Delta Tau BRICK CONTROLLER Betriebsanweisung

USER MANUAL 1^ REFERENCE GUIDE ^2 PMAC Quick Reference ^3 Reference Guide for PMAC Products ^4 3A0-PMACQR-xP

PMAC Quick Reference Guide 2 Introduction Types of PMAC PMAC PC or PMAC VME Features Standard Features Motorola DSP 56k digital signal processor

PMAC Quick Reference Guide 92 Appendix E – Motor Suggested M-Variable Definitions Motor Status Bits Motor #1 Motor #2 Motor #3 Motor #4 Mot

PMAC Quick Reference Guide Appendix E – Motor Suggested M-Variable Definitions 93 Motor Move Registers Motor #1 Motor #2 Motor #3 Motor #4 Motor

PMAC Quick Reference Guide 94 Appendix E – Motor Suggested M-Variable Definitions Coordinate System Status Bits Coordinate System 1 Coordinate

PMAC Quick Reference Guide Appendix F – I/O Suggested M-Variable Definitions 95 APPENDIX F – I/O SUGGESTED M-VARIABLE DEFINITIONS I/O M-Variables De

PMAC Quick Reference Guide 96 Appendix F – I/O Suggested M-Variable Definitions Control-Panel Port Input Bits Definition Jog Minus Input M20-&

PMAC Quick Reference Guide Appendix F – I/O Suggested M-Variable Definitions 97 General Purpose Inputs and Outputs Definition Machine Output 1 M1-

PMAC Quick Reference Guide 98 Appendix F – I/O Suggested M-Variable Definitions

PMAC Quick Reference Guide Appendix G – Acc-8D/8P Pinout Descriptions 99 APPENDIX G – ACC-8D/8P PINOUT DESCRIPTIONS J5J6E1E2E3E4E5E6E7E8E9E10E11E122

PMAC Quick Reference Guide 100 Appendix G – Acc-8D/8P Pinout Descriptions Pin # Symbol Function Pin # Symbol Function 1 +5V OUTPUT

PMAC Quick Reference Guide Introduction 3 PMAC PC PMAC Lite PMAC Mini PMAC VME PMAC STD PMAC Pack Turbo PMAC PC Turbo PMAC VME Turbo PMAC2 3

PMAC Quick Reference Guide 4 Introduction PMAC2 PMAC2 is available in either PC, PCI, or VME formats. It is suggested for applications that requ

PMAC Quick Reference Guide Introduction 5 PMAC Connectors and Indicators Display Port Outputs (JDISP Port) The JDISP connector (J1) connects the PMAC

PMAC Quick Reference Guide 6 Introduction The new yellow LED located beside the red and green LEDs, when lit, indicates that the phase-locked loo

PMAC Quick Reference Guide Introduction 7 Programming PMAC Motion or PLCs programs are entered in any text file and then downloaded with PEWIN to PMA

PMAC Quick Reference Guide 8 Introduction Single Character I/O Bringing in a single character from, or sending out a single character to, the ser

PMAC Quick Reference Guide Introduction 9 VME Mailbox Processing Reading or writing a block of up to sixteen characters through the VME mailbox regis

PMAC Quick Reference Guide 10 Introduction All enabled PLCC programs execute one scan (to the end or to an ENDWHILE statement) starting from lowe

PMAC Quick Reference Guide Introduction 11 Most of the housekeeping functions are safety checks such as following error limits and overtravel limits.

Copyright Information © 2003, 2009 Delta Tau Data Systems, Inc. All rights reserved. This document is furnished for the customers of Delta Tau Data

PMAC Quick Reference Guide 12 Introduction A faster than 20 MHz PMAC will perform calculations faster, in proportion to the corresponding clock r

PMAC Quick Reference Guide PMAC Executive Program, PEWIN 13 PMAC EXECUTIVE PROGRAM, PEWIN With PEWIN, PMAC can be configured and controlled. PEWIN i

PMAC Quick Reference Guide 14 PMAC Executive Program, PEWIN Quick Plot Feature To run the quick plot feature: 1. Press ALT+P and press Enter. 2.

