Reference Guide

PMAC Quick Reference Guide
30 Installing and Configuring PMAC
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 ensure 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
09Ix
encoder position the of Distance of Units
encoder position the of counts of Number
08Ix ⋅=⋅
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 0.6V 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 -0.6V
<Observe the motor turning in the negative direction; the position
; window should indicate motor #1 decreasing>
If no motion is observed, slowly increase the percentage of the output command issued. 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 has 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 memory backup file as described in the PEWIN chapter.