^2 Turbo PMAC/PMAC2 - Heason Technology · unauthorized without written permission of Delta Tau Data Systems, Inc. Information contained in this manual may be updated from time-to-time

^1 SOFTWARE REFERENCE MANUAL

^2 Turbo PMAC/PMAC2

^3 Software Reference for Turbo Family

^4 3Ax-01.937-xSxx

^5 December 19, 2012

Single Source Machine Control Power // Flexibility // Ease of Use 21314 Lassen Street Chatsworth, CA 91311 // Tel. (818) 998-2095 Fax. (818) 998-7807 // www.deltatau.com

Copyright Information © 2010 Delta Tau Data Systems, Inc. All rights reserved.

This document is furnished for the customers of Delta Tau Data Systems, Inc. Other uses are

unauthorized without written permission of Delta Tau Data Systems, Inc. Information contained in this manual may be updated from time-to-time due to product improvements, etc., and may not

conform in every respect to former issues.

To report errors or inconsistencies, call or email:

Delta Tau Data Systems, Inc. Technical Support

Phone: (818) 717-5656

Fax: (818) 998-7807

Email: [email protected] Website: http://www.deltatau.com

Operating Conditions All Delta Tau Data Systems, Inc. motion controller products, accessories, and amplifiers contain

static sensitive components that can be damaged by incorrect handling. When installing or handling Delta Tau Data Systems, Inc. products, avoid contact with highly insulated materials.

Only qualified personnel should be allowed to handle this equipment.

In the case of industrial applications, we expect our products to be protected from hazardous or

conductive materials and/or environments that could cause harm to the controller by damaging components or causing electrical shorts. When our products are used in an industrial

environment, install them into an industrial electrical cabinet or industrial PC to protect them

from excessive or corrosive moisture, abnormal ambient temperatures, and conductive materials. If Delta Tau Data Systems, Inc. products are exposed to hazardous or conductive materials and/or

environments, we cannot guarantee their operation.

mailto:[email protected]://www.deltatau.com/

REVISION HISTORY

REV. DESCRIPTION DATE CHG APPVD

1

REVISION TO Ixx97 ERROR DESCRIPTION

08/29/06 CP P. SHANTZ

2

REVISION TO IXX83 VARIABLES, P. 188

10/10/06 CP S. SATTARI

3

REV. IXX25 & IXX42 PMAC2 VARIABLES, P. 149 & 159

04/25/07 CP S. SATTARI

4 LOOKAHEAD WARNING TO ISX21(P.220) & \ (P.308)

05/30/07 CP B. PEDERSEN

5 REV. TO IXX02 PULSE FREQ. SETTINGS, P. 127

10/19/07 CP C. WILSON

6 REV. TO IXX24 BIT 16 SETTINGS, P. 145

12/04/07 CP C. WILSON M.

ESPOSITO

7 CORRECTION TO ISX99 DEFAULT SETTING, P. 227

01/04/08 CP M. ESPOSITO

8

CORRECTED COORDINATE SYSTEM STATUS BITS FOR

“CONTINUOUS MOTION REQUEST” M-VARIABLE DEFS., PP. 619-627, 685-692, 751-758

11/25/08 CP R.NADDAF

9 INCORPORATED V1.941-45 FIRMWARE UPDATES

12/08/09 CP C. WILSON

10 CORRECTED ERRORS P. 97 AND P. 592

01/05/10 CP S. MILICI

11

INCORPORATED V1.946-47 FIRMWARE UPDATES ADDED TO I43 DESCRIPTION

FIXED TYPOGRAPHICAL ERRORS

12/19/12 CW C. WILSON

Turbo PMAC/PMAC2 Software Reference

Table of Contents i

Table of Contents

INTRODUCTION ................................................................................................................................................ 1 What is Turbo PMAC? ....................................................................................................................................... 1 What is New about Turbo PMAC? ..................................................................................................................... 1 How do I Convert a PMAC Application? ............................................................................................................ 2 How do I use this Manual? ................................................................................................................................. 2

TURBO PMAC VARIABLE AND COMMAND SUMMARY ........................................................................... 3 Notes ................................................................................................................................................................. 3 Definitions ......................................................................................................................................................... 3 On-Line Commands ........................................................................................................................................... 4

On-line Global Commands ............................................................................................................................. 4 On-line Coordinate System Commands ........................................................................................................... 7 On-line Motor Commands .............................................................................................................................. 9

Motion Program Commands ............................................................................................................................. 10 PLC Program Commands ................................................................................................................................. 13

TURBO PMAC GLOBAL I-VARIABLES........................................................................................................ 15 General Global Setup I-Variables ..................................................................................................................... 15

