Delta Tau GEO BRICK LV 사용자 매뉴얼

사용자 설명서 (English)사용자 설명서 (English)참조 매뉴얼 (English)

사용자 설명서

차례

Turbo PMAC Software Reference Manual
17
Hardware Reference Manuals
17
UMAC Quick Reference Guide
17
PMAC Executive Program Manual
17
Software Development Package Manuals
18
Executing Motion Programs
20
Executing PLC Programs
20
Servo Loop Update
20
Commutation Update
20
Housekeeping
20
Communicating with the Host
20
Task Priorities
21
CPU Section
21
- Processor
  21
- Active Memory
  22
- Flash Memory
  23
- Optional Battery-Backed Parameter Memory
  23
Machine Interface ICs
24
- Servo ICs
  24
- MACRO ICs
  26
- I/O ICs
  27
Communications Ports
28
- Bus Ports
  28
- Serial Ports
  28
Operational Firmware
29
Bootstrap Firmware
29
Motors, Axes, and Coordinate Systems
29
- Motors
  29
- Axes
  30
- Coordinate Systems
  30
User Programs
30
- Motion Programs
  30
- PLC Programs
  30
- User-Written Servo and Phase Algorithms
  30
Board-Level Designs
31
UMAC Rack-Mounted Designs
31
- UMAC Turbo
  31
- Compact UMAC Turbo
  32
QMAC Boxed Design
32
Default Clock Source
34
IC Clock Generation Facilities
34
Typical Clock-Source ICs
35
External Clock Sources
35
Distribution of Clock Signals
35
- Board-Level Turbo PMACs
  35
- UMAC Systems
  36
Missing Clock Signals
36
- Board-Level Turbo PMACs
  36
- UMAC Systems
  36
Re-Initialization Actions
36
User-Customized Clock-Source Specification
37
Normal Reset Actions
38
Servo IC Configuration
39
MACRO IC Configuration
39
DPRAM IC Configuration
40
CPU Section Configuration
40
UBUS Accessory Board Identification
40
Setting Turbo PMAC Phase and Servo Clock Frequencies
41
- E98 DCLK Frequency Control
  41
- E29 – E33 Phase Clock Frequency Control
  42
- E3 – E6 Servo Clock Frequency Control
  42
Setting Turbo PMAC2 Phase and Servo Clock Frequencies
42
- I7m00/I6800 MaxPhase Frequency Control
  43
- I7m01/I6801 Phase Clock Frequency Control
  43
- I7m02/I6802 Servo Clock Frequency Control
  43
Setting I10 Servo Update Time Parameter
44
MACRO Ring Frequency Control Variables
45
I7: Phase Cycle Extension
45
I6840: MACRO IC 0 Master Configuration
45
I6890/I6940/I6990: MACRO IC 1/2/3 Master Configuration
46
I6841/I6891/I6941/I6991: MACRO IC 0/1/2/3 Node Activation Control
46
I70/I72/I74/I76: MACRO IC 0/1/2/3 Node Auxiliary Function Enable
47
I71/I73/I75/I77: MACRO IC 0/1/2/3 Node Protocol Type Control
47
I78: MACRO Master/Slave Auxiliary Communications Timeout
47
I79: MACRO Master/Master Auxiliary Communications Timeout
48
I80, I81, I82: MACRO Ring Check Period and Limits
48
MACRO Node Addresses
48
Methods of Resetting
51
- Cycling Power
  51
- Hardware Reset
  51
- Software Reset
  51
Actions on a Normal Reset
51
Actions on Reset with Re-Initialization
52
Actions on Reset for Firmware Reload
52
Re-Initialization and Clear Command
53
Serial Communications Ports
55
- Main Serial Port
  55
- Auxiliary Serial Port
  56
- Signal Format
  57
- Data Format and Handshaking
  57
- Multi-Drop Communications
  57
Bus Communications Port
58
- Backplane Buses
  58
- Wire Buses
  60
Dual-Ported RAM
60
Turbo PMAC Processing of Commands
61
Command Acknowledgement
61
Data Response
61
Data Integrity
62
Data Response Format
62
Types of On-Line Commands
62
- Port-Specific Commands
  63
- Motor-Specific Commands
  63
- Coordinate-System-Specific Commands
  63
- Global Commands
  63
Signal Format
65
Hardware Setup
65
- Encoder-Loss Detection Circuitry
  66
- Termination Resistors
  66
- Power Supply and Isolation
  67
- Wiring Techniques
  67
Turbo PMAC Hardware-Control Parameter Setup
67
- Encoder Sampling Clock Frequency: E34 – E38, I7m0
  68
- Encoder Decode Control: I7mn0, I68n0, MI910
  69
Conversion Table Processing Setup – Turbo PMAC In
69
Conversion Table Processing Setup – MACRO Station
70
Scaling the Feedback Units
70
Signal Format
70
Hardware Setup
71
Turbo PMAC Hardware-Control Parameter Setup
71
- Hall Sensor Demux Control: I7mn5, I68n5, MI915
  71
- Encoder Decode Control: I7mn0, I68n0, MI910
