Delta Tau PMAC2A PC/104 User's Manual
Contents
1. 7 AEn 7 Built in Catalog of Functions 8 The PMAC Guide 8 Resetting PMAC for First Time 8 Power SUP ples Et 9 Analog Amplifier Command Signals 9 Stepper Driver Command Signals esccaine elicere Fen eda gie tee Pe be ee Ee Pe 10 Encoder FOCd DaCk c GGG 11 Safety Flags End of Travel Limits Home and Amplifier Fault Inputs eese 12 Idyll M X 13 TUNING THE 5 15 The Tuning Procure MH C S 15 15 MOTOR JOG COMMAND R 17 Motor Safety I Variables OG RUE RI aen tes cst aa EEEE EE E niet tease ah 17 Ix11 Motor x Fatal Following Error Limil eee eene nnne nnne ren nere rennen nennen 17 Ix12 Motor x Warning Following Error 17 Ix13 Motor x Software Position 17 Ix14 Motor x Software Position 17 Ix15 Motor x Abort Lim Deceleration 18 Ixt6 Motor x Max2. LHOVINP Flags Sensor Connection Flags Switch Connection 5 24 VDC 5 24 VDC JMACH2 Power Supply JMACH2 Power Supply Flag 12 Vi _1_2_ 5 to 24 Volts normall 7 closed to ground 7 Switch sinking type sensor Amplifier Fault Connection Software Setup I variables setup for using the DAC outputs 5 24 VDC I900 JMACH1 Power Supply 1901 1902 Connect to D FAULT amplifier Ix69 I10 1001 2 3 1001 0 n channel number from 1 to 8 1024 motor number from 1 to 8 1710933 Introduction EZ PMAC2A PC 104 Setup Manual Machine Connections Example using pulse and direction drivers Driver Stepper Load 22020 22020 2200 Motor Optional 5V Power Supply Motor 3 Pin Motor 4 Pin Motor 1 Pin Motor 2 Pin 4 Symbol 6 19 20 HOMEn 8 21 22 PLIMn 10 23 24 MLIMn 1 232 Flag_V 3 4 4 Gnd 2000 Note The 5V external power supply is only required when PMAC is not installed in a PC 104 computer bus
3. MACHI rior part This consecter provides ed E eight input lines andl eight capat lines at TTL 104 Baseboard shown levels When using the PMAC type stacked with the ACCTP axes Menu a F Sa eem te 52 af the multipkexed EC boards may be Etile compare line al TTL levels dayakan on the pori in any combination Pulses direction command Handwheel port This port provides extra each jumper selecrable bero tes encoder inpar or pulse outpal port This port previckes eight general purpose digital input Ese and eighi zeseral digital utpat lines at TTL bevels Thes M pin conrascior was designed far easy mimis 1o CFTU 22 or equivalent optically renamed LU modules when differen volzage PMAC2ZA PCH 04 Baseboard levels oF apto saation to the I P shown stacked with the ACC TP LL and ACC 2P boards Multigieuer part This connector provides eigh input lings and eight owani lines at levels When ming the MAC ACC J4x fpr these limes allow mulighening large mamibers of inputs amd outpuis on ihe port Lip 32 of the VO boars may be an the pert in any combinations 4 Introduction EZ PMAC2A
4. Symbol 3 GND 1 5V Motor 1 Pin Motor 2 Motor 3 Motor 4 Pins Pins Pins Symbol 2 1 2 5V 4 3 4 GND 6 17 18 CHAn 8 19 20 CHAn JMACH2 10 21 22 CHBn 11 12 23 24 CHBn 13 14 25 26 CHCn 15 16 27 28 CHCn 33 84 41 42 AENAn 35 36 43 44 FAULTn 47 47 47 47 Motor 1 Pin Motor 2 Motor 3 Motor 4 Pins Pins Pins Symbol 13 14 27 28 PUL 15 16 29 30 DIR 3 4 3 4 GND Flags Sensor Connection 5 24 VDC Power Supply 1 12 5 to 24 Volts normall 7 closed to ground NPN sinking type sensor 1 Driver Fault Connection 5 24 VDC Power Supply 47 FLT FLG V FAULT Connect to driver 35 Flags Switch Connection 5 24 VDC Power Supply Normally Closed Switch JMACH2 12 V 1 7 PLIM1 Software Setup I variables setup for using the stepper outputs motor number from to 8 motor number from 1 to 8 channel number from 1 to 8 02 2 I variables setup if no encoder feedback is used T9n0 8 n channel number from 1 to 8 Introduction EZ PMAC2A PC 104 Setup Manual This port
5. Matar Ampli Dizabisd s S Motor Velocity Ni Motor The motor will mere during ihis ter Command Value Wposeible disengage ihe maior fram pa AP the nad On this page the motor polarity is checked Correct polarity will show increasing encoder counts when PMAC outputs a positive command signal This procedure requires the amplifier and motor being powered so if possible mechanically disengage the motor from the load On this screen the motor is controlled in open loop mode The value in the Open Loop Command field is a percentage of the maximum allowed DAC output Ix69 which was set up in the DACs or stepper output setup screen In case of analog amplifiers the voltage can be monitored in the Output Voltage indicator In some cases the amplifier will deliver a small current or velocity to the motor even when the command signal from PMAC is zero This is known as drifting conditions The motor would drift away even when it is not commanded to move PMAC can output a bias component at all times to compensate for these drifting conditions if they exist To perform the polarity check procedure 1 Select the motor to check the signals polarity 2 Test the amplifier enable signal making sure the amplifier enables and disables when so commanded with the dedicated button on the screen It is important to confirm that the motor can be disabled when necessary 3 continuous increase or dec
6. dee 35 1 Draien 1 X epum BB 3 Jom Ec pecu Ferdruie Chezrride urrewily Calculsied Program Line From this centralized screen a motion program can be written edited run and debugged The coordinate system definitions and the status portion of the screen are used for indication and diagnostics only 1 Select the coordinate system to run the motion programs 2 Make sure a motor or group of motors are part of the coordinate system axes list If no motors are present press C S to redefine or check the coordinate systems definitions 3 Press Update List to refresh the list of motion programs loaded in memory 4 Select a motion program from the programs list or enter the number in the data input box If no motion program exists in memory enter a motion program number from 1 to 32767 in the data input box 5 Press Edit to view the contents of the selected motion program or to create a new motion program 6 When the edit window is open enter the following text OPEN PROG 1 CLEAR Opens PROG1 buffer for editing LINEAR Linear mode motion INC Incremental mode TA100 Acceleration time is 100 msec TSO No S curve component F40 Feedrate is 40 length_units second x3 Move axis X 3 length units of distance Motion Programs 25 EZ PMAC2A PC 104 Setup Manual 9o X 3 Move axis X 3 length units of d
7. Pada ione TR Center m This function calculates center and radius of any circular path given coordinates of three non aligned points that belong to it This is useful when programming PMAC in circular interpolation mode The Reset button clears all the entry fields 34 The Terminal Window and Utility Functions
8. EJ Jy Power page mady 3h Fax prensa PROC ho jangai eed Sy connate ager Press the Re Initialize button on the Communications Setup screen Power up PMAC with jumper E3 on the baseboard installed Make sure the green LED in PMAC is lit this will confirm that PMAC is properly powered with 5V Press the Reset button in the middle of the screen This will reset the memory to factory defaults Turn off PMAC and remove the E3 jumper Power up PMAC and try communications again Main Setup Screen gy Ui WU po ES ETT zA FL IH marium Once communications has been established the main Setup screen displays At any time during the execution of this program press the F1 function key to get instructions for each particular page Connections and Initial Settings EZ PMAC2A PC 104 Setup Manual The steps to configure PMAC are listed sequentially from top to bottom but they can be called in any order A simple terminal is provided to allow a direct communication with PMAC However during the initial setup process this is seldom necessary If any I Variable is changed on the terminal window or if any reset command is issued all motor status will change to red and the setup process must be repeated for each required motor The colored motors status strip helps determine the configuration of each motor A red colored square indicates that the p
