameters
77
Motion Programs
78
PLC Programs
79
Appendix A - Pmac Error Code Summary
81
I6, Error Reporting Mode
81
Appendix B - Pmac I-Variables Summary
83
Appendix C - Pmac On-Line (Immediate) Commands
89
Appendix D - Pmac Program Command Specifications
95
Appendix E - Motor Suggested M-Variable Definitions
99
Appendix F - I/O Suggested M-Variable Definitions
103
Appendix G - Acc-8D/8P Pinout Descriptions
107
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Delta Tau UMAC Turbo System Specifications
General
Brand
Delta Tau
Model
UMAC Turbo System
Category
Controller
Language
English
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