I0 Serial Card Number ......................................................................................................................... 15 I1 Serial Port Mode.............................................................................................................................. 16 I2 Control Panel Port Activation .......................................................................................................... 16 I3 I/O Handshake Control .................................................................................................................... 17 I4 Communications Integrity Mode ...................................................................................................... 18 I5 PLC Program Control ...................................................................................................................... 19 I6 Error Reporting Mode...................................................................................................................... 19 I7 Phase Cycle Extension ..................................................................................................................... 20 I8 Real-Time Interrupt Period .............................................................................................................. 21 I9 Full/Abbreviated Listing Control ..................................................................................................... 22 I10 Servo Interrupt Time ................................................................................................................... 22 I11 Programmed Move Calculation Time........................................................................................... 23 I12 Lookahead Time Spline Enable ................................................................................................... 24 I13 Foreground In-Position Check Enable .......................................................................................... 24 I14 Temporary Buffer Save Enable .................................................................................................... 25 I15 Degree/Radian Control for User Trig Functions ........................................................................... 25 I16 Rotary Buffer Request On Point .................................................................................................. 25 I17 Rotary Buffer Request Off Point .................................................................................................. 26 I18 Fixed Buffer Full Warning Point .................................................................................................. 26 I19 Clock Source I-Variable Number (Turbo PMAC2 only) .............................................................. 26 I20 MACRO IC 0 Base Address (Turbo PMAC2 only) ...................................................................... 28 I21 MACRO IC 1 Base Address (Turbo PMAC2 only) ...................................................................... 28 I22 MACRO IC 2 Base Address (Turbo PMAC2 only) ...................................................................... 29 I23 MACRO IC 3 Base Address (Turbo PMAC2 only) ...................................................................... 30 I24 Main DPRAM Base Address ....................................................................................................... 30 I26 UMAC Electrical MACRO Enable .............................................................................................. 31 I27 Alternate TWS Input Format ....................................................................................................... 31 I28 Display Port Disable .................................................................................................................... 32 I29 Multiplexer Port Alternate Address .............................................................................................. 32 I30 Compensation Table Wrap Enable ............................................................................................... 33 I35 Brick LV & Controller E-Stop Enable.......................................................................................... 33 I36 Enable/Abort Separation Control ................................................................................................. 34 I37 Additional Wait States ................................................................................................................. 35 I38 In-Line CALL Enable .................................................................................................................. 35 I39 UBUS Accessory ID Variable Display Control ............................................................................ 36 I40 Watchdog Timer Reset Value ...................................................................................................... 37 I41 I-Variable Lockout Control .......................................................................................................... 37


ii Table of Contents

I42 Spline/PVT Time Control Mode .................................................................................................. 38 I43 Auxiliary/Main Serial Port Parser Disable .................................................................................... 38 I44 PMAC Ladder Program Enable {Special Firmware Only} ........................................................... 39 I45 Foreground Binary Rotary Buffer Transfer Enable ....................................................................... 39 I46 P & Q-Variable Storage Location ................................................................................................ 39 I47 DPRAM Motor Data Foreground Reporting Period ...................................................................... 40 I48 DPRAM Motor Data Foreground Reporting Enable ..................................................................... 40 I49 DPRAM Background Data Reporting Enable ............................................................................... 41 I50 DPRAM Background Data Reporting Period ............................................................................... 41 I51 Compensation Table Enable ........................................................................................................ 41 I52 CPU Frequency Control .............................................................................................................. 42 I53 Auxiliary Serial Port Baud Rate Control ...................................................................................... 42 I54 Serial Port Baud Rate Control ...................................................................................................... 43 I55 DPRAM Background Variable Buffers Enable ............................................................................. 43 I56 DPRAM ASCII Communications Interrupt Enable ...................................................................... 43 I57 DPRAM Motor Data Background Reporting Enable .................................................................... 44 I58 DPRAM ASCII Communications Enable ..................................................................................... 44 I59 Motor/C.S. Group Select ............................................................................................................. 45 I60 Filtered Velocity Sample Time .................................................................................................... 45 I61 Filtered Velocity Shift ................................................................................................................. 46 I62 Internal Message Carriage Return Control.................................................................................... 46 I63 Control-X Echo Enable................................................................................................................ 47 I64 Internal Response Tag Enable ...................................................................................................... 47 I65 User Configuration Variable ........................................................................................................ 47 I67 Modbus TCP Buffer Start Address ............................................................................................... 48 I68 Coordinate System Activation Control ......................................................................................... 48 I69 Modbus TCP Software Control Panel Start Address ..................................................................... 49

MACRO Ring Configuration I-Variables ...................................................................................................... 50 I70 MACRO IC 0 Node Auxiliary Register Enable ............................................................................ 50 I71 MACRO IC 0 Node Protocol Type Control .................................................................................. 50 I72 MACRO IC 1 Node Auxiliary Register Enable ............................................................................ 51 I73 MACRO IC 1 Node Protocol Type Control .................................................................................. 51 I74 MACRO IC 2 Node Auxiliary Register Enable ............................................................................ 51 I75 MACRO IC 2 Node Protocol Type Control .................................................................................. 52 I76 MACRO IC 3 Node Auxiliary Register Enable ............................................................................ 52 I77 MACRO IC 3 Node Protocol Type Control .................................................................................. 53 I78 MACRO Type 1 Master/Slave Communications Timeout ............................................................ 53 I79 MACRO Type 1 Master/Master Communications Timeout .......................................................... 54 I80 MACRO Ring Check Period ........................................................................................................ 54 I81 MACRO Maximum Ring Error Count ......................................................................................... 55 I82 MACRO Minimum Sync Packet Count........................................................................................ 55 I83 MACRO Parallel Ring Enable Mask ............................................................................................ 55 I84 MACRO IC # for Master Communications .................................................................................. 56 I85 MACRO Ring Order Number ...................................................................................................... 56