PMAC Quick Reference Guide PMAC Executive Program, PEWIN 15 Saving and Retrieving PMAC Parameters It is important to save the complete set of PMAC pa

PMAC Quick Reference Guide 16 PMAC Executive Program, PEWIN Downloading Compiled PLCCs PLCCs are compiled by PEWIN in the downloading process. O

PMAC Quick Reference Guide PMAC Executive Program, PEWIN 17 a. Make sure to read the PEWIN manual section related to the safety issues of this proce

PMAC Quick Reference Guide 18 PMAC Executive Program, PEWIN Sluggish Response Cause: Too much damping or too little proportional gain Fix: I

PMAC Quick Reference Guide PMAC Executive Program, PEWIN 19 Other Features • Setup of the PMAC encoder conversion table • Setup of the Notch and Lo

PMAC Quick Reference Guide 20 PMAC Executive Program, PEWIN

PMAC Quick Reference Guide Installing and Configuring PMAC 21 INSTALLING AND CONFIGURING PMAC Jumpers Setup On the PMAC, there are many jumpers (pair

REVISION HISTORY REV. DESCRIPTION DATE CHG APPVD 1 CORRECTED PMAC VME DESCRIPTION, P.2 09/29/09 CP M.YAHYAEI

PMAC Quick Reference Guide 22 Installing and Configuring PMAC Establishing Host Communications Either the Executive or Setup program can be used

PMAC Quick Reference Guide Installing and Configuring PMAC 23 Resetting PMAC for First Time Use Once communications have been established, type the f

PMAC Quick Reference Guide 24 Installing and Configuring PMAC Flags Power Supply (Optional) Each channel of PMAC has four dedicated digital input

PMAC Quick Reference Guide Installing and Configuring PMAC 25 Home Switches While normally closed-to-ground switches are required for the overtravel

PMAC Quick Reference Guide 26 Installing and Configuring PMAC Motor Signals Connections Incremental Encoder Connection Each JMACH connector provi

PMAC Quick Reference Guide Installing and Configuring PMAC 27 Example for DAC #1: Type the following in the terminal window: M102->Y:$C003

PMAC Quick Reference Guide 28 Installing and Configuring PMAC In addition, the amplifier enable signal can be controlled manually by setting Ix0

PMAC Quick Reference Guide Installing and Configuring PMAC 29 Machine Connections Example This diagram is ju

PMAC Quick Reference Guide 30 Installing and Configuring PMAC Software Setup PMAC has a large set of initialization parameters (I-Variables) that

PMAC Quick Reference Guide Programming PMAC 31 PROGRAMMING PMAC Programming PMAC is very simple; the ease of use and power is based in the following

PMAC Quick Reference Guide 32 Programming PMAC A coordinate system is addressed by a &n command, where n is the number of the coordinate syst

PMAC Quick Reference Guide Programming PMAC 33 For I-Variables with limited range, an attempt to assign an out-of-range value does not cause an error

PMAC Quick Reference Guide 34 Programming PMAC The set of Q-Variables working within a command depends on the type of command. When accessing a

PMAC Quick Reference Guide Programming PMAC 35 The M-Variable definitions are stored as 24-bit codes at PMAC addresses Y:$BC00 (for M0) to Y:$BFFF (f

PMAC Quick Reference Guide 36 Programming PMAC CLOSE ena PLC15 ; Enable the PLC (I5 must be 2 or 3) P1..10 ; List the values of P1 to P10 The s

PMAC Quick Reference Guide Programming PMAC 37 Functions and operators can be used either in Motion Programs, PLCs, or as online commands. For examp

PMAC Quick Reference Guide 38 Programming PMAC Warning: Certain registers that are under PMAC’s automatic control, particularly those used in th

PMAC Quick Reference Guide Programming PMAC 39 Conversion Table Structure The Encoder Conversion Table has two columns, one in the X memory space of

PMAC Quick Reference Guide 40 Programming PMAC PMAC Position Registers The PMAC Executive position window or the online command P reports the val

PMAC Quick Reference Guide Programming PMAC 41 M167 is related to the master/slave relationship set through Ix05 and Ix06. It contains the present n

PMAC Quick Reference Guide Table of Contents i Table of Contents INTRODUCTION ...