  71
Power-Up Phasing Usage
72
Conversion Table Processing Setup – Turbo PMAC In
72
Conversion Table Processing Setup – MACRO Station
72
Scaling the Feedback Units
72
Hardware Setup
73
Turbo PMAC Hardware-Control Parameter Setup
73
- Encoder Sampling Clock Frequency: E34 – E38, I7m0
  73
- Encoder Decode Control: I7mn0, MI910
  73
- Encoder Filter Bypass: I7mn1 (PMAC-style ICs)
  74
Conversion Table Processing Setup – Turbo PMAC In
74
Conversion Table Processing Setup – MACRO Station
75
Scaling the Feedback Units
75
- High-Resolution (x4096) Interpolators
  76
- Low-Resolution (x128/x256) Interpolators
  76
Hardware Setup
76
Turbo PMAC Hardware-Control Parameter Setup
76
- Encoder Decode Control: I7mn0, I68n0, MI910
  76
Conversion Table Processing Setup – Turbo PMAC In
77
Conversion Table Processing Setup – MACRO Station
77
Setting Up for Power-On Absolute Position
77
- Absolute Phase Power-On Position Address and Format: Ixx81, Ixx91, MI11x
  77
- Absolute Servo Power-On Position Address and Format: Ixx10, Ixx95, MI11x
  77
Scaling the Feedback Units
78
MLDT Interface Type
78
Signal Formats
78
Hardware Setup
79
Turbo PMAC Hardware-Control Parameter Setup
79
- PFM Clock Frequency: I7m03, I6803, MI903, MI907, MI993
  79
- PFM Output Frequency: Mxx07, MI926
  79
- PFM Pulse Width: I7m04, I6804, MI904, MI908, MI994
  81
- PFM Format Select: I7mn6, I68n6, MI916
  81
- MLDT Feedback Select: I7mn0, I68n0, MI910
  81
Conversion Table Processing Setup – Turbo PMAC In
82
Conversion Table Processing Setup – MACRO Station
82
Setting Up for Power-On Absolute Position
82
- Absolute Power-On Position Address and Format: Ixx10, Ixx95, MI11x
  82
- Position Reference Offset: Ixx26
  82
- Power-On Mode: Ixx80
  82
Scaling the Feedback Units
82
- Motor Units
  82
- Axis User Units
  83
Hardware Setup
83
Turbo PMAC Hardware-Control Parameter Setup
83
Conversion Table Processing Setup – Turbo PMAC In
84
Conversion Table Processing Setup – MACRO Station
84
Setting Up for Power-On Absolute Position
85
- Absolute Power-On Position Address and Format: Ixx10, Ixx95, MI11x
  85
Scaling the Feedback Units
85
Activating the Motor: Ixx00
88
Activating PMAC Motor Commutation: Ixx01
88
Command Output Address: Ixx02
90
Position-Loop Feedback Address: Ixx03
90
Velocity-Loop Feedback Address: Ixx04
90
Flag Addresses: Ixx25, Ixx42, Ixx43
90
Flag Modes: Ixx24
91
Absolute Power-Up Position Address and Format: Ixx10 and Ixx95
92
Power-Up Mode: Ixx80
92
Hardware Setup
93
Turbo PMAC Parameter Setup
93
- Hardware Setup for PMAC2-Style ICs
  93
- Motor Parameter Setup
  94
Hardware Setup
96
Signal Timing
96
Turbo PMAC Parameter Setup
97
- Hardware Setup for PMAC2-Style ICs
  97
- Parameters to Set Up Motor Servo Gains
  100
Testing the Setup
101
- Preparing for the Test
  101
- Executing the Open-Loop Test
  102
- Troubleshooting the Open-Loop Test
  102
- Executing the Closed-Loop Test
  103
- Troubleshooting the Closed-Loop Test
  103
Commutation Enable: Ixx01
105
Commutation Cycle Size: Ixx70 & Ixx71
105
Commutation Feedback Address: Ixx83
106
Current Loop in Turbo PMAC or Not
107
Introduction
107
Digital Current Loop Principle of Operation
107
- Frames of Reference
  108
- Working in the Field Frame
  108
- Analog Loops in the Stator Frame
  109
- Digital Loops in the Field Frame
  109
Turbo PMAC Parameter Setup
110
- Parameters to Set up Global and Multi-Channel Hardware Signals
  111
- Parameters to Set Up Motor Operation
  112
Special Instructions for Direct-PWM Control of Brush Motors
116
Testing PWM and Current Feedback Operation
117
- Introduction
  117
- Purpose
  118
- Preparation
  118
Position Feedback and Polarity Test
118
- PWM Output & ADC Input Connection
  119
- Voltage Six-Step Test
  120
- Cleaning Up
  122
- Debugging
  122
Establishing Basic Current Loop Operation
123
- Purpose
  123
- Digital Current Loop Gains
  123
- Analytic Calculation of Current-Loop Gains
  124
- Preparation for Experimental Tuning