9. 1 of 50 encoder counts Ix13 Motor x Software Position Limit This variable scaled in encoder counts determines the maximum allowed range of motion in the positive direction Enabling this function is useful when no actual end of travel limit switches are used for this motor Ix14 Motor x Software Position Limit This variable scaled in encoder counts determines the maximum allowed range of motion in the negative direction Enabling this function is useful when no actual end of travel limit switches are used for this motor Motor Jog Commands 17 EZ PMAC2A PC 104 Setup Manual Ix15 Motor x Abort Lim Deceleration Rate This variable scaled in encoder counts per millisecond square sets the deceleration rate used when a programmed motion is aborted either by the Abort command or when a maximum position limit is reached Ix16 Motor x Maximum Velocity This variable scaled in encoder counts per second specifies the maximum allowed velocity for a motor performing a linear move commanded from a motion program This maximum value is not observed if variable I13 is greater than zero Ix17 Motor x Maximum Acceleration This variable scaled in encoder counts per millisecond square sets up the maximum allowed acceleration rate for a motor performing a linear move issued from a motion program This maximum value is not observed if variable I13 is greater than zero Warning Safety parameters Ix16 and Ix17 are no
10. scaled in milliseconds determines the portion of the acceleration ramp that will be performed in S curve mode If Ix20 is set to zero then the acceleration ramp will take 2 Ix21 and will be executed in pure S curve mode Ix22 Motor x Jog Speed This variable sets the jog velocity in units of encoder counts per millisecond If the motor x is moving already a new jog command must be issued for the new Ix22 parameter to have effect Motor Jog Commands 19 EZ PMAC2A PC 104 Setup Manual Motor Jog Commands Homez Jog Stop Jog Pos Jog Abs Jog Inc 6 HomeZ This button resets the encoder counter establishing a new zero reference for absolute jog move commands Jog Neg This button jogs the selected motor continuously in the negative direction Stop This button stops any jog command issued previously for the selected motor Jog Pos This button jogs the selected motor continuously in the positive direction Jog Abs This button jogs the selected motor in absolute mode to the position entered on the input field at the right of the button Press HomeZ at any time to re define the zero position reference for absolute jog commands Jog Inc This button jogs the selected motor in incremental mode to the position entered on the input field at the right of the button Pressing this button repeatedly allows moving the motor at fixed distance intervals 20 Motor Jog Commands EZ PMAC2A PC 104 Setup M
11. 104 stack configuration and only ACC 2P is used then jumper 5 on the ACC 2P board should connect pins 1 and 2 In this case the lines on its JOPT general purpose I O connector will be mapped into PMAC s address space in register 080 If both ACC 1P and ACC 2P are used then jumper E5 on the ACC 2P board should connect pins 2 and 3 and its I O lines can be accessed at address Y COCO Typically these I O lines are accessed individually with M Variables Following is a suggested set of M Variable definitions to use these data lines in an 1 with jumper E6 on position 1 2 28 PLC Programs EZ PMAC2A PC 104 Setup Manual M0 Y 5 C080 0 Digital Output M00 M1 2Y 5 C080 1 Digital Output M01 M2 gt Y SC080 2 Digital Output M02 M3 2Y 5 C080 3 Digital Output M03 4 gt 5 080 4 Digital Output M04 M5 Y 5 C080 5 Digital Output M05 M6 gt Y SC080 6 Digital Output M06 M7 gt Y SC080 7 Digital Output M07 M8 gt Y SC080 8 Digital Input MIO M9 gt Y SC080 9 Digital Input MI1 M10 gt Y SC080 10 Digital Input 2 M11 gt Y C080 11 Digital Input MI3 12 gt 5 080 12 Digital Input MIA M13 Y C080 13 Digital Input MI5 14 gt 5 080 14 Digital Input MI6 15 gt 5 15 Digital Input MI7 M32 gt X C080 0 8 Direction Control l output 0 input M34 X C080 8 8 Direction Control l output 0 input M40
12. X 5 0714 12 12 S ADCIN 1 on JMACH1 connector pin 45 M605 X 5 0715 12 12 S ADCIN 2 on JMACH1 connector pin 46 PLC Programs 29 EZ PMAC2A PC 104 Setup Manual 30 PLC Programs EZ PMAC2A PC 104 Setup Manual BACKUP AND RESET PROCEDURES Backup Procedures Baku Ltibisi i pese pe pee gt Lal i zi 0 Once PMAC is properly configured save software parameters a backup file On this page select the parameters to save and the name of the file To save the parameters on disk press the Save button To restore the parameters from a disk or read them from a previously saved backup file press the Restore button Note With serial communications at 9600 baud rate this procedure takes about one or two minutes Once the procedure starts it cannot be interrupted Use the Check and Uncheck buttons on this page to select or de select all items Use the Open button to check edit or modify if necessary any previously saved configuration file Reset Procedures Backup and Reset Procedures 31 EZ PMAC2A PC 104 Setup Manual Reset PMAC to Last Saved Backup File Parameters Every time a backup file is created in the backup utilities page a copy is saved under the BACKUP CFG file name With this command PMAC can be reset at any time to the last saved configuration file reading it from the BACKUP CFG fi
13. feedrate or velocity of a linear or circular interpolated move is by using the F motion program parameter The units of this parameter are units of distance per Ix90 milliseconds The units of distance are determined by the scale factor set in the coordinate systems definition The default value of the Ix90 variable is 1000 which means that the feedrate will be programmed in units of distance per second 24 Motion Programs EZ PMAC2A PC 104 Setup Manual Example Motor 1 has been defined to be axis X with a scale factor of 1 X1000 F500 Move axis X motor 1 1000 encoder counts with a velocity of 500 encoder counts per second If F is not included specifically in the program the default value set in 1 89 will be used as the federate value If the F parameter exceeds the value of the Ix98 variable and Ix98 is greater than zero the value of Ix98 will be used as feedrate instead Blending Disable Enable If the Ix92 coordinate system variable is set to zero a sequence of linearly interpolated moves will be blended together without a stop between moves If Ix92 15 set to one there will be a stop to zero velocity of all interpolated axes between moves Ix92 is read only when the motion program starts This parameter must be set before running a motion program Motion Programs Setup Page Door whew finish Press Fl far Uiemiiaam m Pargrgrarsrecicgs
