User's Manual

PMAC User Manual
vi Table of Contents
Interface to Other Firmware.............................................................................................................................112
Restrictions .......................................................................................................................................................113
Alternative Uses for User-Written Servo ..........................................................................................................113
Simple User-Written Servo Example ................................................................................................................113
C Program to Convert .LOD File to PMAC Format ........................................................................................114
MAKING THE APPLICATION SAFE ................................................................................................................117
Responsibility for the Safety of a Control System ................................................................................................117
Hardware Overtravel Limit Switches....................................................................................................................117
Software Overtravel Limits ...................................................................................................................................118
Following Error Limits..........................................................................................................................................118
Fatal Following Error Limit.............................................................................................................................118
Warning Following Error Limit .......................................................................................................................118
Integrated Following Error Protection ............................................................................................................118
Velocity Limits......................................................................................................................................................119
Acceleration Limits...............................................................................................................................................119
Command Output Limits.......................................................................................................................................120
Integrated Current (I
2
T) Protection .......................................................................................................................120
Amplifier Enable and Fault Lines .........................................................................................................................121
Watchdog Timer....................................................................................................................................................122
Hardware Stop Command Inputs ..........................................................................................................................122
Host-Generated Stop Commands ..........................................................................................................................122
Program Checksums..............................................................................................................................................123
Firmware Checksum.........................................................................................................................................123
User-Program Checksum .................................................................................................................................123
Communications Data Integrity Features..............................................................................................................123
BASIC MOTOR MOVES.......................................................................................................................................125
Commanding Some Basic Moves for the Motor ...................................................................................................125
Jogging Move Control...........................................................................................................................................125
Jog Acceleration ...............................................................................................................................................125
Jog Speed..........................................................................................................................................................125
Jog Commands..................................................................................................................................................125
Homing Search Move Control...............................................................................................................................128
Homing Acceleration ........................................................................................................................................128
Homing Speed...................................................................................................................................................128
Home Trigger Condition...................................................................................................................................128
Specify Flag Set ................................................................................................................................................128
Software Capture Option ..................................................................................................................................128
Trigger Signals and Edges.....................................................................................................................................129
Torque-Mode Triggering ..................................................................................................................................129
Home Command ...................................................................................................................................................130
On-Line Command............................................................................................................................................130
Monitoring for Finish .......................................................................................................................................130
Homing from a PLC Program ...............................................................................................................................131
Motion vs. PLC Program Homing.........................................................................................................................131
Zero-Move Homing...........................................................................................................................................131
Homing into a Limit Switch ..............................................................................................................................132
Multi-Step Homing Procedures ........................................................................................................................133
Storing the Home Position................................................................................................................................135
Open-Loop Moves.................................................................................................................................................136
SETTING UP A COORDINATE SYSTEM..........................................................................................................137
Coordinating Multiple Motions.............................................................................................................................137
What is a Coordinate System?...............................................................................................................................137
What is an Axis? ...................................................................................................................................................137
One-to-One Matching.......................................................................................................................................137