  125
- Executing the Current-Loop Test
  126
- Clean-Up
  126
Hardware Setup
126
- DAC Output Signals
  127
- Amplifier-Enable and Fault Interface
  127
- Encoder Feedback
  127
- Hall-Effect Commutation Flags
  127
Turbo PMAC Parameter Setup
127
- PMAC2-Style Servo IC Multi-Channel Setup
  127
- Individual-Channel Hardware Setup
  128
- Parameters to Set Up Motor Operation
  128
Establishing Basic Output Operation
130
- Executing the Test
  130
- Verifying Basic Operation
  130
- Evaluating the Polarity Match
  131
Confirming Commutation Polarity Match
131
- Testing Commutation Polarity Match
  131
- Correcting Polarity Mismatch
  131
Establishing a Phase Reference
132
- Purpose
  132
- Preparation
  132
- Current-Command Six-Step Test
  133
- Direction-Balance Fine-Phasing Test
  133
- Using Hall-Effect Sensors for Phase Reference
  135
- Power-On Phasing Search
  139
- Final Phase Correction with Index Pulse
  142
Calculating Ixx78 Slip Constant
143
- Calculating from Name Plate Data
  143
- Calculating from Rotor Time Constant
  144
- Experimentally Optimizing Slip Constant
  144
Setting Ixx77 Magnetization Current
144
Setting the I-Variables
146
- Commutation Enable: Ixx01
  146
- Command Output Address: Ixx02
  146
- Direct Microstepping Enable: Ixx96
  147
- Encoder Conversion Table Entries: I8xxx
  147
- Position Feedback Addresses: Ixx03 and Ixx04
  147
- Position Scale Factors: Ixx08 & Ixx09
  147
- Servo Loop Gains: Ixx30 – Ixx35
  147
- Commutation Cycle Size: Ixx70 & Ixx71
  148
- Commutation Phase Angle: Ixx72
  148
- Current Magnitude: Ixx77
  148
- Slip Gain: Ixx78
  148
- Commutation Position Address:Ixx83
  148
Writing the Algorithm
149
- Program Memory Space
  149
- Assembling the Algorithm
  150
- Linking the Algorithm
  150
- Downloading the Algorithm
  150
- Executing the Algorithm
  150
Setup Structure
152
- Executive Program Setup Menu
  153
- Entry First Setup I-Variable
  153
- Entry Subsequent Setup I-Variables
  154
- Next Entry
  154
- End of Table
  154
Result Structure
154
- Final Result Format
  155
- Intermediate Results
  155
Using the Results
155
Digital Quadrature Encoders
156
- Software 1/T Extension (Method digit $0)
  156
- Hardware 1/T Extension (Method digit $C, mode-switch bit 1)
  157
- No Extension (Method digit $C, mode-switch bit 0)
  157
Analog Sine/Cosine Encoders
158
- Low-Resolution Interpolation (Method digit $8)
  158
- High-resolution Interpolation (Method digit $F, extended method digit on second line $0)
  158
Acc-28 Analog-to-Digital Converters
159
- Standard A/D conversion (Method digit $1)
  159
- Integrated A/D conversion (Method digit $5)
  159
Parallel Feedback
159
Exponential Filter
161
Sum and Difference
161
Time Base (Differentiation)
162
- Untriggered vs. Triggered Time Base
  163
- Source Register – Untriggered
  163
- Source Register – Triggered
  163
- Result Data
  163
Reasons to Change Servo Update Rate
165
Ramifications of Changing the Servo Update Rate
165
Amplifiers for Which Servo Produces Velocity Command
166
- Analog-Input Velocity-Mode Amplifiers
  166
- Pulse-and-Direction-Input Amplifiers
  166
- Hydraulic-Valve Amplifiers
  167
Amplifiers for Which Servo Produces Torque/Force Command
167
- Analog-Input Torque-Mode Amplifiers
  167
- Sinusoidal-Input Amplifiers
  167
- Direct-PWM Power-Block Amplifiers
  168
PID Feedback Filter
168
- Ixx30 Proportional Gain Term
  168
- Ixx31 Derivative Gain Term
  169
- Ixx33 Integral Gain Term
  169
Feedforward Filter
169
- Ixx32 Velocity Feedforward Term
  169
- Ixx35 Acceleration Feedforward Term
  170
Actual PID/Feedforward Algorithm
170
Notch Filter
170
- Filter Structure
  171
- Use to Create a Notch
  171
- Use to Create a Low-Pass Filter
  173
- Use to Create a Velocity-Loop Integrator
  174
- Manual Specification
  174
- Use to Create a Lead-Lag Filter
  175
- Manual Specification
  175
Servo-Loop Modifiers
175
- Ixx63: Integration Limit
  176
- Ixx64, Ixx65: Deadband Compensation