PMAC Quick Reference Guide 42 Programming PMAC Home commands can be issued on the terminal window, a Motion Program or a PLC Program: HOME1..8 ;

PMAC Quick Reference Guide Motion Programs 43 MOTION PROGRAMS PMAC can hold up to 256 motion programs at one time. Any coordinate system can run any

PMAC Quick Reference Guide 44 Motion Programs If calculations stop on condition 1 or 2, the calculation flag is cleared and will not be set again

PMAC Quick Reference Guide Motion Programs 45 Axis Definition Statements A coordinate system is established by using axis definition statements. An

PMAC Quick Reference Guide 46 Motion Programs 9. In a motion program, PMAC has WHILE loops and IF..ELSE branches that control program flow. The

PMAC Quick Reference Guide Motion Programs 47 5. When a RUN or STEP command is issued, PMAC checks the coordinate system to make sure it is in proper

PMAC Quick Reference Guide 48 Motion Programs The CALLx command in a motion program causes a jump to PROG x, with a jump back to the command imme

PMAC Quick Reference Guide Motion Programs 49 For example: G17 will cause a jump to N17000 of PROG 1000; G117 will cause a jump to N17000 of PROG 10

PMAC Quick Reference Guide 50 Motion Programs TS0 ; No S-curve component TM250 ; Move time is 250 msec, TM1 X10 ; Move distance is 10 un

PMAC Quick Reference Guide Motion Programs 51 PMAC looks two moves ahead of actual move execution to perform its acceleration limit and can recalcul

PMAC Quick Reference Guide ii Table of Contents Flags Power Supply (Optional) ...

PMAC Quick Reference Guide 52 Motion Programs In order to reach the desired position, since the move involves a change in direction and stop, sim

PMAC Quick Reference Guide Motion Programs 53 To be able to reach the desired velocity, a longer move can be performed split into two sections. The

PMAC Quick Reference Guide 54 Motion Programs Starting point i (inc) j (inc) X (inc)Y (inc)End point CenterStarting point j i (abs) Y X (abs) C

PMAC Quick Reference Guide Motion Programs 55 6. If the vector method of locating the arc center is used, the vector is specified by its I, J, and K

PMAC Quick Reference Guide 56 Motion Programs Example: I13=10 ;Move Segmentation Time NORMAL K-1 ;XY plane INC ;Incremental End Point definiti

PMAC Quick Reference Guide Motion Programs 57 The units for position or distance are the user length or angle units for the axis, as set in the Axis

PMAC Quick Reference Guide 58 Motion Programs velTimeV2tI1906tV52P⋅⋅⋅=V/2I1906tV1P⋅⋅=tvelTimevelTimeV2tI1906tV52P⋅⋅⋅=V/2I1906tV1P⋅⋅=tV2t()I19021V

PMAC Quick Reference Guide Motion Programs 59 • 100% Online or CMD command that restores the real-time reference (1 msec = 1 msec). • M197 = I1

PMAC Quick Reference Guide 60 Motion Programs Synchronous M-Variable Assignment The scan of a motion program and execution of the commands in it

PMAC Quick Reference Guide PLC Programs 61 PLC PROGRAMS PMAC will stop the scanning of the motion program lines when enough move commands have been c

PMAC Quick Reference Guide Table of Contents iii External Time Base Control (Electronic Cams) ...

PMAC Quick Reference Guide 62 PLC Programs • PLC2: Since PLC1 is suggested as an initialization PLC (and can run potentially only once on powe

PMAC Quick Reference Guide PLC Programs 63 To erase an uncompiled PLC program, open the buffer, clear the contents, then close the buffer again. Thi

PMAC Quick Reference Guide 64 PLC Programs WHILE Loops Normally a PLC program executes all the way from beginning to end within a single scan.

