User's Manual

PMAC User Manual
Getting Started with PMAC 9
Installing the PMAC Executive Program
The initial communications to the card will be done with Delta Tau’s PMAC Executive program (PE) or
the accompanying PMAC Setup (PS) program, which are provided on a diskette (Acc-9D or 9W). The
diskette contains an Install utility to make this easy. Refer to the Executive Program section in the Pewin
User’s Manual, 3A0-0PEWIN-363, for details.
Establishing Host Communications
Either the Executive or Setup program can be used to establish initial communications with the card. Both
programs have menus that tell the PC where to expect to find the PMAC and how to communicate with it at
that location. If it is told to look for PMAC on the bus, also tell it the PMAC base address on the bus (this
was set up with jumpers on PMAC). If it is told to look for PMAC on a COM port, tell it that the baud rate
(this was set up with jumpers or switches on the PMAC). The Executive program (Acc-9W) does have an
automatic baud rate search to find out how the card is set up.
Instructions for setting up the communications are given in detail in the PMAC Executive for Windows
User’s manual, 3A0-0PEWIN-363, p1 Setup Manual, 3A0-1SETUP-363, and P2 Setup Manual, 3A0-
2SETUP-363. Refer to those manuals for more explanation.
Once the program has been told where and how to communicate with PMAC, it will attempt to find PMAC
at that address by sending a query command and waiting for the response. If it gets the expected type of
response, it will report that it has found PMAC.
If it does not get the expected type of response after several attempts, it will report that it has not found
PMAC.
Terminal Mode Communications
Once the program reports that it has found PMAC, and a key has been pressed to escape the Found/Not-
Found window, the program should be in terminal emulation mode, so that the PC is acting as a dumb
terminal to PMAC. Check to see if a response is received by typing I10<CR> (<CR> means carriage
return, the Enter or Return key). PMAC should respond with a six or seven digit number. Now type
III<CR>. PMAC should respond with a beep, signifying an unrecognized command and the error-code
ERR003 if the I-variable I6 is set to its default value of three. For more information on the error-codes,
refer to the explanation of I-Variable I6 in PMAC and PMAC2 Software Reference Manual.
Next, if satisfied that communications with the card is at a basic level, type a P <CR> (case does not
matter). This command requests a position. PMAC should respond with a number, probably a 0. Now
type a <CONTROL-F. Eight numbers (one for each axis) should appear since <CONTROL-F> requests
following error from all eight motors; some or all may be 0.
Note:
Even with encoder counts as read-out (no scaling) PMAC position is displayed with
fractional counts.
Connecting PMAC to the System
Once the basic operation of the card and the host communications have been established, it is time to
connect PMAC to the amplifier, motor, and feedback device.
Of course, most PMAC systems will have more than one motor attached. The process described here can
be repeated for multiple motors. As our example here, we will discuss the setup of motor #1. The
procedure is parallel for any other motors.