VME/DPRAM Setup I-Variables ................................................................................................................... 57 I90 VME Address Modifier ............................................................................................................... 57 I91 VME Address Modifier Don’t Care Bits ...................................................................................... 57 I92 VME Base Address Bits A31-A24 ............................................................................................... 57 I93 VME Mailbox Base Address Bits A23-A16 ISA DPRAM Base Address Bits A23-A16 ...................... 58 I94 VME Mailbox Base Address Bits A15-A08 ISA DPRAM Base Address Bits A15-A14 & Control ..... 58 I95 VME Interrupt Level ................................................................................................................... 59 I96 VME Interrupt Vector ................................................................................................................. 59 I97 VME DPRAM Base Address Bits A23-A20 ................................................................................ 60 I98 VME DPRAM Enable ................................................................................................................. 60 I99 VME Address Width Control....................................................................................................... 60

Motor Setup I-Variables ................................................................................................................................... 61


Table of Contents iii

Motor Definition I-Variables ........................................................................................................................ 61 Ixx00 Motor xx Activation Control ................................................................................................... 61 Ixx01 Motor xx Commutation Enable ................................................................................................ 61 Ixx02 Motor xx Command Output Address ....................................................................................... 62 Ixx03 Motor xx Position Loop Feedback Address .............................................................................. 66 Ixx04 Motor xx Velocity Loop Feedback Address ............................................................................. 67 Ixx05 Motor xx Master Position Address ........................................................................................... 68 Ixx06 Motor xx Position Following Enable and Mode ....................................................................... 68 Ixx07 Motor xx Master (Handwheel) Scale Factor ............................................................................. 69 Ixx08 Motor xx Position Scale Factor ................................................................................................ 69 Ixx09 Motor xx Velocity-Loop Scale Factor ...................................................................................... 69 Ixx10 Motor xx Power-On Servo Position Address ............................................................................ 70

Motor Safety I-Variables .............................................................................................................................. 75 Ixx11 Motor xx Fatal Following Error Limit...................................................................................... 75 Ixx12 Motor xx Warning Following Error Limit ................................................................................ 75 Ixx13 Motor xx Positive Software Position Limit .............................................................................. 76 Ixx14 Motor xx Negative Software Position Limit ............................................................................. 77 Ixx15 Motor xx Abort/Limit Deceleration Rate ................................................................................. 78 Ixx16 Motor xx Maximum Program Velocity .................................................................................... 78 Ixx17 Motor xx Maximum Program Acceleration .............................................................................. 79 Ixx19 Motor xx Maximum Jog/Home Acceleration ........................................................................... 80

Motor Motion I-Variables ............................................................................................................................ 81 Ixx20 Motor xx Jog/Home Acceleration Time ................................................................................... 81 Ixx21 Motor xx Jog/Home S-Curve Time .......................................................................................... 81 Ixx22 Motor xx Jog Speed ................................................................................................................ 82 Ixx23 Motor xx Home Speed and Direction ....................................................................................... 82 Ixx24 Motor xx Flag Mode Control ................................................................................................... 82 Ixx25 Motor xx Flag Address ............................................................................................................ 85 Ixx26 Motor xx Home Offset ............................................................................................................ 89 Ixx27 Motor xx Position Rollover Range ........................................................................................... 90 Ixx28 Motor xx In-Position Band ...................................................................................................... 91 Ixx29 Motor xx Output/First Phase Offset ......................................................................................... 92

Motor xx PID Servo Setup I-Variables .......................................................................................................... 92 Ixx30 Motor xx PID Proportional Gain .............................................................................................. 92 Ixx31 Motor xx PID Derivative Gain ................................................................................................. 93 Ixx32 Motor xx PID Velocity Feedforward Gain ............................................................................... 94 Ixx33 Motor xx PID Integral Gain ..................................................................................................... 94 Ixx34 Motor xx PID Integration Mode .............................................................................................. 94 Ixx35 Motor xx PID Acceleration Feedforward Gain ......................................................................... 95 Ixx36 Motor xx PID Notch Filter Coefficient N1 ............................................................................... 95 Ixx37 Motor xx PID Notch Filter Coefficient N2 ............................................................................... 95 Ixx38 Motor xx PID Notch Filter Coefficient D1 ............................................................................... 96 Ixx39 Motor xx PID Notch Filter Coefficient D2 ............................................................................... 96 Ixx40 Motor xx Net Desired Position Filter Gain ............................................................................... 96 Ixx41 Motor xx Desired Position Limit Band .................................................................................... 97 Ixx42 Motor xx Amplifier Flag Address ............................................................................................ 97 Ixx43 Motor xx Overtravel-Limit Flag Address ................................................................................. 98 Ixx44 Motor xx MACRO Slave Command Address ........................................................................... 99

Motor Servo and Commutation Modifiers ................................................................................................... 101 Ixx55 Motor xx Commutation Table Address Offset ........................................................................ 101 Ixx56 Motor xx Commutation Delay Compensation ........................................................................ 102 Ixx57 Motor xx Continuous Current Limit ....................................................................................... 102 Ixx58 Motor xx Integrated Current Limit ......................................................................................... 104 Ixx59 Motor xx User-Written Servo/Phase Enable ........................................................................... 105 Ixx60 Motor xx Servo Cycle Period Extension Period...................................................................... 105 Ixx61 Motor xx Current-Loop Integral Gain .................................................................................... 106


iv Table of Contents

Ixx62 Motor xx Current-Loop Forward-Path Proportional Gain ....................................................... 106 Ixx63 Motor xx Integration Limit .................................................................................................... 106 Ixx64 Motor xx Deadband Gain Factor ............................................................................................ 107 Ixx65 Motor xx Deadband Size ....................................................................................................... 107 Ixx66 Motor xx PWM Scale Factor ................................................................................................. 108 Ixx67 Motor xx Position Error Limit ............................................................................................... 108 Ixx68 Motor xx Friction Feedforward .............................................................................................. 108 Ixx69 Motor xx Output Command Limit ......................................................................................... 109

