User's Manual

PMAC User Manual
2 Introduction
Manual Layout
This manual provides a quick step-by-step guide for the beginner setting up a typical system, as well as
explaining how to use the various features available on PMAC. It is organized by subject (safety, I/O,
servos, trajectories, etc.) to allow quick access by the area of concern. The subjects are ordered by the
typical sequence of events to go through to set up a system.
The commands are organized in alphabetical order, and the variables, registers, jumpers and connectors are
in numerical order. There is extensive cross-referencing between the chapters. Any variable, command,
register, jumper, or connector mentioned in chapter 2 is covered in more detail in the appropriate reference
chapters.
Reading the chapters, there may be topics or depth of coverage not needed at the time. Simply skip these
chapters and proceed to a chapter that is of more immediate use.
This manual assumes the system integrator who is responsible for this installation knows the basics of
working in a Microsoft
®
Windows environment and has more than a basic understanding of electronics,
machine tool technology, and the PMAC motion control board. If any questions about a particular aspect
of the installation arise, do not attempt the task until a thorough understanding is gained. Feel free to
contact Technical Support at any time during installation. Refer to the Technical Support section below for
information on contacting our technical support department.
Conventions Used in this Manual
The following conventions are used throughout the manual:
<ENTER>
<CTRL+F4>
Text inside arrows is used to represent keyboard keys or key
combinations.
OPEN PROGRAM
Mono-spaced is used for code listings.
Warning
Information that, if not observed, may cause serious injury or death.
Caution
Information that, if not observed, may cause damage to equipment or
software.
Note
A note concerning special functions or information of special interest.
Safety Summary
The following are general safety precautions not related to any specific procedures and therefore may not
appear elsewhere in this publication. These are recommended precautions that personnel must understand
and apply during many phases of operation and maintenance.
Keep Away from Live Circuits
Do not replace components or make adjustments inside equipment with power applied. Under certain
conditions, dangerous potentials may exist when power has been turned off due to charges retained by
capacitors. To avoid casualties, always remove power, discharge, and ground a circuit before touching it.
Live Circuit Contact Procedures
Never attempt to remove a person from a live circuit with bare hands. To do so is to risk sure and sudden
death. If a person is connected to a live circuit, the following steps should be taken:
Call for help immediately.
De-energize the circuit, if possible.
Use a wood or fiberglass hot stick to pull the person free of the circuit.
Apply cardiopulmonary resuscitation (CPR) if the person has stopped breathing or is in cardiac arrest.
Obtain immediate medical assistance.