PMAC Quick Reference Guide PLC Programs 65 Timers Timing commands like DWELL or DELAY are reserved only to motion programs and cannot be used for tim

PMAC Quick Reference Guide 66 PLC Programs Compiled PLC Programs PLCCs are compiled by PEWIN in the downloading process. Only the compiled code

PMAC Quick Reference Guide Troubleshooting 67 TROUBLESHOOTING PMAC is a highly reliable device and has several safety mechanisms to prevent continuo

PMAC Quick Reference Guide 68 Troubleshooting The hardware circuit for the watchdog timer requires that two basic conditions be met to keep it fr

PMAC Quick Reference Guide Troubleshooting 69 Bus Communications 1. Do the bus address jumpers (E91-E92, E66-E71) set an address that matches the bu

PMAC Quick Reference Guide 70 Troubleshooting If holding position well, but cannot move the motor, probably the hardware limits are not being hel

PMAC Quick Reference Guide Troubleshooting 71 PLC Programs PLCs and PLCCs are one of the most common sources for communication or watchdog timer fail

PMAC Quick Reference Guide iv Table of Contents

PMAC Quick Reference Guide 72 Troubleshooting

PMAC Quick Reference Guide Appendix A – PMAC Error Code Summary 73 APPENDIX A – PMAC ERROR CODE SUMMARY I6, Error Reporting Mode: This parameter con

PMAC Quick Reference Guide 74 Appendix A – PMAC Error Code Summary

PMAC Quick Reference Guide Appendix B – PMAC I-Variables Summary 75 APPENDIX B – PMAC I-VARIABLES SUMMARY Global I-Variables Range Default Units

PMAC Quick Reference Guide 76 Appendix B – PMAC I-Variables Summary Other Global I-Variables Range Default Units I47 Address Of Pointer For

PMAC Quick Reference Guide Appendix B – PMAC I-Variables Summary 77 Motor Safety I-Variables Range Default Units Ix11 Motor x Fatal Following Error

PMAC Quick Reference Guide 78 Appendix B – PMAC I-Variables Summary Motor Servo Loop Modifiers Range Default Units Ix57 Motor x Continuous C

PMAC Quick Reference Guide Appendix B – PMAC I-Variables Summary 79 Coordinate System I-Variables Range Default Units Ix87 C.S. x Default Accelera

PMAC Quick Reference Guide 80 Appendix B – PMAC I-Variables Summary

PMAC Quick Reference Guide Appendix C – PMAC On-Line (Immediate) Commands 81 APPENDIX C – PMAC ON-LINE (IMMEDIATE) COMMANDS On-Line Command Function

PMAC Quick Reference Guide Introduction 1 INTRODUCTION Description of PMAC PMAC, pronounced Pe’-MAC, stands for Programmable Multi-Axis Controller.

PMAC Quick Reference Guide 82 Troubleshooting / Halt program execution at end of currently executing move / ? Report motor status ? ?? Repor

PMAC Quick Reference Guide Appendix C – PMAC On-Line (Immediate) Commands 83 DELETE TCOMP Erase torque compensation table DELETE TCOMP DEL TCOMP DE

PMAC Quick Reference Guide 84 Troubleshooting J={constant} Jog to specified position J={constant} J=* Jog to specified variable position J=*

PMAC Quick Reference Guide Appendix C – PMAC On-Line (Immediate) Commands 85 M{constant}->TWD:{address} BCD thumbwheel-multiplexer M-Variable def

PMAC Quick Reference Guide 86 Troubleshooting PASSWORD={string} Enter/set program password PASSWORD={string} PC Report program counter PC P

PMAC Quick Reference Guide Appendix D – PMAC Program Command Specifications 87 APPENDIX D – PMAC PROGRAM COMMAND SPECIFICATIONS Function Syntax Synta

PMAC Quick Reference Guide 88 Appendix D – PMAC Program Command Specifications Disable Compiled PLC Program(s) DISABLE PLCC {constant}[,{consta

PMAC Quick Reference Guide Appendix D – PMAC Program Command Specifications 89 Incremental Move Mode INC [({axis}[,{axis}...])] PROG / ROT Increm

PMAC Quick Reference Guide 90 Appendix D – PMAC Program Command Specifications Return From Subroutine Jump/End Main Program RETURN RET Motion Pr

PMAC Quick Reference Guide Appendix E – Motor Suggested M-Variable Definitions 91 APPENDIX E – MOTOR SUGGESTED M-VARIABLE DEFINITIONS Registers Assoc