Motor Commutation Setup I-Variables ....................................................................................................... 111 Ixx70 Motor xx Number of Commutation Cycles (N) ...................................................................... 111 Ixx71 Motor xx Counts per N Commutation Cycles ......................................................................... 111 Ixx72 Motor xx Commutation Phase Angle ..................................................................................... 112 Ixx73 Motor xx Phase Finding Output Value ................................................................................... 113 Ixx74 Motor xx Phase Finding Time ............................................................................................... 114 Ixx75 Motor xx Phase Position Offset ............................................................................................. 114 Ixx76 Motor xx Current-Loop Back-Path Proportional Gain ............................................................ 115 Ixx77 Motor xx Magnetization Current............................................................................................ 116 Ixx78 Motor xx Slip Gain................................................................................................................ 116 Ixx79 Motor xx Second Phase Offset ............................................................................................... 117 Ixx80 Motor xx Power-Up Mode ..................................................................................................... 117 Ixx81 Motor xx Power-On Phase Position Address .......................................................................... 119 Ixx82 Motor xx Current-Loop Feedback Address ............................................................................ 124 Ixx83 Motor xx Commutation Position Address .............................................................................. 126 Ixx84 Motor xx Current-Loop Feedback Mask Word.............................................................................. 128

Further Motor I-Variables.......................................................................................................................... 129 Ixx85 Motor xx Backlash Take-up Rate ........................................................................................... 129 Ixx86 Motor xx Backlash Size ......................................................................................................... 129 Ixx87 Motor xx Backlash Hysteresis ............................................................................................... 129 Ixx88 Motor xx In-Position Number of Scans .................................................................................. 130 Ixx90 Motor xx Rapid Mode Speed Select ....................................................................................... 130 Ixx91 Motor xx Power-On Phase Position Format ........................................................................... 130 Ixx92 Motor xx Jog Move Calculation Time.................................................................................... 133 Ixx95 Motor xx Power-On Servo Position Format ........................................................................... 133 Ixx96 Motor xx Command Output Mode Control ............................................................................ 137 Ixx97 Motor xx Position Capture & Trigger Mode ........................................................................... 137 Ixx98 Motor xx Third-Resolver Gear Ratio ..................................................................................... 138 Ixx99 Motor xx Second-Resolver Gear Ratio ................................................................................... 139

Supplemental Motor Setup I-Variables ....................................................................................................... 140 Iyy00/50 Motor xx Extended Servo Algorithm Enable ..................................................................... 140 Iyy10 – Iyy39/Iyy60 – Iyy89 Motor xx Extended Servo Algorithm Gains ............................................ 141

System Configuration Reporting ..................................................................................................................... 141 I4900 Servo ICs Present .................................................................................................................. 141 I4901 Servo IC Type ....................................................................................................................... 142 I4902 MACRO ICs Present ............................................................................................................. 143 I4903 MACRO IC Types ................................................................................................................ 143 I4904 Dual-Ported RAM ICs Present ............................................................................................... 144 I4908 End of Open Memory ............................................................................................................ 145 I4909 Turbo CPU ID Configuration ................................................................................................ 145 I4910 – I4925 Servo IC Card Identification ......................................................................................... 146 I4926 – I4941 MACRO IC Card Identification .................................................................................... 148 I4942 – I4949 DPRAM IC Card Identification .................................................................................... 149 I4950 – I4965 I/O IC Card Identification ............................................................................................. 150

Data Gathering I-Variables ............................................................................................................................. 151 I5000 Data Gathering Buffer Location and Mode ........................................................................... 151 I5001 – I5048 Data Gathering Source 1-48 Address ............................................................................ 151 I5049 Data Gathering Period ........................................................................................................... 152


Table of Contents v

I5050 Data Gathering Selection Mask 1 ........................................................................................... 152 I5051 Data Gathering Selection Mask 2 ........................................................................................... 152

A/D Processing Table I-Variables ................................................................................................................... 153 I5060 A/D Processing Ring Size ..................................................................................................... 153 I5061-I5076 A/D Ring Slot Pointers ................................................................................................... 154 I5080 A/D Ring Convert Enable ..................................................................................................... 155 I5081-I5096 A/D Ring Convert Codes ................................................................................................ 155

