User`s manual

2.4 - The WATCH and POSITION windows _________________________________________________________ 15
2.5 - Uploading and Downloading files_______________________________________________________________ 15
2.6 - Using MACRO names and Include Files_________________________________________________________ 15
2.7 - Downloading compiled PLCCs ________________________________________________________________ 15
2.8 - The PID Tuning Utility_______________________________________________________________________ 16
2.9 - Other Features______________________________________________________________________________ 18
3.0 - INSTALLING AND CONFIGURING PMAC ________________________________19
3.1 - Jumpers Setup______________________________________________________________________________ 19
3.2 - Serial Connections___________________________________________________________________________ 19
3.3 - Establishing Host Communications_____________________________________________________________ 20
3.3.1 - Terminal Mode Communications_____________________________________________________________ 20
3.3.2 - Resetting PMAC for first time use ____________________________________________________________ 20
3.4 - Connections ________________________________________________________________________________ 21
3.5 - Power Supplies _____________________________________________________________________________ 21
3.5.1 - Digital Power Supply ______________________________________________________________________ 21
3.5.2 - Analog Power Supply _____________________________________________________________________ 21
3.5.3 - Flags Power Supply (optional) _______________________________________________________________ 21
3.6 - Overtravel limits and Home switches ___________________________________________________________ 21
3.6.1 - Disabling the overtravel limits flags ___________________________________________________________ 22
3.6.2 - Types of overtravel limits___________________________________________________________________ 22
3.6.3 - Home switches___________________________________________________________________________ 22
3.6.4 - PMACPack and PMAC2 flag inputs __________________________________________________________ 23
3.6.5 - Checking the flag inputs____________________________________________________________________ 23
3.7 - Motor signals connections_____________________________________________________________________ 23
3.7.1 - Incremental Encoder Connection _____________________________________________________________ 23
3.7.2 - Checking the encoder inputs_________________________________________________________________ 24
3.7.3 - Checking the DAC outputs__________________________________________________________________ 24
3.7.4 - DAC Output signals_______________________________________________________________________ 24
3.7.5 - Amplifier enable signal (AENAx/DIRn) _______________________________________________________ 25
3.7.6 - Amplifier fault signal (FAULTn)_____________________________________________________________ 25
3.7.7 - General-Purpose Digital Inputs and Outputs (JOPTO Port) _________________________________________ 25
3.8 - Machine Connections Example ________________________________________________________________ 26
3.9 - Software Setup______________________________________________________________________________ 27
4.0 - PROGRAMMING PMAC ______________________________________________29
4.1 - Online Commands___________________________________________________________________________ 29
4.2 - Buffered (Program) Commands _______________________________________________________________ 30
4.3 - COMPUTATIONAL FEATURES _____________________________________________________________ 30
4.3.1 - I-variables_______________________________________________________________________________ 30