14. gt X SC084 0 24 Inversion control 0 OV 1 5V M42 gt Y C084 0 24 J7 port data type control 1 I O In order to properly setup the digital outputs an initialization PLC must be written scanning through once on power up reset then disabling itself OPEN PLC31 CLEAR M32 SFF Bits 0 8 are assigned as output M34 S0 Bits 9 16 are assigned as input M40 SFFO00 Define inputs and outputs voltages M42 SFFFF All lines are I O type DIS Disable scanning through once power up reset CLOSI Lud Note After loading this program set 15 2 or 3 and enable PLC 1 Analog Inputs The optional analog to digital converter inputs are ordered either through Option 12 on the base board or Option 2 on the axis expansion board Each option provides two 12 bit analog inputs with a 10VDC range The M Variables associated with these inputs provide values between 2048 and 2048 for respective 10VDC input range The following is the software procedure to setup and read these ports Base Board Analog Inputs Setup 1903 1746 Set ADC clock frequency at 4 9152 MHz 014 SIFFFFF Clock strobe set for bipolar inputs 105 gt 50710 12 12 8 ADCIN 1 on JMACH1 connector pin 45 205 gt 50711 12 12 8 ADCIN 2 on JMACH1 connector pin 46 ACC 1P Analog Inputs Setup 1907 1746 Set ADC clock frequency at 4 9152 MHz WX C034 SIFFFFF Clock strobe set for bipolar inputs M505
15. provikes Four channels of n JMACHE This port provides four chanel af analog servo ister uee cack anal inier lace circuilry euch Single Ibit IS diferenta analeg imchuding autpul DAL a flaps 58 5 24 VER level Differential singlc cuded anker ingal end of mavel limits home and user with A B quadrature channels and C fagi imbes channel Encoder compere FU Ime at TTL umpliFier input and amplifier erable Vula A dfingction command outputs at 5 24 VIDW levels In addimon this port provides two optional hantas of J AT convertens with EU ingul range PMACZA PCHOS Baseboard shawn Pertz This port provides eight general m NE T Perse chyital inputs and exhi prneral Circa prose digital 5 levels V NEN ae i a and DOO mA manim This 34 pin conneckos wae designed for easy interface to 22 or us channels mit LE when d different wil leveli of oft ho the gt Amplifier Teuh input and amplifier enable es 5 24 VEKC levels in addition this port provides meo opmonal chemnels of 12 bit A D converiers with 10V gach jumper exlectable encender input
16. switch if necessary The motor will move until the selected trigger condition is found The trigger condition can be selected from the Home Capturing Control selector on this page The home flag to use for the trigger condition is also selectable from this page Usually the trigger condition is the open or closed of the home input flag combined with the state of the encoder C channel Example Homing Capturing Control Rising edge of CHCn AND Flag n Homing Flag Select Home Flag This configuration will result in the trigger condition found when the home input flag is open and when the encoder C channel state changes from low to high In this case the sensor or switch used for the home flag should be normally closed to analog ground 22 Home Procedure EZ PMAC2A PC 104 Setup Manual MOTION PROGRAMS Coordinate Systems Definitions monim Setup Page Presa Dame when finish Freee Tab far irirur ras _ ge Feedrair errride aj 1 Hi hisar Seale Encoder Counc Ariy Cesrdinade 5 1 Axes DeBmitianz se fr Deck Mates Aeceleranan Time THHH Feedinate The IEH Defend 5S7 Coren Time uH 92 Blend Diskin Ibi Dec Fasskrair i BBH CDRH ote Fesdrair Before running a motion program system m
17. AC stepper output lines and analyze the signal at open circuit 3 Press the Reset button and try again Encoder Feedback west page Press Dame when Press FI fay Pry 10 PHACZA cree peiras mik bras cormarted ur Cowmiier Mewa Tiecade Dhs lan Saurrr Fi _ E mow C cow CE p eem For a proper motion control process PMAC needs to know motor position at all times The encoder feedback provides this information The encoder used for a typical application has the following characteristics e 5 TTL level differential signals e Typically 4096 counts of resolution e Electrically isolated from any other circuit of the amplifier motor or the machine In case the motor is configured with pulse and direction outputs the use of an external encoder is optional In this case select Internal as the feedback source type Since the encoder gets powered from PMAC there is no need to turn on the amplifier during this process It is recommended that the amplifier and the machine be turned off during this process 1 Select the motor where the encoder being tested is connected 2 Rotate the encoder in the direction assumed to be positive 3 Click the CCW or CW radio buttons if the encoder counter is found to decrease instead of increase Conne
18. PC 104 Setup Manual CONNECTIONS AND INITIAL SETTINGS Power Supplies Connections 12 Volts Power Supply 0 30A 12 to 15V 4 5W 0 25A 12 to 15V 3 8W 12V power supply only needed when DAC outputs are used PMAC2A PC 104 stack with ACC 1P Axes Expansion Board Only connect the external power supply when PMAC is installed outside the PC 104 slot Communication Ports Connections Connect host computer to only one communication port either PC 104 bus RS 232 USB Ethernet Select port by clicking on the Device button Serial Communication Connections __ 348 REL Qum _ Connections and Initial Settings EZ PMAC2A PC 104 Setup Manual Installing and Running the Software Install the program by selecting the appropriate option on the CD ROM provided or running the executable program downloaded from the Delta Tau website and following the instructions on the screen After the program is installed successfully a new folder labeled QSPC104 will be present on the Windows Start menu The folder contains these items e EZ PMAC2A PC 104 Setup Manual opens the electronic form of this manual e PMAC Guide opens the electronic form of the PMAC Guide which the most complete resource of information for configuring and programming the PMAC2A PC 104 motion controller Setup runs the PMAC
19. PMAC2A PC 104 DELTA TAU Ny Data Systems Inc NEW IDEAS IN MOTION 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 Copyright Information 2003 Delta Tau Data Systems Inc All rights reserved This document is furnished for the customers of Delta Tau Data Systems Inc Other uses are unauthorized without written permission of Delta Tau Data Systems Inc Information contained in this manual may be updated from time to time due to product improvements etc and may not conform in every respect to former issues To report errors or inconsistencies call or email Delta Tau Data Systems Inc Technical Support Phone 818 717 5656 Fax 818 998 7807 Email support deltatau com Website http www deltatau com Operating Conditions All Delta Tau Data Systems Inc motion controller products accessories and amplifiers contain static sensitive components that can be damaged by incorrect handling When installing or handling Delta Tau Data Systems Inc products avoid contact with highly insulated materials Only qualified personnel should be allowed to handle this equipment In the case of industrial applications we expect our products to be protected from hazardous or conductive materials and or environments that could cause harm to the controller by damaging components or causing electri
20. Quick Setup program for configuring and testing all motors for the first time e Terminal runs the PMAC Quick Setup program for programming the PMAC motion controller after all motors have been properly configured Establishing Communications aon Pags Poco ET Pierce lene shen sady Lx bere mnm mam w Connect hu hori copiado ond cee comme peri the bus BE USD ar e pari bp Haa Dinca bution Once PMAC is properly powered and the communications cable has been connected between the host computer and the PMAC communications can be established The communications setup screen appears when the program is run for the first time or when the PMAC cannot be found in the previously defined channel of communications Press the F1 function key for instructions The Instructions button provides a direct link to the PCOMM32 manual and it explains how to enable PMAC communications under different operating systems The program can run even if PMAC is not linked to the computer By pressing the Offline button the program is run in simulated dry mode 6 Connections and Initial Settings EZ PMAC2A PC 104 Setup Manual If Communications Cannot be Established eat Deed iria Papa Presa Tor Press Dens shen pw ree Hari R 1 Poesy oth