Coordinate System I-Variables ....................................................................................................................... 156 Isx11 Coordinate System ‘x’ User Countdown Timer 1 ................................................................... 157 Isx12 Coordinate System x User Countdown Timer 2...................................................................... 157 Isx13 Coordinate System x Segmentation Time ............................................................................... 158 Isx14 Coordinate System ‘x’ End-of-Move Anticipation Time ........................................................ 159 Isx15 Coordinate System ‘x’ Segmentation Override ....................................................................... 159 Isx16 Coordinate System ‘x’ Segmentation Override Slew .............................................................. 160 Isx20 Coordinate System x Lookahead Length ................................................................................ 161 Isx21 Coordinate System x Lookahead State Control....................................................................... 162 Isx50 Coordinate System x Kinematic Calculations Enable ............................................................. 162 Isx53 Coordinate System x Step Mode Control ............................................................................... 163 Isx78 Coordinate System ‘x’ Maximum Circle Acceleration............................................................ 163 Isx79 Coordinate System ‘x’ Rapid Move Mode Control ................................................................. 164 Isx81 Coordinate System ‘x’ Blend Disable In-Position Time-Out ................................................... 165 Isx82 Coordinate System ‘x’ Blend Disable Dwell Time ................................................................. 165 Isx83 Coordinate System ‘x’ Corner Blend Break Point .................................................................. 166 Isx84 Coordinate System ‘x’ Outside Corner Stop Point Control ..................................................... 167 Isx85 Coordinate System ‘x’ Corner Dwell Break Point .................................................................. 167 Isx86 Coordinate System x Alternate Feedrate ................................................................................ 168 Isx87 Coordinate System x Default Program Acceleration Time ...................................................... 169 Isx88 Coordinate System x Default Program S-Curve Time............................................................. 169 Isx89 Coordinate System x Default Program Feedrate/Move Time .................................................. 170 Isx90 Coordinate System x Feedrate Time Units ............................................................................. 170 Isx91 Coordinate System x Default Working Program Number ....................................................... 170 Isx92 Coordinate System ‘x’ Move Blend Disable........................................................................... 171 Isx93 Coordinate System x Time Base Control Address .................................................................. 171 Isx94 Coordinate System x Time Base Slew Rate ............................................................................ 172 Isx95 Coordinate System x Feed Hold Slew Rate ............................................................................ 172 Isx96 Coordinate System x Circle Error Limit ................................................................................. 172 Isx97 Coordinate System x Minimum Arc Length ........................................................................... 173 Isx98 Coordinate System x Maximum Feedrate ............................................................................... 174 Isx99 Coordinate System x Cutter-Comp Outside Corner Break Point ............................................. 174

Turbo PMAC2 MACRO IC I-Variables .......................................................................................................... 175 I6800/I6850/I6900/I6950 MACRO IC MaxPhase/PWM Frequency Control ........................................ 175 I6801/I6851/I6901/I6951 MACRO IC Phase Clock Frequency Control ............................................... 177 I6802/I6852/I6902/I6952 MACRO IC Servo Clock Frequency Control ............................................... 177 I6803/I6853/I6903/I6953 MACRO IC Hardware Clock Control .......................................................... 179 I6804/I6854/I6904/I6954 MACRO IC PWM Deadtime / PFM Pulse Width Control ............................ 181 I6805/I6855/I6905/I6955 MACRO IC DAC Strobe Word ................................................................... 181 I6806/I6856/I6906/I6956 MACRO IC ADC Strobe Word ................................................................... 182 I6807/I6857/I6907/I6957 MACRO IC Clock Direction Control ........................................................... 182

Channel-Specific MACRO IC I-variables.................................................................................................... 183 I68n0/I69n0 MACRO IC Channel n* Encoder/Timer Decode Control ................................................. 184 I68n1/I69n1 MACRO IC Channel n* Position Compare Channel Select .............................................. 185 I68n2/I69n2 MACRO IC Encoder n* Capture Control ........................................................................ 185 I68n3/I69n3 MACRO IC Channel n* Capture Flag Select Control....................................................... 186 I68n4/I69n4 MACRO IC Channel n* Encoder Gated Index Select....................................................... 187 I68n5/I69n5 MACRO IC Channel n* Encoder Index Gate State/Demux Control ................................. 188 I68n6/I69n6 MACRO IC Channel n* Output Mode Select .................................................................. 189


vi Table of Contents

I68n7/I69n7 MACRO IC Channel n* Output Invert Control ................................................................ 189 I68n8/I69n8 MACRO IC Channel n* PFM Direction Signal Invert Control ......................................... 190 I68n9/I69n9 Reserved for Future Use .................................................................................................. 190

MACRO IC Ring Setup I-variables ............................................................................................................. 191 I6840/I6890/I6940/I6990 MACRO IC Ring Configuration/Status ........................................................ 191 I6841/I6891/I6941/I6991 MACRO IC Node Activate Control ............................................................. 192

Servo IC I-Variables....................................................................................................................................... 193 PMAC2-Style Multi-Channel Servo IC I-Variables ..................................................................................... 194

I7m00 Servo IC m MaxPhase/PWM Frequency Control .................................................................. 194 I7m01 Servo IC m Phase Clock Frequency Control ......................................................................... 196 I7m02 Servo IC m Servo Clock Frequency Control ......................................................................... 196 I7m03 Servo IC m Hardware Clock Control .................................................................................... 198 I7m04 Servo IC m PWM Deadtime / PFM Pulse Width Control ...................................................... 199 I7m05 Servo IC m DAC Strobe Word ............................................................................................. 200 I7m06 Servo IC m ADC Strobe Word ............................................................................................. 200 I7m07 Servo IC m Phase/Servo Clock Direction .............................................................................. 201

PMAC2-Style Channel-Specific Servo IC I-Variables.................................................................................. 202 I7mn0 Servo IC m Channel n Encoder/Timer Decode Control ......................................................... 202 I7mn1 Servo IC m Channel n Position Compare Channel Select ...................................................... 203 I7mn2 Servo IC m Channel n Capture Control ................................................................................. 203 I7mn3 Servo IC m Channel n Capture Flag Select Control ............................................................... 204 I7mn4 Servo IC m Channel n Encoder Gated Index Select ............................................................... 204 I7mn5 Servo IC m Channel n Encoder Index Gate State/Demux Control .......................................... 205 I7mn6 Servo IC m Channel n Output Mode Select ........................................................................... 206 I7mn7 Servo IC m Channel n Output Invert Control ........................................................................ 206 I7mn8 Servo IC m Channel n PFM Direction Signal Invert Control ................................................. 207 I7mn9 Servo IC m Channel n Hardware-1/T Control ....................................................................... 207

