Reference Manual

Turbo PMAC/PMAC2 Software Reference
Table of Contents v
Table of Contents
INTRODUCTION ................................................................................................................... 21
What is Turbo PMAC? .............................................................................................................. 21
What is New about Turbo PMAC? ............................................................................................ 21
How do I Convert a PMAC Application? .................................................................................. 22
How do I use this Manual? ........................................................................................................ 22
TURBO PMAC VARIABLE AND COMMAND SUMMARY ............................................. 23
Notes ........................................................................................................................................ 23
Definitions ................................................................................................................................ 23
On-Line Commands .................................................................................................................. 24
On-line Global Commands ................................................................................................... 24
On-line Coordinate System Commands ................................................................................. 27
On-line Motor Commands .................................................................................................... 29
Motion Program Commands ..................................................................................................... 30
PLC Program Commands .......................................................................................................... 33
TURBO PMAC GLOBAL I-VARIABLES ............................................................................ 35
General Global Setup I-Variables .............................................................................................. 35
I0 Serial Card Number......................................................................................................................... 35
I1 Serial Port Mode ............................................................................................................................. 36
I2 Control Panel Port Activation .......................................................................................................... 36
I3 I/O Handshake Control .................................................................................................................... 37
I4 Communications Integrity Mode ...................................................................................................... 38
I5 PLC Program Control ..................................................................................................................... 39
I6 Error Reporting Mode ..................................................................................................................... 39
I7 Phase Cycle Extension ..................................................................................................................... 40
I8 Real-Time Interrupt Period .............................................................................................................. 41
I9 Full/Abbreviated Listing Control ..................................................................................................... 42
I10 Servo Interrupt Time ........................................................................................................................ 42
I11 Programmed Move Calculation Time ............................................................................................... 43
I12 Lookahead Time Spline Enable .................................................................................................... 44
I13 Foreground In-Position Check Enable ............................................................................................. 44
I14 Temporary Buffer Save Enable ........................................................................................................ 45
I15 Degree/Radian Control for User Trig Functions .............................................................................. 45
I16 Rotary Buffer Request On Point ....................................................................................................... 45
I17 Rotary Buffer Request Off Point ....................................................................................................... 46
I18 Fixed Buffer Full Warning Point ...................................................................................................... 46
I19 Clock Source I-Variable Number (Turbo PMAC2 only) ................................................................... 46
I20 MACRO IC 0 Base Address (Turbo PMAC2 only) ............................................................................ 48
I21 MACRO IC 1 Base Address (Turbo PMAC2 only) ............................................................................ 48
I22 MACRO IC 2 Base Address (Turbo PMAC2 only) ............................................................................ 49
I23 MACRO IC 3 Base Address (Turbo PMAC2 only) ............................................................................ 50
I24 Main DPRAM Base Address ............................................................................................................ 50
I26 UMAC Electrical MACRO Enable ................................................................................................... 51
I27 Alternate TWS Input Format ............................................................................................................ 51