User`s manual

6.0 - PLC PROGRAMS ___________________________________________________57
6.1 - Entering a PLC Program _____________________________________________________________________ 58
6.2 - PLC Program Structure______________________________________________________________________ 58
6.3 - Calculation Statements _______________________________________________________________________ 58
6.4 - Conditional Statements_______________________________________________________________________ 59
6.4.1 - Level-Triggered Conditions: ________________________________________________________________ 59
6.4.2 - Edge-Triggered Conditions:_________________________________________________________________ 59
6.5 - WHILE Loops______________________________________________________________________________ 59
6.6 - COMMAND and SEND statements ____________________________________________________________ 60
6.7 - Timers ____________________________________________________________________________________ 60
6.8 - Compiled PLC Programs_____________________________________________________________________ 61
7.0 - TROUBLESHOOTING SECTION _______________________________________63
7.1 - Resetting PMAC to factory defaults ____________________________________________________________ 63
7.2 - The watchdog timer (red LED) ________________________________________________________________ 63
7.3 - Establishing communications__________________________________________________________________ 64
7.3.1 - General_________________________________________________________________________________ 64
7.3.2 - Bus Communications ______________________________________________________________________ 64
7.3.3 - Serial communications _____________________________________________________________________ 64
7.4 - Motor parameters ___________________________________________________________________________ 65
7.5 - Motion programs____________________________________________________________________________ 65
7.6 - PLC programs______________________________________________________________________________ 66
Appendix 1: PMAC error code summary
Appendix 2: PMAC I-variables summary
Appendix 3: PMAC On-Line (Immediate) Commands
Appendix 4: PMAC program command specification
Appendix 5: Motor Suggested M-variable Definitions
Appendix 6: I/O Suggested M-variable Definitions
Appendix 7: ACC-8D / 8P pin-out description
Appendix 8: PMAC Accessories and Options