PMAC-Style Servo IC Setup I-Variables ..................................................................................................... 208 I7mn0 Servo IC m Channel n Encoder/Timer Decode Control ......................................................... 208 I7mn1 Servo IC m Channel n Encoder Filter Disable ....................................................................... 209 I7mn2 Servo IC m Channel n Capture Control ................................................................................. 209 I7mn3 Servo IC m Channel n Capture Flag Select Control ............................................................... 210

Conversion Table I-Variables ..................................................................................................................... 211 I8000 - I8191 Conversion Table Setup Lines ....................................................................................... 211

TURBO PMAC ON-LINE COMMAND SPECIFICATION .......................................................................... 236 .................................................................................................................................... 236 .................................................................................................................................... 236 .................................................................................................................................... 237 .................................................................................................................................... 237 .................................................................................................................................... 238 .................................................................................................................................... 238 .................................................................................................................................... 239 .................................................................................................................................... 239 ..................................................................................................................................... 239 .................................................................................................................................... 240 ................................................................................................................................... 240 .................................................................................................................................... 241 .................................................................................................................................... 241 .................................................................................................................................... 242 .................................................................................................................................... 242 .................................................................................................................................... 243 .................................................................................................................................... 243 .................................................................................................................................... 244 .................................................................................................................................... 244 .................................................................................................................................... 244


Table of Contents vii

!{axis}{constant}[{axis}{constant}…] .................................................................................................. 245 @ .......................................................................................................................................................... 246 @{card} ................................................................................................................................................ 246 # ............................................................................................................................................................ 247 #{constant}............................................................................................................................................ 248 #{constant}-> ........................................................................................................................................ 248 #{constant}->0 ...................................................................................................................................... 249 #{constant}->{axis definition} ............................................................................................................... 249 #{constant}->I ....................................................................................................................................... 251 ## .......................................................................................................................................................... 251 ##{constant} .......................................................................................................................................... 252 $ ............................................................................................................................................................ 252 $$ .......................................................................................................................................................... 253 $$$ ........................................................................................................................................................ 254 $$$*** .................................................................................................................................................. 255 $$* ........................................................................................................................................................ 255 $* .......................................................................................................................................................... 255 %........................................................................................................................................................... 256 %{constant} .......................................................................................................................................... 257 & ........................................................................................................................................................... 258 &{constant}........................................................................................................................................... 258 \ ............................................................................................................................................................. 259 < ............................................................................................................................................................ 260 > ............................................................................................................................................................ 260 / ............................................................................................................................................................. 261 ? ............................................................................................................................................................ 261 ?? .......................................................................................................................................................... 265 ??? ......................................................................................................................................................... 270 A ........................................................................................................................................................... 273 ABR[{constant}] ................................................................................................................................... 273 ABS ...................................................................................................................................................... 274 {axis}={constant} .................................................................................................................................. 275 B{constant} ........................................................................................................................................... 276 CHECKSUM ......................................................................................................................................... 276 CID ....................................................................................................................................................... 277 CLEAR ................................................................................................................................................. 277 CLEAR ALL ......................................................................................................................................... 278 CLEAR ALL PLCS ............................................................................................................................... 278 CLOSE .................................................................................................................................................. 278 CLOSE ALL ......................................................................................................................................... 279 CLRF .................................................................................................................................................... 280 {constant} ............................................................................................................................................. 280 CPU ...................................................................................................................................................... 281 DATE .................................................................................................................................................... 282 DEFINE BLCOMP ................................................................................................................................ 282 DEFINE CCBUF ................................................................................................................................... 283 DEFINE COMP (one-dimensional) ........................................................................................................ 284 DEFINE COMP (two-dimensional) ........................................................................................................ 285 DEFINE GATHER ................................................................................................................................ 288 DEFINE LOOKAHEAD........................................................................................................................ 289 DEFINE ROTARY ................................................................................................................................ 291 DEFINE TBUF ...................................................................................................................................... 291 DEFINE TCOMP .................................................................................................................................. 292 DEFINE UBUFFER [modified description] ....................................................................................... 293 DELETE ALL ....................................................................................................................................... 294 DELETE ALL TEMPS .......................................................................................................................... 294