  176
- Ixx67: Following Error Limit
  177
- Ixx68: Friction Feedforward
  177
- Ixx69: Output Limit
  177
- Ixx29, Ixx79: Offset Terms
  177
Selecting Turbo PMAC Motors to Use
180
Inner Loop General Setup
180
Outer Loop General Setup
180
Joining the Loops
181
- To Integrate Outer Loop Command or Not
  181
- Outer Loop Output Address: Ixx02
  181
- Integrating in the Conversion Table
  181
- Inner Loop Master Address: Ixx05
  181
- Inner-Loop Following Enable and Mode: Ixx06
  181
- Inner-Loop Master Scale Factor: Ixx07
  182
Tuning the Outer Loop
182
Programming the Outer Loop Motor
182
Setup Example
183
Changing the Mode of Control
183
- Mode Changing Example
  183
Special Instructions for Extended Single-Loop Setup
184
Open Servo Compiled Algorithms
185
- Requirements
  185
- Computational Features
  186
- Processor Utilization
  192
- Memory Utilization
  192
- Writing the Open Servo Program
  193
- Executing the Open Servo Program
  196
Assembled User-Written Servo Algorithms
197
- Writing the Algorithm
  197
- Assembling the Algorithm
  198
- Linking the Algorithm
  198
- Downloading the Algorithm
  198
- Executing the Algorithm
  198
Source, Target, and Assigned Motors
199
- Standard Leadscrew Compensation
  199
- Uses of Cross-Axis Compensation
  200
Dimension of the Table
200
Using Desired vs. Actual Position
201
Multiple Tables per Motor
201
Table Range
202
- Rollover
  202
Determining Compensation Values
202
Entering Tables
202
- Entering 1D Tables
  203
- Entering 2D Tables
  203
Enabling and Disabling Tables
204
Active Calculation of Corrections
205
Reporting Table Information
205
Deleting Tables
205
Constant Backlash Parameter
206
Backlash Take-Up Rate
206
Backlash Hysteresis
206
Backlash Compensation Tables
206
- Entering the Table
  207
- Calculating the Backlash
  207
- Reporting Table Information
  207
- Deleting Tables
  207
Enabling and Disabling Backlash
207
Backlash Table Example
208
Entering Tables
209
- How to Calculate Table Entry Values
  210
Reporting Table Information
210
Enabling and Disabling Tables
210
Active Calculation of Corrections
210
Deleting Tables
210
Hardware Characteristics
211
Software Access
211
Control-Panel Inputs
212
Control-Panel Outputs
212
Hardware Characteristics
213
Suggested M-Variables
213
Direction Control
213
Inversion Control
214
Alternate Uses
214
Multiplexer Port Accessories
215
Hardware Characteristics
215
Suggested M-Variables
215
Direction Control
215
Inversion Control
216
Alternate Uses
216
Hardware Characteristics
216
Multiplexing Principle
217
De-multiplexing I-Variables
217
Addressing UMAC I/O Boards
218
- Boards With Jumper-Set Addresses
  218
- Boards With Switch-Set Addresses
  219
Setting up UMAC I/O Boards
219
- Control Register
  219
- Setup Registers
  220
- Data Registers
  221
Fatal Following Error Limit
223
Warning Following Error Limit
223
Integrated Following Error Protection
224
Hardware Overtravel Limit Switches
224
Software Overtravel Limit Variables
225
Vector Velocity Limit
226
Motor Velocity Limit
226
Actions on Watchdog Timer Trip
231
Diagnosing Cause of Watchdog Timer Trip
231
Firmware Checksum
233
User-Program Checksum
233
Jog Acceleration
235
Jog Speed
235
Jog Commands
237
- Indefinite Jog Commands
  237
- Jogging to a Specified Position
  237
- Jog Moves Specified by a Variable
  237
- Issuing Commands During Jog Moves
  237
- Parameters Used by Jog Commands
  237
Types of Triggered Moves
238
Types of Trigger Conditions
238
- Input Triggering
  238
- Following-Error Triggering
  239
Capturing the Trigger Position
239
- Hardware Capture
  239
- Software Capture
  240
Post-Trigger Move
240
Homing Search Moves
240
- Homing Acceleration
  241
- Homing Speed
  241
- Home Trigger Condition
  241
- Post-Trigger Move
  241
- Failure to Find Trigger
  241
- Home Command
  242
Jog-Until-Trigger Moves
247
Motion Program Move-Until-Trigger
248
Single Character I/O
251
Commutation Update
251
Servo Update