21. anual HOME PROCEDURE Page Press Dier whew Press FI far Matar Valachy Mester Mar ra aap Cr e Pm Bi Maima laming Arcrheratam W HIVETS here BIZHHUBEd4BH Homing Liver dme Feming nece t eu earn m CET of Encode irda haerai C tH nj TR2f Mey bec ase t O Reg ani of Flag fae Flag Seleri T Fiir mete ef Flag rt y Home Flag Fig ke af CHEN AHD Fling el Gratis Bote D Hepara rea Flag edge a Flag Postes Linn Flag T CHC AWD Flag a Flag LHCrg Fey ne Home commands allow establishing a physical point of reference for all programmed moves If no home procedure is performed for a particular motor the zero physical point of reference of that motor will be located at the point where it is found on power up or reset When a home command is given either from a motion program or an online command the motor x will move towards the location of the home switch with the direction and velocity determined by the Ix23 parameter When the trigger condition is found which can be programmed to be the open or closed condition of the home switch PMAC will reset the motor position registers and wi
22. cal shorts When our products are used in an industrial environment install them into an industrial electrical cabinet or industrial PC to protect them from excessive or corrosive moisture abnormal ambient temperatures and conductive materials If Delta Tau Data Systems Inc products are directly exposed to hazardous or conductive materials and or environments we cannot guarantee their operation EZ PMAC2A PC 104 Setup Manual Table of Contents INTRODUCTION Deren 1 Comber iiti vitet uds 1 Getting More 1 CONNECTIONS AND INITIAL SETTINGS 5 Power Supplies Comme cious 5 Communication Ports Comme ct Ons 5 amp 5 Installing and Running 6 Est blishing Communications eei ese 6 If Communications Cannot be
23. ctions and Initial Settings 11 EZ PMAC2A PC 104 Setup Manual 4 The Encoder Capture indicator should change at every turn of the encoder shaft by the number of encoder counts per revolution This indicates that the encoder C channel is operating properly 5 Click Done if the encoder counts in the proper direction If the encoder does not count 1 Make sure the motor to which the encoder is connected is selected 2 Press the Reset button and try again 3 Use an oscilloscope to monitor the encoder signals and 5V connection to the encoder Safety Flags End of Travel Limits Home and Amplifier Fault Inputs G Deae postion ins s MC noln on pdt E Kil onis fur onis IF T RN Lan E This page sets up and monitors the safety flag inputs function When assigned for dedicated uses the overtravel limit flags provide important safety and accuracy functions PLIMn and MLIMn are direction sensitive over travel limits that must conduct current either sinking or sourcing to permit motion in that direction The home input flag is used in conjunction with home search type moves to establish a machine point of reference when an incremental type of feedback is used The user input flag is used mostly in conjunction with the position capture feature which allows recording the feedback in
24. de of this parameter is set the same as the jog velocity parameter Ix22 See the Motor Jog Commands section of this manual for more details Ix26 Motor x Home Offset This is the relative position of the end of the homing cycle to the position at which the home trigger was made That is the motor will command a stop at this distance from where it found the home flag s and call this commanded location as motor position zero The units of this parameter are 1 16 of a count so the value should be 16 times the number of counts between the trigger position and the home zero position Homing Search Move Trajectory Vel A Trigger Home Complete 1 Occurs Home Search in Progress 0 Home Complete 0 Home Search In Progress 1 Net distance from trigger position 1 26 NNNNNNNNNNNNNNNNNNN 4 N Time 777 y gt 21 gt x21 x21 7 v Y 2277777 Desired Velocity Zero 1 YH In Position 1 hen FE i gt Note Rate of acceleration p limited Ix19 can override Ix21 i Ix21 Ix21 Ix20 and Ix21 Ix20 Ix20 Motor Home Commands When the Home button located on this page is pressed the selected motor will start moving according to the I Variables defined The jog buttons are available to eventually move the motor away from the home
25. dure Fusing pagr liens Dane when Pirs Fi far bs rer eec Mom BF el Hag clevere Ino 00 3 Cae nach loci FF Haun veloci 1500 chiswre Pir Demem barih 5 7 D Press Ese w DEhTrpenbeulvcas Move Dinam D panan Derus Gals Moree mm 12221 fesi Farwand iB 4 1331 Gain Seon fmm G Accel Ferd Farmari Dii Friction Feed Forward Eit Fatal Errer Dea C cC Cra The tuning process is the definition of the PID loop parameters and the confirmation that PMAC can move the motors in closed loop with limited following error The basic tuning procedure provided by the PMAC Quick Setup program might be limited in some cases to achieve an optimum tuning performance but would allow nevertheless moving the motors in closed loop For a more accurate tuning procedure use a more sophisticated program like PEWIN or P2SETUP both provided separately Warning It is important to run this procedure with the motor polarity already checked If the motor polarity is reversed a dangerous runaway condition could occur Select the motor to be tuned To get the motors to move in closed loop only an increase in the proportional gain parameter from its default value is needed As a ru
26. ed to any desired value with the dedicated slide bar or data input field The DAC output limitation is based on the amplifier motor limitations if any of torque and or velocity If no DAC voltage is measured 1 Make sure that the motor in which the DAC and enable signals are being measured is selected 2 Disconnect anything connected to the PMAC DAC output lines and measure the voltage again at open circuit 3 Press the Reset button and try again 4 Make sure PMAC has the 15V power supply properly connected and try again Stepper Driver Command Signals ruspurix page rez Dans when Prem El dar Inztruxticax EH 13 4 Mos npud enable CU Doni cns enable Fonction Este yai input CC Dusbie Uit ingot Lome fru Ser for details High frum feli npul rabia eif sepper during this eat Dapa Value 3 m m Meter Tre Vahan 64 a rz Ua 4 n 52 5 rE f On this page select the output type for a particular motor to be either analog 10V or pulse and direction stepper outputs The following is the description for the pulse and direction outputs test PMAC can command the amplifier and motor through the pulse and direction stepper outputs These signals are TTL leve
