User's Manual

PMAC User Manual
Table of Contents i
Table of Contents
INTRODUCTION .......................................................................................................................................................1
Flexibility..............................................................................................................................................................1
Configuration for a Task.......................................................................................................................................1
PMAC is a Computer............................................................................................................................................1
Manual Layout ..........................................................................................................................................................2
Conventions Used in this Manual.........................................................................................................................2
Safety Summary ........................................................................................................................................................2
Keep Away from Live Circuits..............................................................................................................................2
Live Circuit Contact Procedures ..........................................................................................................................2
Electrostatic Sensitive Devices .............................................................................................................................3
Magnetic Media....................................................................................................................................................3
Related Technical Documentation ............................................................................................................................3
Technical Support .....................................................................................................................................................3
By Telephone ........................................................................................................................................................3
By Fax and E-Mail................................................................................................................................................3
Bulletin Board Service (BBS) ...............................................................................................................................3
GETTING STARTED WITH PMAC........................................................................................................................5
Preparing the Card.....................................................................................................................................................5
E-Point Jumpers ...................................................................................................................................................5
Card Number Jumpers..........................................................................................................................................5
Communications Baud Rate Jumpers ...................................................................................................................6
PCbus Address Jumpers .......................................................................................................................................6
STDbus Address Jumpers .....................................................................................................................................6
PMAC VME Interface Setup.................................................................................................................................6
Encoder Jumpers ..................................................................................................................................................6
Analog Circuit Jumpers ........................................................................................................................................7
Re-initialization Jumper .......................................................................................................................................7
Standard and Option 5 PMACs ............................................................................................................................7
PMAC with Options 4A, 5A, and 5B.....................................................................................................................8
Connecting PMAC to the Host Computer.................................................................................................................8
Bus Connection.....................................................................................................................................................8
Serial Port Connection .........................................................................................................................................8
Installing the PMAC Executive Program..............................................................................................................9
Establishing Host Communications......................................................................................................................9
Terminal Mode Communications..........................................................................................................................9
Connecting PMAC to the System..............................................................................................................................9
Machine Connectors...........................................................................................................................................10
Connecting the Analog Power Supply ................................................................................................................10
Incremental Encoder Connection .......................................................................................................................10
Amplifier Connection..........................................................................................................................................11
Auxiliary Connections ........................................................................................................................................11
Software Setup for a Motor .....................................................................................................................................12
Encoder I-Variables............................................................................................................................................13
Motor I-Variables ...............................................................................................................................................13
Motor Activation.................................................................................................................................................13
For PMAC-Commutated Motors Only................................................................................................................13
For Motors Not Commutated By PMAC.............................................................................................................14
For All Types of Motors......................................................................................................................................14
Testing the Output and Polarity..........................................................................................................................16
Non-PMAC Commutated Motors........................................................................................................................16
Overtravel Limit Polarity....................................................................................................................................16
Setting up the Servo Loop ...................................................................................................................................17
Closing the Loop.................................................................................................................................................17
Jogging Moves....................................................................................................................................................17