251
Real-Time Interrupt Tasks
252
- Motion Program Move Planning
  252
- PLC Program 0, Compiled PLC Program 0
  252
VME Mailbox Processing
252
Background Tasks
252
- Interpreted PLC Programs 1 – 31
  252
- Compiled PLC Programs 1 – 31
  253
- Host Command Response
  253
- General Housekeeping
  253
Priority Level Optimization
254
Phase Interrupt Tasks
254
Servo Interrupt Tasks
255
Real-Time Interrupt Tasks
255
Total Interrupt Tasks
255
Sample Monitoring Program
255
Background Cycle Time
256
Internal Formats
256
Receiving Values
257
Reporting Values
257
I-Variables
258
- Value Assignment
  259
- Limited Range
  259
- Non-Volatile Storage
  259
- Default Values
  259
P-Variables
259
- Type of Memory Used
  259
- Special-Use P-Variables
  259
Q-Variables
260
- Allotting Q-Variables
  260
- Addressing a Q-Variable Set
  260
- Type of Memory Used
  261
- Special-Use Q-Variables
  261
M-Variables
261
- M-Variable Definitions
  261
- Limited Range
  262
- Using M-Variables
  262
- Use for Indirect Addressing
  263
Arithmetic Operators
263
- Modulo Operator
  263
Logical Operators
264
I-Variable Default Value Assignment
265
Synchronous M-Variable Value Assignment
265
- Why Needed
  265
- How They Work
  265
- Special Boolean Feature
  266
- Synchronous Assignment of Other Variables
  267
Simple Conditions
268
Compound Conditions
268
Single-Line Condition Actions
268
Multiple-Line Conditions
269
Single-Motor Axes
271
Multiple-Motor Axes
272
Phantom Axes
272
Matching Motor to Axis
272
Scaling and Offset
272
Axis Types
273
- Cartesian Axes
  273
- Rotary Axes
  274
- Vector Feedrate Axes
  274
Conversion from Axis to Motor Position
274
Conversion from Motor to Axis Positions
274
Creating the Kinematic Program Buffers
276
- Creating the Forward-Kinematic Program
  276
- Position-Reporting Forward Kinematics
  278
- Creating the Inverse-Kinematic Program
  279
- Inverse-Kinematic Program for PVT Mode
  281
Coordinate System Transformations with Kinematics
283
Executing the Kinematic Programs
283
Position or Distance Specification
288
Feedrate or Move-Time Specification
288
- Vector Feedrate Axes
  289
- Motor Velocity Limits
  289
Acceleration Parameters
290
Acceleration Limits
291
- When Too Effective
  292
- When Not Effective Enough
  292
Minimum Move Time
292
Maximum Move Time
293
The Blending Function
293
Specifying the Interpolation Plane
298
- Standard Planes
  298
- Clockwise Direction Sense
  298
Circle Modes
298
Center Vector
299
Radius Size Specification
300
No Center Specification
301
Vector Feedrate Axes
301
Circle-Radius Errors
301
Move Segmentation Mode
301
Move Time
302
- Maximum Move Time Limit
  302
- Minimum Move Time Limit
  302
Move Path
302
No Blending
303
Motion Program Move-Until-Trigger
303
Altered-Destination Moves
304
- Altered-Destination Command
  304
- Use of Altered Destination
  305
How They Work
305
Added Pieces
306
Quantifying the Position Adjustment
306
5-Point Spline Correction
306
Non-Uniform Spline
306
Mode Statement
308
Move Statements
308
Turbo PMAC Calculations
308
Problems in Stepping
308
Use of PVT to Create Arbitrary Profiles
308
Use of PVT in Contouring
309
Defining the Plane of Compensation
310
Defining the Magnitude of Compensation
311
Turning On Compensation
311
Turning Off Compensation
311
How Turbo PMAC Introduces Compensation
311
- Inside Corner Introduction
  311
- Outside Corner Introduction
  312
Treatment of Compensated Inside Corners
313
Treatment of Outside Corners
313
- Sharp Outside Corner
  314
- Shallow Outside Corner
  314
Treatment of Full Reversal
315
Note on Full Circles
315
Speed of Compensated Moves
316
Changes in Compensation
316
- Radius Magnitude Changes
  316
- Compensation Direction Changes
  316
- Inside Corner
  317
- Outside Corner
  318
Failures in Cutter Compensation
318
- Inability to Calculate through Corner
  318
- Inside Corner Smaller Than Radius
  319
- Inside Arc Radius Smaller Than Cutter Radius
  319
Block Buffering for Cutter Compensation