27. f move close to those used in the actual application A well tuned motor at lower velocities might not perform well for faster or longer moves Click on the Check Tuning button to start the motion The result will be plotted when the move is completed Monitor the maximum velocity and following error indicated in the plot This provides an indication of how the motor performs at a given velocity Press the Previous and Next buttons for indications on improving the tuning parameters based on the parabolic response plot For the PMAC Quick Setup program the motor is considered properly tuned once the parabolic response is plotted At any time press the Esc key to disable or kill all motors However it is recommended that there is easy access to an electrical switch that will shut down the amplifier and motor in case of failure or in an emergency 16 Tuning the Motors EZ PMAC2A PC 104 Setup Manual MOTOR JOG COMMANDS See IR reser and Page Press These whea Press FI Par tees Mer Velerlty Many Position F E ru 54 8 54 8 Fi Le e tion nem ane 1811 Fatal Fellering Error WIT Maxie Acceleration BIER Warmiwg Kallesimg 16888 BiU Macis Acceleration 8835675 1813 Sefbeare Position W EH Jeg Linci Acer
28. formation when the input is activated The switch or sensor connected on the home input provides a physical reference for every programmed move The home procedure and setup is explained later in this manual The home sensor or switch in contrast with the end of travel switches can be either normally open or normally closed However it is recommended to use the same type of switches for the end of travel inputs as well as the home input Usually a passive normally closed switch is used If a proximity switch is needed instead use a normally closed to ground sinking NPN type sensor Note If not planning to use the position limits disable them with the dedicated button on the screen Any time the selected motor being set up faults either because of excessive following error or because the amplifier fault signal indicates it there is a choice to disable only this motor all PMAC motors or only those motors that are part of the same coordinate system These options are selectable on the screen The definition of coordinate systems and maximum following error are explained later in this manual 12 Connections and Initial Settings EZ PMAC2A PC 104 Setup Manual Polarity Test polarity amd awiput bias setup page Press dame when finish Press Fl far instructions Press Eac any time in kill all matire Timer sec E u Open Loop Command Va al heck Command Cartput Bias 3
29. g PMAC for First Time Use The first button on the setup screen is labeled Reset and allows PMAC to be reset for first time use This is recommended if setting up this particular PMAC for the first time and there are no contents in its memory that needs to be kept After performing this procedure all programs inside memory will be erased and all variables will be configured to the default values 8 Connections and Initial Settings EZ PMAC2A PC 104 Setup Manual Power Supplies Power Supplies 12 Volis Power Supply 0 304 12 to 159 4 50 0 25 12 to 15V 3 8W x12V power supply only needed when DAC are used 5 Volis Power Supply GND 8 59 45 150 Only connect the exiernal power supply when PMAC is installed outside the PC 104 bus PMAC24 PC 104 stack with ACC P Axes Expansion Board Next This page functions as a reminder that the 15V should be connected before starting the setup process Since PMAC requires a 5V power supply for operation and communications the 5V power supply is assumed to be satisfactory at this point Analog Amplifier Command Signals C Chrigum inci page Preas Dans when fied Pree F Inzirartianz PHACEA PC l04 JHACHI Her manwal details _ TAC Value Valiz ae Meter T analog m Fx rg ey i On this page the output type for a partic
30. h amplifier and motor connections Establish flags connections home switches and end of travel switches Check motor polarity Set up motor software parameters Jog motors Home motors 9 Define a coordinate system Write and run a simple motion program 10 Save the configuration Getting More Information The PMAC Quick Setup program is provided with the PMAC Guide manual which has the complete description of each PMAC connector and software command used in a typical application This manual can be accessed from the main setup screen of the program Introduction 1 EZ PMAC2A PC 104 Setup Manual Machine Connections Example using analog 10 Volts amplifiers 5V Power Supply Amplifier Load 2900 2200 2200 2200 15V Power Supply Motor 1 Motor 2 Motor 3 Motor 4 Pins Pins Pins Pins 5 6 19 20 HOMEn 7 8 21 22 PLIMn 9 10 23 24 MLIMn 1 3 Symbol 3d 272 Flag V 3414 Motor 1 Motor 2 Motor 3 Motor 4 Symbol Pins Pins 45V GND CHAn CHAn CHBn CHBn CHCn CHCn DACn DACn AENAn Note The 5V and 12V external FAULTn power supplies are only required FLT_FLG_V when PMAC is not installed in a GND PC 104 computer bus 12 to 15V 12 to 15V GND GND 5V
31. imum Velocity eta eater err E n Gas gle eee riae SE Re tpe uen epe Sce eee qoo 18 Ix17 Motor x Maximum Acceleration eese ees a 18 Ix19 Motor x Maximum Jog Home Acceleration eee eese eene rennen eene nennen nennen 18 S Curve and Linear Acceleration 18 Rate vs Time Programming the Maximum Acceleration Parameters eee 19 Benefits of Using S Curve Acceleration Profiles esee eene retener enne nennen 19 Motor Movement I Variables trien reet Fete tete eere ie eun 19 20 Motor x Jog Home Acceleration 19 Ix21 Motor x Jog Home S Curve 19 Ix22 Motorx Jog Speed scenei te eer 19 Motor Jog cM M 20 X 20 NAM 20 yo 20 SOS POS M 20 WAN De 20 Igi N E 20 HOME PROCEDURE P YYY 21 Motor H
32. ines the portion of the overall acceleration ramp that is performed in S curve mode PDC Motion Programs 23 EZ PMAC2A PC 104 Setup Manual Valacity ws Tima Profis 5 ane wih rure cx a TA nr In all cases if two times S curve acceleration parameter is greater than linear acceleration parameter then the overall acceleration time will be two times the S curve acceleration time If 2 x TS gt TA then TA 2 x TS Benefits of Using S Curve Acceleration Profiles In an electric motor the acceleration directly translates into torque and electrical current When no S curve component is programmed the acceleration torque and current are all immediately applied to the motor as soon as it starts moving On the other hand with a programmed S curve profile the acceleration is linearly introduced resulting in a smoother transition in torque and current However the acceleration rate in a pure S curve acceleration profile is two times than that necessary for a pure linear acceleration profile see equation above This can result in a longer acceleration time when using a S curve acceleration profile maintaining the same maximum acceleration rate 5 curve component 5 curve component Velociby vs Acceleration vs Time P Force Torque vs Tine 3 Current vs Time P d Y Motion Program Velocity One way to program the
33. istance in the opposite direction CLOSE Press Alt X to exit the editor window To run this motion program either press Run or Step If Run is pressed the program will run from start to finish without stopping Otherwise every time Step is pressed one line of the motion program will execute and the program will stop The Quit button will rewind the motion program when it is run in step mode or will execute the last programmed command and stop if it was run with the RUN command To stop any motion in this coordinate system press the Abort button To change program operation speed adjust the feedrate override value either with the slide bar or with the input value field Allowed values 0 to 225 of the programmed feedrate In some cases this is useful for debugging the motion program by running it in slow motion 26 Motion Programs EZ PMAC2A PC 104 Setup Manual PLC PROGRAMS IP ded ni dhe camioni al PLC FLCI PLC 15 Running PLC 23 Disabled PLA 1 oom e s uq E Tirk on the FLC pombe an re Ohl i the LC Deak edit f r PLC an a invi wieder diah Lillie boi bo deeb de ee civil he PLC are shoning press libar ar Oyrn Filz m crraiz a nrw em PMAC is not only an excellent motion controller but it can perform PLC operatio