viii Table of Contents

DELETE BLCOMP ............................................................................................................................... 295 DELETE CCUBUF ............................................................................................................................... 295 DELETE COMP .................................................................................................................................... 296 DELETE LOOKAHEAD ....................................................................................................................... 296 DELETE GATHER ............................................................................................................................... 297 DELETE PLCC ..................................................................................................................................... 297 DELETE ROTARY ............................................................................................................................... 298 DELETE TBUF ..................................................................................................................................... 298 DELETE TCOMP ................................................................................................................................. 299 DISABLE PLC ...................................................................................................................................... 299 DISABLE PLCC ................................................................................................................................... 300 E ........................................................................................................................................................... 300 EAVERSION ........................................................................................................................................ 301 ENABLE PLC ....................................................................................................................................... 301 ENABLE PLCC .................................................................................................................................... 302 ENDGATHER....................................................................................................................................... 302 F ............................................................................................................................................................ 303 FRAX .................................................................................................................................................... 303 FREAD ................................................................................................................................................. 304 FSAVE .................................................................................................................................................. 305 FSAVECLEAR ..................................................................................................................................... 305 GATHER .............................................................................................................................................. 306 H ........................................................................................................................................................... 306 HOME................................................................................................................................................... 307 HOMEZ ................................................................................................................................................ 308 I{constant} ............................................................................................................................................ 308 I{data}={expression}............................................................................................................................. 309 I{constant}=* ........................................................................................................................................ 310 I{constant}=@I{constant} ..................................................................................................................... 311 IDC ....................................................................................................................................................... 311 IDNUMBER.......................................................................................................................................... 312 INC ....................................................................................................................................................... 312 J! ........................................................................................................................................................... 313 J+ .......................................................................................................................................................... 313 J- ........................................................................................................................................................... 314 J/ ........................................................................................................................................................... 314 J:{constant} ........................................................................................................................................... 315 J:* ......................................................................................................................................................... 315 J= .......................................................................................................................................................... 316 J={constant} .......................................................................................................................................... 316 J=* ........................................................................................................................................................ 317 J=={constant} ........................................................................................................................................ 318 J^{constant} .......................................................................................................................................... 318 J^*......................................................................................................................................................... 319 {jog command}^{constant} ................................................................................................................... 319 K ........................................................................................................................................................... 320 LEARN ................................................................................................................................................. 321 LIST ...................................................................................................................................................... 322 LIST BLCOMP ..................................................................................................................................... 323 LIST BLCOMP DEF ............................................................................................................................. 323 LIST COMP .......................................................................................................................................... 323 LIST COMP DEF .................................................................................................................................. 324 LIST FORWARD .................................................................................................................................. 324 LIST GATHER ..................................................................................................................................... 325 LIST INVERSE ..................................................................................................................................... 326 LIST LDS .............................................................................................................................................. 326


Table of Contents ix

LIST LINK ............................................................................................................................................ 326 LIST PC ................................................................................................................................................ 327 LIST PE ................................................................................................................................................ 327 LIST PLC .............................................................................................................................................. 328 LIST PROGRAM .................................................................................................................................. 329 LIST ROTARY ..................................................................................................................................... 330 LIST TCOMP ........................................................................................................................................ 331 LIST TCOMP DEF ................................................................................................................................ 331 LOCK{constant},P{constant} ................................................................................................................ 331 M{constant} .......................................................................................................................................... 332 M{data}={expression} .......................................................................................................................... 333 M{constant}-> ....................................................................................................................................... 334 M{constant}->* ..................................................................................................................................... 334 M{constant}->D:{address} .................................................................................................................... 335 M{constant}->DP:{address} .................................................................................................................. 335 M{constant}->F:{address}..................................................................................................................... 336 M{constant}->L:{address} .................................................................................................................... 337 M{constant}->TWB:{address} .............................................................................................................. 337 M{constant}->TWD:{address} .............................................................................................................. 338 M{constant}->TWR:{address} .............................................................................................................. 339 M{constant}->TWS:{address} ............................................................................................................... 340 M{constant}->X/Y:{address} ................................................................................................................ 341 MACROASCII{master #} [replaced] ................................................................................................ 342 MACROAUX{node #},M{slave var}={constant} .................................................................................. 342 MACROAUX{node #},{param #}={constant}....................................................................................... 343 MACROAUXREAD ............................................................................................................................. 344 MACROAUXWRITE ............................................................................................................................ 344 MACROMST{master#},{master variable} ............................................................................................. 345 MACROMST{master#},{master variable}={constant} .......................................................................... 346 MACROMSTASCII{master #}.............................................................................................................. 347 MACROMSTREAD .............................................................................................................................. 348 MACROMSTWRITE ............................................................................................................................ 349 MACROSLV{command} {node#} ........................................................................................................ 350 MACROSLV{node#},{slave variable} .................................................................................................. 351 MACROSLV{node#},{slave variable}={constant} ................................................................................ 352 MACROSLVREAD .............................................................................................................................. 353 MACROSLVWRITE ............................................................................................................................. 354 MACROSTASCII {station #} ................................................................................................................ 355 MACROSTASCIIFREQ ........................................................................................................................ 356 MACROSTASCIIFREQ={constant} ..................................................................................................... 356 MACROSTASCIIFREQ=* .................................................................................................................... 356 MFLUSH .............................................................................................................................................. 356 MOVETIME ......................................................................................................................................... 357 NOFRAX .............................................................................................................................................. 357 NORMAL ............................................................................................................................................. 357 O{constant} ........................................................................................................................................... 358 OPEN BINARY ROTARY .................................................................................................................... 359 OPEN FORWARD ................................................................................................................................ 359 OPEN INVERSE ................................................................................................................................... 360 OPEN PLC ............................................................................................................................................ 361 OPEN PROGRAM ................................................................................................................................ 361 OPEN ROTARY ................................................................................................................................... 362 P ............................................................................................................................................................ 363 P{constant} ........................................................................................................................................... 363 P{data}={expression} ............................................................................................................................ 364 PASSWORD={string} ........................................................................................................................... 365


