User`s manual

1.0 - Introduction to PMAC
Page - 6
1.5 - Working with PMAC
When used for the first time the card must be configured for a specific application, using both hardware and software
features, in order to run that application properly. PMAC is shipped from the factory with defaults set in hardware and
software set up to be satisfactory for the most common application types. Working with PMAC is very simple and its ease
of use and power is based in the following features:
- A clever interrupt-driven scheme allows every task, each motion program and PLC, to run independently of each other.
- Pointer M-variables allow monitoring virtually any register in PMAC’s memory from different sources: motion
programs, PLCs or the host computer.
- Communications are continuously activated. At any moment, any variable or status command could be interrogated.
- Up to 8 Axes could be either synchronized together, controlled individually or in any combination in between.
- Data gathering and reporting functions allows saving data such as motion trajectories, velocity profiles or any set of
variables for later analysis and plot.
1.5.1 - Hardware Setup
On the PMAC, you will see many jumpers (pairs of metal prongs), called E-points (on the bottom board of the PMAC-STD
they are called W-points). Some have been shorted together; others have been left open. These jumpers customize the
hardware features of the board for a given application. It is strongly recommended to check each jumper configuration using
the appropriate hardware reference for the particular PMAC being set. Further instructions for the jumper setup could be
found in the PMAC User’s manual. After all the jumpers have been properly set PMAC can be installed either inside the
host computer or linked with a serial cable to it.
1.5.2 - Software Setup
PMAC has a large set of Initialization parameters (I-variables) that determine the "personality" of the card for a specific
application. Many of these are used to configure a motor properly. Once set up, these variables may be stored in non-
volatile EAROM memory (using the SAVE command) so the card is always configured properly (PMAC loads the
EAROM I-variable values into RAM on power-up).
The easiest way to program, setup and troubleshoot PMAC is by using the PMAC Executive Program PEWIN and its
related add-on packages P1Setup and PMACPlot. PEWIN has the following main tools and features:
- A terminal window. This is the main channel of communication between the user and PMAC.
- Watch window for real-time system information and debugging.
- Position window for displaying the position, velocity and following error of all motors on the system.
- Several ways to tune PMAC systems.
- Interface for data gathering and plotting.
In PEWIN the value of an I- variable may be queried simply by typing in the name of the I- variable. For instance, typing
I900<CR> causes the value of the I900 to be returned. The value may be changed by typing in the name, an equals sign,
and the new value (e.g. I900=3<CR>). Remember that if you change any I-variables during this setup, you must use the
SAVE command before you power down or reset the card, or you will lose the changes that you have made.
1.5.3 - Programming PMAC
Motion or PLCs programs are entered in any text file and then downloaded with PEWIN to PMAC. PEWIN provides a
built-in text editor for this purpose but any other text editor could be conveniently used. Most PMAC commands can be
issued from any terminal window communicating with PMAC. Online commands allow, for example, to jog motors,
change variables, report variables values, start and stop programs, query for status information and even write short
programs and PLCs. In fact, the downloading process is just a sequence of valid PMAC commands sent line by line by
PEWIN from a particular text file.