34. le Reset PMAC to Last Memory Saved Parameters After a SAVE online command has been issued see below PMAC maintains its memory contents either with a battery or with a flash type memory The type of backup memory depends on the particular type of on board PMAC memory that was ordered With this type of reset which is the online command all the variables will be returned to the last saved values Reset PMAC to Factory Defaults With this type of reset online command all PMAC variables can be reverted to the factory default values This is important when PMAC is configured for the first time After performing this procedure all programs inside the memory will be erased and all variables will be configured to the default values Save Parameters in PMAC Memory With the SAVE online command the values in PMAC memory will be saved and kept under a reset or power up cycle It is important to save the PMAC memory contents every time a change has been made to any of its variables or programs 32 Backup and Reset Procedures EZ PMAC2A PC 104 Setup Manual THE TERMINAL WINDOW AND UTILITY FUNCTIONS xj che FMAC screen 1 After has been configured properly this terminal screen becomes the main operating screen from which every previously described function can be accessed easily The terminal window has a rotating buffer that records the five last issued comma
35. le of thumb slowly increase the proportional gain variable until a buzzing noise in the motor is heard and then back down 2090 from that value 3 Perform a parabolic move to let the program know that the motor is successfully tuned The parabolic move is explained below 4 If there is a similar kind of amplifier and motors connected to the other PMAC motors copy the tuning parameters with the Clone button However a parabolic move must be performed for each cloned motor icy 5 When exiting this page the motor selected will be disabled if the parabolic move was not performed or if it was performed unsuccessfully The program assumes that a not properly tuned motor will not be used in this application The Parabolic Move The parabolic move is a simple way to monitor how much following error the motor of interest has during a closed loop move In some cases the shape of the parabolic response can indicate how to improve the tuning parameters The slides on the right hand side of the page are present for this purpose Tuning the Motors 15 EZ PMAC2A PC 104 Setup Manual tr Select the motor that will perform the parabolic move Select the move distance in encoder counts based on the available travel distance and the encoder resolution Select the move time in milliseconds This parameter determines how fast the move will be executed resulting in a lower or higher velocity Make sure the distance and time results in a kind o
36. lerudea Wi Lio e S Curve Acceleration 5B TELS Auri Limi Dierelerutian 8 25 IHI2 Jeg Speed 3 3516 Maximam Velocity 32 Stans eek From this page any activated motor can be moved in closed loop by means of Jog commands Before jogging each motor it is important to properly define all the move parameters These parameters are explained in the following sections Motor Safety I Variables Warning Setting Ix11 to zero disabled could lead to a dangerous motor runaway condition For example if the encoder feedback information is lost but Ix11 is enabled PMAC will shut down the motor when the following error exceeds Ix11 and so will prevent the motor from running away in an uncontrollable fashion Ix11 Motor x Fatal Following Error Limit This variable specifies the maximum number of counts of allowed following error before the motor is shutdown This variable is scaled in 1 16 counts this means for example that a value of 1600 in I111 would result in a maximum allowed following error for motor 1 of 100 encoder counts Ix12 Motor x Warning Following Error Limit This variable specifies the maximum number of counts of allowed following error before a warning is issued in the status word for that motor This variable is scaled in 1 16 counts this means for example that a value of 800 in 1112 would result in a warning following error for motor
37. ll reference any subsequent programmed move in absolute mode to that physical location Motor Home Movement I Variables Ix19 Motor x Maximum Jog Home Acceleration This variable scaled in encoder counts per millisecond square sets the maximum allowed acceleration rate for a motor performing a homing move In addition it determines the maximum acceleration rate for jog commands See the Motor Jog Commands section of this manual for more details Ix20 Motor x Jog Home Acceleration Time This variable scaled in milliseconds determines how long the acceleration portion of the home search move will take regardless of whether S curve components are programmed also In addition this parameter determines the acceleration time for jog commands See the Motor Jog Commands section of this manual for more details Ix21 Motor x Jog Home S Curve Time This variable scaled in milliseconds determines the portion of the acceleration ramp that will be performed in S curve mode If Ix20 is set to zero then the acceleration ramp will take 2 Ix21 and will be executed in pure S curve mode This parameter also determines the S curve acceleration time for jog commands See the Motor Jog Commands section of this manual for more details Home Procedure 21 EZ PMAC2A PC 104 Setup Manual Ix23 Motor x Home Speed and Direction This variable sets the motor home search speed and direction in units of encoder counts per millisecond Usually the magnitu
38. ls and can be programmed to output a particular range of outputs The settings of the pulse and direction signals are accessible by pressing the Configuration button e 10V input command differential signals e Sinking enable input the amplifier enables when the enable input is tied to ground 10 Connections and Initial Settings EZ PMAC2A PC 104 Setup Manual Since the pulse and direction stepper outputs are provided from PMAC there is no need to turn on the stepper driver during this process It is recommended that the stepper driver and the machine be turned off during this process 1 Select motor to test its motor control signals 2 Slide the output value bar or input an output value from the keyboard 3 Use an oscilloscope to observe the square signal generated from the pulse output Monitor a change in the direction signal as the output value is switched between positive and negative values 4 Measure a change on the amplifier enable signal as it is enabled disabled with the corresponding button Make sure that the amplifier enable signal is operating properly This is how PMAC will disable the amplifier in case of failure or in an emergency 5 The maximum output can be clipped to any desired value with the dedicated slide bar or data input field If no pulse signal is output 1 Make sure that the motor in which the stepper and enable signals are being measured is selected 2 Disconnect anything connected to the PM