x Table of Contents

PAUSE PLC .......................................................................................................................................... 366 PC ......................................................................................................................................................... 367 PE ......................................................................................................................................................... 367 PMATCH .............................................................................................................................................. 368 PR ......................................................................................................................................................... 368 Q ........................................................................................................................................................... 369 Q{constant} ........................................................................................................................................... 370 Q{data}={expression} ........................................................................................................................... 370 R ........................................................................................................................................................... 372 R[H]{address} ....................................................................................................................................... 372 RESUME PLC ...................................................................................................................................... 373 S ............................................................................................................................................................ 374 SAVE .................................................................................................................................................... 375 SETPHASE ........................................................................................................................................... 376 SID ........................................................................................................................................................ 376 SIZE ...................................................................................................................................................... 377 STN....................................................................................................................................................... 377 STN={constant} .................................................................................................................................... 377 TIME .................................................................................................................................................... 378 TIME={time} ........................................................................................................................................ 378 TODAY ................................................................................................................................................ 379 TODAY={date} .................................................................................................................................... 379 TYPE .................................................................................................................................................... 380 UNDEFINE ........................................................................................................................................... 381 UNDEFINE ALL .................................................................................................................................. 381 UNLOCK{constant} .............................................................................................................................. 382 UPDATE ............................................................................................................................................... 382 V ........................................................................................................................................................... 382 VERSION ............................................................................................................................................. 383 VID ....................................................................................................................................................... 383 W{address} ........................................................................................................................................... 383 Z ........................................................................................................................................................... 384

TURBO PMAC PROGRAM COMMAND SPECIFICATION....................................................................... 385 {axis}{data}[{axis}{data}…] ................................................................................................................ 385 {axis}{data}:{data} [{axis}{data}:{data}…] ......................................................................................... 385 {axis}{data}^{data}[{axis}{data}^{data}...].......................................................................................... 386 {axis}{data}[{axis}{data}…] {vector}{data} [{vector}{data}…] .......................................................... 387 A{data} ................................................................................................................................................. 389 ABS ...................................................................................................................................................... 389 ADDRESS ............................................................................................................................................ 390 ADDRESS#P{constant} ........................................................................................................................ 390 ADDRESS&P{constant} ....................................................................................................................... 391 ADIS{constant} ..................................................................................................................................... 392 AND ({condition}) ................................................................................................................................ 392 AROT{constant} ................................................................................................................................... 393 B{data} ................................................................................................................................................. 394 BLOCKSTART ..................................................................................................................................... 394 BLOCKSTOP ........................................................................................................................................ 395 C{data} ................................................................................................................................................. 395 CALL .................................................................................................................................................... 395 CC0 ....................................................................................................................................................... 397 CC1 ....................................................................................................................................................... 397 CC2 ....................................................................................................................................................... 398 CC3 ....................................................................................................................................................... 398 CC4 ....................................................................................................................................................... 398


Table of Contents xi

CCR{data} ............................................................................................................................................ 399 CIRCLE1 .............................................................................................................................................. 399 CIRCLE2 .............................................................................................................................................. 400 COMMANDx"{command}" .................................................................................................................. 401 COMMANDx^{letter} .......................................................................................................................... 403 CREAD ................................................................................................................................................. 404 D{data} ................................................................................................................................................. 405 DELAY{data} ....................................................................................................................................... 405 DISABLE PLC {constant}[,{constant}...] .............................................................................................. 406 DISABLE PLCC {constant}[,{constant}...]............................................................................................ 407 DISPLAY [{constant}] "{message}"...................................................................................................... 407 DISPLAY ... {variable} ......................................................................................................................... 408 DWELL ................................................................................................................................................ 408 ELSE ..................................................................................................................................................... 409 ENABLE PLC ....................................................................................................................................... 410 ENABLE PLCC .................................................................................................................................... 411 ENDIF................................................................................................................................................... 412 ENDWHILE .......................................................................................................................................... 412 F{data} .................................................................................................................................................. 413 FRAX .................................................................................................................................................... 414 G{data} ................................................................................................................................................. 415 GOSUB ................................................................................................................................................. 416 GOTO ................................................................................................................................................... 416 HOME................................................................................................................................................... 417 HOMEZ ................................................................................................................................................ 418 I{data}................................................................................................................................................... 419 I{data}={expression}............................................................................................................................. 419 IDIS{constant} ...................................................................................................................................... 420 IF ({condition}) ..................................................................................................................................... 420 INC ....................................................................................................................................................... 421 IROT{constant} ..................................................................................................................................... 422 J{data} .................................................................................................................................................. 423 K{data} ................................................................................................................................................. 423 LINEAR ................................................................................................................................................ 424 LOCK{constant},P{constant} ................................................................................................................ 424 M{data} ................................................................................................................................................ 425 M{data}={expression} .......................................................................................................................... 425 M{data}=={expression} ........................................................................................................................ 426 M{data}&={expression}........................................................................................................................ 427 M{data}|={expression} .......................................................................................................................... 427 M{data}^={expression} ......................................................................................................................... 428 MACROAUXREAD ............................................................................................................................. 429 MACROAUXWRITE ............................................................................................................................ 430 MACROMSTREAD .............................................................................................................................. 430 MACROMSTWRITE ............................................................................................................................ 431 MACROSLVREAD .............................................................................................................................. 432 MACROSLVWRITE ............................................................................................................................. 434 N{constant} ........................................................................................................................................... 435 NOFRAX ............

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^2 Turbo PMAC/PMAC2 - Heason Technology · unauthorized without written permission of Delta Tau Data Systems, Inc. Information contained in this manual may be updated from time-to-time