User's Manual

PMAC User Manual
iv Table of Contents
Input Source/Sink Control ..................................................................................................................................49
Thumbwheel Multiplexer Port I/O (JTHW Port) ....................................................................................................49
Multiplexed Uses ................................................................................................................................................49
Non-Multiplexed Uses ........................................................................................................................................50
Control-Panel Port I/O (JPAN Port)........................................................................................................................50
Discrete Inputs....................................................................................................................................................50
Alternate Use ......................................................................................................................................................50
Reset Input ..........................................................................................................................................................50
Handwheel Inputs ...............................................................................................................................................50
Analog Input .......................................................................................................................................................51
Display Port Outputs (JDISP Port)..........................................................................................................................52
SETTING UP A MOTOR.........................................................................................................................................53
What is a Motor? .....................................................................................................................................................53
Defining the Motor..................................................................................................................................................53
Motor I-Variables ...............................................................................................................................................53
Activating the Motor ...............................................................................................................................................53
Does PMAC Commutate this Motor? .................................................................................................................53
Address I-Variables ............................................................................................................................................53
Hex vs. Decimal Reporting .................................................................................................................................54
Selecting the Output(s)........................................................................................................................................54
Selecting the Position Loop Feedback................................................................................................................54
Selecting the Velocity Loop Feedback ................................................................................................................54
Dual Feedback Systems ......................................................................................................................................54
Accuracy vs. Stability..............................................................................................................................................55
Selecting the Master Position Source .................................................................................................................56
Selecting the Flag Register.................................................................................................................................56
Selecting the Power-Up Mode ............................................................................................................................56
Types of Position Sensors .......................................................................................................................................56
Quadrature Encoder Feedback ..........................................................................................................................56
Hardware Changes.............................................................................................................................................58
Software Changes ...............................................................................................................................................58
Parallel Position Feedback ................................................................................................................................58
Parallel Absolute Feedback................................................................................................................................60
Linear Displacement Transducer Feedback .......................................................................................................60
Analog Position Feedback..................................................................................................................................61
Resolver Feedback..............................................................................................................................................62
Absolute Power-Up Position ...................................................................................................................................62
Absolute Position Range.....................................................................................................................................62
Parallel-Data Position........................................................................................................................................63
Resolver Position................................................................................................................................................63
Axis Offset...........................................................................................................................................................64
Encoder Offset ....................................................................................................................................................65
Encoder Conversion Table ......................................................................................................................................65
Incremental Encoder Entries..............................................................................................................................68
1/T Interpolation.................................................................................................................................................68
Parallel-Bit Interpolation ...................................................................................................................................68
No Interpolation..................................................................................................................................................68
Acc-28 Analog-to-Digital Conversion Register Entries .....................................................................................68
Parallel Position Feedback Conversion .............................................................................................................70
Time-Base Conversion Entries ...........................................................................................................................73
Triggered Time-Base Conversion Entries ..........................................................................................................74
Exponential-Filter Entries ..................................................................................................................................75
Setting up the Encoder Conversion Table...........................................................................................................76
Further Position Processing.....................................................................................................................................78
Software Position Extension ...............................................................................................................................78