User's Manual

PMAC User Manual
Table of Contents xiii
Table of Figures
Figure 1 PMAC Motion Controller Custom Gate Array IC ........................................................................................41
Figure 2 PMAC Encoder Input Circuitry ....................................................................................................................42
Figure 3 Encoder Digital Delay Filter .........................................................................................................................44
Figure 4 Using the PMAC Control Panel Analog (Wiper) Input.................................................................................52
Figure 5 Address I-Variables.......................................................................................................................................55
Figure 6 PMAC Pulse and Direction Output ...............................................................................................................55
Figure 7 PMAC 1/T Extension....................................................................................................................................57
Figure 8 Interpolated Encoder Feedback .....................................................................................................................59
Figure 9 Encoder Conversion Table Process...............................................................................................................65
Figure 10 Configure Encoder Conversion Table Editing Screen.................................................................................66
Figure 11 Conversion Table Example for Time-Base Entry .......................................................................................74
Figure 12 PMAC Position Processing .........................................................................................................................79
Figure 14 Two Dimensional Compensation Table ......................................................................................................82
Figure 15 PMAC Commutation...................................................................................................................................88
Figure 16 Hall Effect Waveform Diagram ..................................................................................................................94
Figure 17 PMAC/PMAC2 Direct Microstepping System ...........................................................................................99
Figure 18 PMAC PID and NOTCH Servo Filter.......................................................................................................107
Figure 19 PMAC PID Servo Loop Modifiers............................................................................................................107
Figure 20 Extended Control Alogorithm Block Diagram..........................................................................................111
Figure 21 Motor x Motion Variables.........................................................................................................................127
Figure 22 Homing Search Move Trajectory ..............................................................................................................128
Figure 23 PMAC Coordinate Definition ...................................................................................................................140
Figure 24 PMAC Multitasking Example...................................................................................................................146
Figure 25 PMAC Memory Mapping .........................................................................................................................149
Figure 26 Coordinate System Variables ....................................................................................................................167
Figure 27 Automatic S Curve Acceleration...............................................................................................................168
Figure 28 Linear Mode Trajectories (Sheet 1 of 4) ...................................................................................................170
Figure 29 Linear Mode Trajectories (Sheet 2 of 4) ..................................................................................................171
Figure 30 Linear Mode Trajectories (Sheet 3 of 4) ...................................................................................................172
Figure 31 Linear Mode Trajectories (Sheet 4 of 4) ...................................................................................................173
Figure 32 PMAC Circular Interpolation....................................................................................................................178
Figure 33 PVT Mode Contouring (Hermite Spline) ..................................................................................................180
Figure 34 PVT Segment Shapes ................................................................................................................................181
Figure 35 Splined Moves (All Segments at Same Time)...........................................................................................181
Figure 36 Cubic Spline Trajectories ..........................................................................................................................182
Figure 37 PMAC Transition Point Moves (PVT Mode, Parabolic Velocity)............................................................182
Figure 38 Compensation – Inside Corner..................................................................................................................185
Figure 39 Compensation Outside Corner ..................................................................................................................186
Figure 40 Inside Corner Cutter Compensation ..........................................................................................................187
Figure 41 Outside Corner Cutter Compensation Sharp Angle ..................................................................................188
Figure 42 Outside Corner Cutter Compensation – Shallow Angle............................................................................188
Figure 43 Reversal in Cutter Compensation..............................................................................................................189
Figure 44 Failure When Compensation Extends Full Circle .....................................................................................190
Figure 45 Cutter Compensation Change of Direction ...............................................................................................191
Figure 46 Cutter Compensation Change of Direction – No Intersection...................................................................191
Figure 47 Removing Compensation – Inside Corner ................................................................................................192
Figure 48 Removing Compensation – Outside Corner..............................................................................................193
Figure 49 Failures in Cutter Compensation...............................................................................................................194
Figure 50 PMAC Motion Program Recalculation .....................................................................................................214
Figure 51 PMAC Motion Program Recalculation .....................................................................................................219
Figure 52 Position Following Parameters..................................................................................................................220
Figure 53 PMAC PC/VME Custom Gate Array (DSPGATE) Encoder Functions ...................................................231