39. nds These commands can be recalled through the arrow keys on the keyboard Based on the limited size of the terminal window we suggest listing any PLC or Motion Program from the dedicated pages instead of using the LIST online command The Watch Window The watch window provides a simple method for continuously monitoring any PMAC variable or memory register By default the following information is displayed Position Velocity and following error of the first four motors the number of the selected motor the number of the selected coordinate system and the feedrate value parameter for the selected coordinate system The watch window can be paused with the by pressing the Stop Watch button improving the communications response of the terminal window The contents of the watch window can be edited with the Edit Watch button and any valid online command can be inserted The data displayed is that received directly from PMAC and no further formatting is applied other than that provided by the PMAC I9 variable The Calculator Function Ex aue Es Fl The Terminal Window and Utility Functions 33 EZ PMAC2A PC 104 Setup Manual This simple calculator has common arithmetic functions and an automatic decimal to hexadecimal conversion for every number entered The hexadecimal field can be edited to obtain hexadecimal to decimal conversions as well The Circle Function abunde Santer b LA 157
40. ns The 32 different PLC programs are similar to motion programs but they run independently of motion programs and of other PLCs Note PLCO is a special PLC that should be dedicated for operations that require fast execution A large time consuming PLCO could in some cases interfere with normal communications with the host computer This screen will display a list of PLCs that are present in memory together with the indication of whether the PLC is running enabled or disabled 1 Enter a PLC number to be created or edited in the PLC Number Data Input field Valid numbers are 0 to 31 although PLCO is reserved for special uses 2 Press Edit to view the contents of the selected PLC program or to create a new PLC program 3 When the edit window is open enter the following text OPEN CLI IF M8 1 M0 1 M1 0 ELSE M0 1 M1 0 ENDIF CLOSE Press Alt X to exit the editor window e o Ne if input output 1 output 2 else if output 1 output 2 1 is is set to ON is set to OFF input 1 is OFF is set to OFF is set to ON 4 Set the PLC radio button to ON and the PLC radio button to Enable Then make sure that PLCI has running indicated next to it PLC Programs 27 EZ PMAC2A PC 104 Setup Manual General Purpose I O and Analog Inputs Page This page shows the status of the JOPTO port on the ACC 1P board and the voltage that is input in the op
41. olarity test has not yet been run for the particular motor A yellow colored square indicates that the motor passed the polarity test but its servo parameters haved not yet been tuned A green colored square indicates that the motor has already been tuned and that it is ready to be operated in closed loop mode Clicking on the particular motor box will open the appropriate screen to complete the motor setup For example if the motor status is indicated with a red box then the motor polarity test screen will open If the motor status is indicated with a yellow box instead then the motor tuning screen will open Built in Catalog of Functions ur WWFUENZ I T Faris af FMAC Press Tak fer Derirur taps Fress when fish 7 fisme C7 Canaan Dore Problem Data eror or ungrecognized command corect sako of comman This function accessible from the F1 Help command allows searching for the description of any PMAC setup variable or command The Search button will list all the entries based on a particular entered search key This window can be kept open at all times for easy reference to each command in every part of the setup process The PMAC Guide Manual This Acrobat PDF file is the most complete reference for setting up PMAC for a typical application This file also can be kept open for easy reference during the setup process Resettin
42. ome Movement 1 21 Ix19 Motor x Maximum Jog Home 21 1 20 Motor x Jog Home Acceleration 21 Table of Contents i EZ PMAC2A PC 104 Setup Manual Ix21 Motor x Jog Home S Curve 21 1x23 Motor x Home Speed and 22 Ix26 Motor x Home Offset 22 Motor Home Commands edt iot i eee Sep Probes ea e adiens E E E tem eee eus 22 MOTION 07 6219 V 7 RR 23 Coordinate Systems 01 23 S Curve and Linear Acceleration 23 Benefits of Using S Curve Acceleration Profiles eese eerte eere 24 Motion Program Velocity esses entren eren enne enne entrent enne 24 Blending 25 Moton Programs 25 Iu E eg EI Tic M 27 General Pur
43. pose I O and Analog Inputs 28 Software SEMUD isses rcc 28 General Purpose Digital Inputs and 28 UIN mme 29 BACKUP AND RESET PROCEDURES eere sesta stt tuse ta sons ta sesto sees suse tates suse ta sone 31 Backup Procedures vss T 31 PLOCCCUIES 31 Reset to Last Saved Backup File 32 Reset PMAC to Last Memory Saved 32 Reset PMAC to Factory Defaultsi ipeo erbe yv te eec tede esee apa be t eet eese doe koe RE dpa sue 32 Save Parameters in PMAC Memory sicicsccccvsnecsansvestecssiccnnsssvoscescardesstesdenssscesdedsnsessuancerhevenseteacevecenedvenuedenesienes 32 THE TERMINAL WINDOW AND UTILITY 33 The Watch Wandow uenti tne rabie tu iti eei es 33 The Calculator Function oreet pret ote Etre e ec idet p eater ds 33 The Circle Function oie Ha epi abet t ati etes 34 Table of Contents EZ PMAC2A PC 104 Setup Manual INTRODUCTION PMAC pronounced Pe MAC stands for Programmable Multi Axis Controller It is a family of high performance servo motion controller
44. rease in the encoder counter when the amplifier is enabled with a zero command value and zero bias value will indicate a drifting condition Set the bias value manually by changing the slide bar or input value Alternatively as long as the motor is free to move in an uncontrolled fashion click on the Auto Set Bias button for an automatic procedure During this process the motor might perform a sudden and uncontrolled move 4 check the motor polarity set a positive command output value and monitor an increase in the encoder counter Then set a negative command output value and monitor a decrease in the encoder counter Alternatively as long as the motor is free to move in an uncontrolled fashion click on the Check Polarity button for an automatic procedure During this process the motor might perform a sudden and uncontrolled move Connections and Initial Settings 13 EZ PMAC2A PC 104 Setup Manual 5 The open loop command can be output up until a limited time set on the screen To disable this feature set the Timer value to zero The maximum value for this timer is 3600 seconds one hour At any time press the Esc key to disable or kill all motors However it is recommended that there is easy access to an electrical switch that will shut down the amplifier and motor in case of failure or in an emergency 14 Connections and Initial Settings EZ PMAC2A PC 104 Setup Manual TUNING THE MOTORS The Tuning Proce
45. s capable of commanding up to 32 axes of motion simultaneously with a high level of sophistication The PMAC2A PC 104 member of the PMAC family is a cost effective 8 axis motion controller The PMAC2A PC 104 can be composed of three boards in a stack configuration The base board provides four channels of either DAC 10V or pulse and direction command outputs The optional axis expansion board provides a set of four additional servo channels and I O ports The optional communications board provides extra I O ports and either the USB or Ethernet interface for faster communications Only one communication port can be used at any given time The PMAC Quick Setup program is a software tool for setting up and troubleshooting the PMAC2A PC 104 board Each screen is dedicated to testing and setting up a particular feature of the board thus making the setup of the PMAC motion controller a very simple process The PMAC Quick Setup program runs in most 32 bit Microsoft Windows operating systems and can communicate through any method including serial RS 232 USB Ethernet and PC 104 bus Configuring PMAC PMAC is shipped with all the configuration jumpers set for a typical application These default settings are explained in the particular sections of this manual where each feature is illustrated Follow these steps to install and configure PMAC for a typical application Establish power supplies connections Establish communications Establis
