User`s manual

Installing and Configuring PMAC
Page - 27
3.9 - 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. Using PEWIN follow these steps for Software Setup:
1) Fully reset PMAC to assure a clean memory configuration before start:
$$$*** ;Global Reset
P0..1023=0 Q0..1023=0 ;Reset P-variables and Q-variables values
M0..1023->* M0..1023=0 ;Reset M-variables definitions and values
UNDEFINE ALL ;Undefine Coordinate Systems
SAVE ;Save this initial, “clean”configuration
2) Define the safety I-variables appropriately (x stands for the motor number, 1 through 8):
Motor safety I-variables Range Default Units
Ix00 Motor x Activate 0 .. 1 0 (1 for Motor 1) none
Ix11 Motor x Fatal Following Error Limit 0 .. 8,388,607 32000 1/16 Count
Ix12 Motor x Warning Following Error Limit 0 .. 8,388,607 16000 1/16 Count
Ix13 Motor x + Software Position Limit +/- 2
47
0 (Disabled) Encoder Counts
Ix14 Motor x - Software Position Limit +/- 2
47
0 (Disabled) Encoder Counts
Ix15 Motor x Abort/Lim Decel Rate positive floating point 0.25 Counts/msec
2
Ix16 Motor x Maximum Velocity positive floating point 32 Counts/msec
Ix17 Motor x Maximum Acceleration positive floating point 0.015625 Counts/msec
2
Ix19 Motor x Maximum Jog Acceleration positive floating point 0.015625 Counts/msec
2
Ix25 Motor x Flag Address PMAC 'X' addresses see Ix25 table Extended legal PMAC 'X' addresses
For dual feedback systems:
encodervelocity the of Distance of Units
encodervelocity the of counts of Number
Ix09
encoder position the of Distance of Units
encoder position the of counts of Number
Ix08 ⋅=⋅
3) Leave any loads disconnected from the motor at this point.
Test the polarity and functioning of the motor by means of open loop commands. For the open loop command to work
the overtravel limits must be either disabled (see Ix25) or properly connected. Type the following in the terminal:
#1O10 ; “Pound one, ‘O’ ten” will output 10% of the DAC on motor #1. It is about 0.6 Volts on default settings
<Observe the motor turning in the positive direction; the position window should indicate motor #1 counting up>
#1O-10 ; “Pound one, ‘O’ negative ten” will output a negative 10% of the DAC on motor #1, about -0.6 Volts
<Observe the motor turning in the negative direction; the position window should indicate motor #1 decreasing>
Slowly increase the percentage of the output command issued if no motion is observed. If after 50% no reaction of the
motor occurred, check the DAC outputs following the guidelines in the previous sections.
4) Perform a tuning procedure as described in the PEWIN chapter.
5) After the tuning process have been completed satisfactory, check it by means of the following online commands:
SAVE ;Save this setup
#1J+ ;Jog Motor #1 continuously in the positive direction
#1J- ;Jog Motor #1 continuously in the negative direction
#1J=2000 ;Jog Motor #1 to a known location
6) Create a PMAC’s memory backup file as described in the PEWIN chapter.