319
Single-Stepping While in Compensation
320
Defining the Magnitude of 3D Compensation
321
Turning on 3D Compensation
321
Turning Off 3D Compensation
322
Declaring the Surface-Normal Vector
322
Declaring the Tool-Orientation Vector
322
How 3D Compensation is Performed
323
Quick Instructions: Setting Up Lookahead
325
Detailed Instructions: Setting up to use Lookahead
326
- Defining the Coordinate System
  326
- Lookahead Constraints
  326
- Calculating the Segmentation Time
  328
- Interpolation Errors
  328
- Calculating the Required Lookahead Length
  329
- Lookahead Length Parameter
  330
- Defining the Lookahead Buffer
  330
Running a Program with Lookahead
331
- Vector Feedrate
  331
- Acceleration Time
  331
- Trajectory Filter
  332
- Feedrate Override
  333
- Computational Capabilities
  333
Stopping While In Lookahead
333
- Quick Stop
  333
- End-Block Stop
  334
- Quit/Step
  334
- Feed Hold
  334
- Abort
  335
- Kill All
  335
Reversal While in Lookahead
335
- Back-up Command
  335
- Reverse Execution
  335
- Stopping Reverse Execution
  336
- Quick Reversal from within Turbo PMAC
  336
Setting up the Matrices
337
Using the Matrices
337
- Initializing the Matrix
  337
- Absolute Displacement
  337
- Incremental Displacement
  337
- Absolute Rotation/Scaling
  337
- Incremental Rotation/Scaling
  337
- Details
  337
Calculation Implications
338
Examples
338
- Scaling Example
  338
- Rotation Example
  338
- Displacement Example
  338
- Second Rotation Example
  339
- Current Position Transformation
  339
Learning a Motion Program
340
Motion Program Structure
340
- Basic Move Specifications
  340
- Adding Logic
  341
- Adding Variables and Calculations
  342
- Subroutines and Subprograms
  342
- PRELUDE Subroutine Calls
  343
Running a Motion Program
344
- Pointing to the Program
  344
- Running the Program
  344
- Stepping the Program
  344
- What PMAC Checks For
  344
G, M, T, and D-Codes
345
Standard G-Codes
345
- G00 – Point-to-Point Positioning
  345
- G01 – Linear Interpolation Mode
  346
- G02 – 2D Clockwise Arc Mode
  346
- G03 – 2D Counterclockwise Arc Mode
  346
- G04 – Dwell Command
  346
- G09 – Exact Stop
  346
- G17, G18, G19 – Select Plane
  346
- G40, G41, G42 – Cutter Radius Compensation
  347
- G90 – Absolute Move Mode
  347
- G91 – Incremental Move Mode
  347
- G92 – Position Set \(Preload\) Command
  347
- G94 – Inches \(Millimeters\) per Minute Mode
  348
- G95 – Inches \(Millimeters\) per Revolution Mo�
  348
- G96 – Constant Surface Speed Mode Enable
  349
- G97 – Constant Surface Speed Disable
  349
Spindle Programs
349
- Jogged Spindle
  349
- Open-Loop Spindle
  350
- Switching Between Spindle and Positioning
  350
- Constant-Surface-Speed Spindle
  350
Standard M-Codes
350
- M00 – Programmed Stop
  350
- M01 – Optional Stop
  350
- M02 – End of Program
  351
- M03 – Spindle On Clockwise
  351
- M04 – Spindle On Counterclockwise
  351
- M05 – Spindle Stop
  351
- M07 – Low-Level \(Mist\) Coolant On
  352
- M08 – High-Level \(Flood\) Coolant On
  352
- M09 – Coolant Off
  352
- M12 – Chip Conveyor On
  352
- M13 – Chip Conveyor Off
  352
- M30 – End of Program with Rewind
  352
Default Conditions
352
Defining a Rotary Buffer
353
- Required Buffer State for Defining
  353
Preparing to Run
353
Opening for Entry
353
Staying Ahead of Executing Line
354
- PR Command
  354
- BREQ Interrupt
  354
Closing and Deleting Buffers
354
- Calculating Ahead
  355
- Starting Calculations
  355
Calculation of Subsequent Moves
356
- Insufficient Calculation Time
  356
When No Calculation Ahead
357
- DWELL Commands
  357
- HOME, RAPID Moves
  357
- PSET Command
  357
- Double-Jump-Back Rule
  357
- Looping to Wait:
  358
- Implications of Calculating Ahead
  358
Position Following I-Variables
361
Changing Ratios on the Fly
362
Superimposing Following on Programmed Moves
362
- Use for Cascaded Loops
  363
- Changing Following Modes
  363
What Is Time-Base Control?