46. seconds as described above The following relationship holds for the conversion between those parameters Maximum Velocity Acceleration Rate Linear Acceleration Time S Curve Acceleration Time Example Ix22 19 Ix20 Ix21 Benefits of Using S Curve Acceleration Profiles In an electric motor the acceleration directly translates into torque and electrical current When no S curve component is programmed the acceleration torque and current are all applied immediately to the motor as soon as it starts moving On the other hand with a programmed S curve profile the acceleration is linearly introduced resulting in a smoother transition in torque and current However the acceleration rate in a pure S curve acceleration profile is two times than necessary for a pure linear acceleration profile see equation above This can result in a longer acceleration time when using a S curve acceleration profile maintaining the same maximum acceleration rate 5 curve component 5 curve component Velocity vs Time Accelertion vs Time Force Lonque va Lime af x Corent vs Time y x Motor Jog Movement I Variables Ix20 Motor x Jog Home Acceleration Time This variable scaled in milliseconds determines how long the acceleration portion of the jog moves will take regardless of whether S curve components are programmed also see previous diagram Ix21 Motor x Jog Home S Curve Time This variable
47. t observed if I13 is greater than zero set to greater than zero is necessary for example when a motion program is performing a circular interpolation move Ix19 Motor x Maximum Jog Home Acceleration This variable scaled in encoder counts per millisecond square sets the maximum allowed acceleration rate for a motor in performing jog or homing move S Curve and Linear Acceleration Variables Velocity vs Time The acceleration portion of a jog programmed move is controlled by two time parameters in units of milliseconds In the case of jog or homing commands these two parameters are I Variables Ix20 and Ix21 Ix20 determines the overall acceleration time which is the total time required for any change in velocity Ix21 determines the portion of the overall acceleration ramp that is performed in S curve mode In all cases if two times the S curve acceleration parameter is greater than the linear acceleration parameter then the overall acceleration time will be two times the S curve acceleration time If 2 x Ix21 gt Ix20 then Ix20 2 x Ix21 18 Motor Jog Commands EZ PMAC2A PC 104 Setup Manual Rate vs Time Programming the Maximum Acceleration Parameters The safety I Variables Ix17 and Ix19 determine the maximum allowed acceleration for the motor x These variables are programmed in the rate of encoder counts per millisecond square However the acceleration of a jog programmed move is set in milli
48. tional analog to digital converter inputs OUTPUTS INPUTS Fa e om 15 hii 2 Pkr m Du mu ee Itu MACHE ADCI A5 zu Ex Iquarm eee MACH d VMACZA FPCITDS mik OF T LF Clicking on the I O Port button on the PLC Programs page will show PMAC s general purpose digital I O connector page This page checks the PLC program example written above 1 Set the PLCs and Simulated Inputs radio buttons to ON 2 Click on the input switch for input pin 15 Observe a change on outputs and as the state of the input MII is changed Note Make sure that no actual device is connected to any output line on the JOPTO port when testing this sample PLC The logic shown in this example is for illustration purposes only it might not be appropriate for the actual machine configuration Software Setup General Purpose Digital Inputs and Outputs If one ACC 1P is present on the PMAC2A PC 104 stack configuration then its jumpers E5 and E6 should be set at the default position 1 2 In this case the lines on its J7 general purpose I O connector will be mapped into PMAC s address space in register 080 Jumpers E5 and E6 should be configured on position 2 3 only when two ACC 1Ps are used In this case the I O lines can be accessed at address Y COCO If no ACC IP is present on the PMAC2A PC
49. ular motor is selected to be either analog 10 or pulse and direction stepper outputs The following is the description for the analog 10 DAC test PMAC can command the amplifier and motor through the DAC digital to analog converter outputs These 10V signals translate depending on the amplifier in current torque or velocity causing the motor to move A typical amplifier has the following characteristics for the related PMAC control signals Connections and Initial Settings 9 EZ PMAC2A PC 104 Setup Manual e 10V input command differential signals e Sinking enable input the amplifier enables when the enable input is tied to ground Since the DAC outputs are powered from PMAC there is no need to turn on the amplifier during this process It is recommended that the amplifier and the machine are turned off during this process 1 Select the motor to test its motor control signals 2 Slide the DAC value bar or input a DAC value from the keyboard 3 Use a voltmeter to measure the selected DAC value on the indicated pins PMAC or breakout board 4 Measure a change on the amplifier enable signal as it is enabled disabled with the corresponding button Since the output is sinking type a 5V value indicates that the output is activated Make sure that the amplifier enable signal is operating properly This is how PMAC will disable the amplifier in case of failure or in an emergency 5 The maximum DAC output could be clipp
50. ust be defined A coordinate system consists of one or several motors that will be controlled in a coordinate fashion from a motion program Each motor is linked to an axis letter with an optional scale factor The scale factor allows for example programming each move in the motion program in units of inches millimeters or simply revolutions of the motor The scale factor can depend for example on the encoder resolution the ratio of an optional gearbox and the pitch of the ball screw translating rotational motion into linear motion For simplicity set the scale factor to 1 and program the first motion program in units of encoder counts Select a coordinate system number Usually Coordinate System 1 is used Select a motor number from the menu on the screen Enter the appropriate scale factor or 1 for programming the first motion program in encoder counts Select an axis letter from the menu Click on the Add Motor button Repeat the steps for all other motors 5 Curve and Linear Acceleration Variables The acceleration portion of a motion program move in either linear or circular interpolation is controlled by two timing parameters in units of millisecond These two parameters are the motion commands TA and TS or the corresponding I variables Ix87 and Ix88 in case TA or TS is not included in the motion program TA or Ix87 determines the overall acceleration time which is the total time required for any change in velocity TS or Ix88 determ
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