User's Manual

PMAC User Manual
ii Table of Contents
Power-Up Mode..................................................................................................................................................18
Homing Search Move .........................................................................................................................................18
Setting up a Coordinate System ..............................................................................................................................19
Defining an Axis .................................................................................................................................................19
Scaling an Axis ...................................................................................................................................................19
Multiple Axes ......................................................................................................................................................19
Writing a Motion Program ......................................................................................................................................19
Using the Program Editor ..................................................................................................................................20
Executing a Motion Program ..................................................................................................................................20
Starting the Program ..........................................................................................................................................20
Stopping the Program.........................................................................................................................................20
Refining the Program .........................................................................................................................................20
Writing and Executing a PLC Program...................................................................................................................21
Starting the PLC Program..................................................................................................................................21
Stopping the PLC Program.................................................................................................................................21
PMAC FEATURES...................................................................................................................................................23
Executing Motion Programs....................................................................................................................................23
Executing PLC Programs ........................................................................................................................................23
Servo Loop Update..................................................................................................................................................23
Commutation Update ..............................................................................................................................................23
Housekeeping..........................................................................................................................................................23
Communicating With the Host............................................................................................................................23
Task Priorities ....................................................................................................................................................24
TALKING TO PMAC...............................................................................................................................................25
Basic Aspects of Communicating with PMAC .......................................................................................................25
Communications Ports ............................................................................................................................................25
Active Response Port ..........................................................................................................................................25
Serial Interface ...................................................................................................................................................25
PC Bus Interface.................................................................................................................................................27
STD Bus Interface...............................................................................................................................................27
VME Bus Interface..............................................................................................................................................27
Giving Commands to PMAC ..................................................................................................................................27
PMAC Processing of Commands........................................................................................................................27
Command Acknowledgement..............................................................................................................................28
Data Response ....................................................................................................................................................28
Data Integrity .....................................................................................................................................................28
Data Response Format .......................................................................................................................................28
On-Line (Immediate) Commands............................................................................................................................29
Types of On-Line Commands..............................................................................................................................29
Motor-Specific Commands .................................................................................................................................29
Coordinate-System-Specific Commands.............................................................................................................29
Global Commands ..............................................................................................................................................30
Buffered (Program) Commands ..............................................................................................................................30
Rotary Motion Program Buffer...........................................................................................................................30
Multiple-Card Applications.....................................................................................................................................31
Bus Communications ..........................................................................................................................................31
Simultaneous Commands....................................................................................................................................31
Serial Communications.......................................................................................................................................31
Serial Card Addressing.......................................................................................................................................32
Setting Up the Addresses ....................................................................................................................................32
Multi-Card Mode Variable .................................................................................................................................33
Addressed-Card Actions .....................................................................................................................................33
Simultaneous Addressing....................................................................................................................................33
Handling Data Response ....................................................................................................................................33
Power-Up State...................................................................................................................................................34