363
- Real-Time Input Frequency
  363
- Constraints on Selection of RTIF
  364
- How Time-Base Control Works
  364
Instructions for Using an External Time-Base Signal
364
- Step 1: Signal Decoding
  364
- Step 2: Interpolation
  365
- Step 3: Time Base Calculation
  365
- Step 4: Using the Time-Base Calculation
  365
- Step 5: Writing the Program
  366
Time-Base Example
366
- Step 1: Signal Decoding
  366
- Step 2: Interpolation
  366
- Step 3: Time-Base Calculation
  367
- Step 4: Using the Time-Base Calculation
  367
- Step 5: Writing the Program
  367
Triggered Time Base
368
- Instructions for the Triggered Time-Base
  368
- Triggered Time-Base Example
  369
Clock Timing
370
- Synchronizing Clock Signals over MACRO Ring
  371
- Sharing Clock Signals on the Serial Port
  371
- Synchronizing with External Time Base
  372
Motion Program Timing
372
- Initial Calculation Delay
  372
- Time-Specification of Moves
  372
- No-Drift Conditions
  372
- Minimizing Initial Offset
  372
Requirements for Hardware Capture
373
Setting the Trigger Condition
373
Automatic Move-Until-Trigger Functions
374
Manual Use of the Capture Feature
374
- Position-Capture Registers and Flags
  374
Converting to Motor and Axis Coordinates
377
Scaling and Offset of Position-Compare Registers
378
Setup on a PMAC-Style Servo IC
378
- Compare Control Bits
  378
Setup on a PMAC2-Style Servo IC
379
- Compare Registers
  380
- Compare Control Bits
  380
- Setting Up for a Single Pulse Output
  381
- Setting Up for Multiple Pulse Outputs
  381
- Fractional-Count Compare
  382
Converting from Motor and Axis Coordinates
384
When To Use
387
Common Uses
387
64 PLC Programs
387
Opening the Buffer
388
Downloading the Program
388
Closing the Buffer
388
Erasing the Program
388
Example
388
Calculation Statements
389
Conditional Statements
389
- Level-Triggered Conditions
  389
- Edge-Triggered Conditions
  389
- WHILE Loops
  390
- Precise Timing
  391
Execution of Compiled PLCs
392
Writing Compiled PLC Programs
392
- Compiler-Assigned Pointer Variables
  392
- Floating-Point vs. Fixed-Point Mathematics
  394
- Arrays
  395
- Operators
  395
- Comparators
  395
- Functions
  396
Optimization for Speed
396
Memory Utilization
396
Compiling the PLCs
397
Running Compiled PLCs
398
Response Types
399
- No-Line Responses
  399
- Single-Line Responses
  399
- Multi-Line Responses
  400
Variations
400
- Error Reporting
  400
- Checksums
  400
Clearing the Port
400
- Unsolicited Messages
  400
Setting Up the Interface
401
- Base Address
  401
- Baud Rate
  401
Sending a Character
401
Reading a Character
401
Host Port Structure
402
Register Functions
402
Registers for Simple Polled Communications
402
Setting up the Port
403
Sending a Character
403
Reading a Character
403
ISA/PCI Interrupts
403
- Host Computer Interrupt Lines
  403
- Interrupt Source Signals
  404
- Integrated Interrupt Controller
  405
- Discrete Interrupt Controller
  406
Initializing the Interrupt Controller
407
- Using the Interrupts
  407
- PCOMM32 Library Support
  407
Setting up VME Communications
408
VME Mailbox Register Communications
408
- Sending Commands to Turbo PMAC-VME through the Mailbox Registers
  408
- Reading Data from Turbo PMAC-VME through the Mailbox Registers
  410
Physical Configuration and Connection
414
ISA Bus Setup
414
VME Bus Setup
415
- PCI Bus
  416
- USB/Ethernet
  417
Mapping of Memory Addresses
417
DPRAM Automatic Functions
418
DPRAM Data Format
418
DPRAM Motor Data Reporting Buffer
419
DPRAM Background Data Reporting Buffer
420
DPRAM ASCII Communications
421
DPRAM Communications Interrupts
422
DPRAM Background Variable Read Buffer
423
DPRAM Background Variable Data Write Buffer
425
DPRAM Binary Rotary Program Transfer Buffers
426
DPRAM Data Gathering Buffer
428
PMAC Ethernet Protocol Command Packet Description
429
Turbo PMAC Ethernet Protocol Command Set
430
- VR_PMAC_FLUSH
  430
- VR_PMAC_SENDLINE
  430
- VR_PMAC_GETLINE
  431
- VR_PMAC_GETBUFFER
  431
- VR_ IPADDRESS
  432
- VR_PMAC_SENDCTRLCHAR
  432
- VR_PMAC_PORT
  432
- VR_PMAC_READREADY
  433
- VR_CTRL_REPONSE
  433
- VR_PMAC_WRITEBUFFER
  433
- VR_FWDOWNLOAD
  434
- VR_PMAC_GETRESPONSE
  434
- VR_PMAC_GETMEM
  435
- VR_PMAC_SETMEM
  435
- VR_PMAC_SETBIT
  435
- VR_PMAC_SETBITS
  436
- Executive Program Data Gathering
  436
- Gathering I-Variables
  436
- Gathering Commands
  437
- Real-Time Data Gathering Through the Dual-Ported RAM
  438

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INTRODUCTION
21
What is Turbo PMAC?
21
What is New about Turbo PMAC?
21
How do I Convert a PMAC Application?
22
How do I use this Manual?
22
TURBO PMAC VARIABLE AND COMMAND SUMMARY
23
Notes
23
Definitions
23
On-Line Commands
24
On-line Coordinate System Commands
27
Motion Program Commands
30
PLC Program Commands
33
TURBO PMAC GLOBAL I-VARIABLES
35
General Global Setup I-Variables
35
Serial Card Number
35
Serial Port Mode
36
Control Panel Port Activation
36
I/O Handshake Control
37
Communications Integrity Mode
38
PLC Program Control
39
Error Reporting Mode
39
Phase Cycle Extension
40
Real-Time Interrupt Period
41
Full/Abbreviated Listing Control
42
Servo Interrupt Time
42
Programmed Move Calculation Time
43
Lookahead Time Spline Enable
44
Foreground In-Position Check Enable
44
Temporary Buffer Save Enable
45
Degree/Radian Control for User Trig Functions
45
Rotary Buffer Request On Point
45
Rotary Buffer Request Off Point
46
Fixed Buffer Full Warning Point
46
Clock Source I-Variable Number (Turbo PMAC2 only)
46
MACRO IC 0 Base Address (Turbo PMAC2 only)
48
MACRO IC 1 Base Address (Turbo PMAC2 only)
48
MACRO IC 2 Base Address (Turbo PMAC2 only)
49
MACRO IC 3 Base Address (Turbo PMAC2 only)
50
Main DPRAM Base Address
50
UMAC Electrical MACRO Enable
51
Alternate TWS Input Format
51
Display Port Disable
52
Multiplexer Port Alternate Address
52
Compensation Table Wrap Enable
53
Brick LV & Controller E-Stop Enable
53
Enable/Abort Separation Control
54
Additional Wait States
55
In-Line CALL Enable
55
UBUS Accessory ID Variable Display Control
56
Watchdog Timer Reset Value
57
I-Variable Lockout Control
57
Spline/PVT Time Control Mode
58
Auxiliary/Main Serial Port Parser Disable
58
PMAC Ladder Program Enable {Special Firmware Only}
59
Foreground Binary Rotary Buffer Transfer Enable
59
P & Q-Variable Storage Location
59
DPRAM Motor Data Foreground Reporting Period
60
DPRAM Motor Data Foreground Reporting Enable
60
DPRAM Background Data Reporting Enable
61
DPRAM Background Data Reporting Period
61
Compensation Table Enable
61
CPU Frequency Control
61
Auxiliary Serial Port Baud Rate Control
62
Serial Port Baud Rate Control
63
DPRAM Background Variable Buffers Enable
63
DPRAM ASCII Communications Interrupt Enable
63
DPRAM Motor Data Background Reporting Enable
64
DPRAM ASCII Communications Enable
64
Motor/C.S. Group Select
65
Filtered Velocity Sample Time
65
Filtered Velocity Shift
66
Internal Message Carriage Return Control
66
Control-X Echo Enable
67
Internal Response Tag Enable
67
User Configuration Variable
67
Modbus TCP Buffer Start Address
68
Coordinate System Activation Control
68
Modbus TCP Software Control Panel Start Address
69
MACRO Ring Configuration I-Variables
69
MACRO IC 0 Node Auxiliary Register Enable
69
MACRO IC 0 Node Protocol Type Control
70
MACRO IC 1 Node Auxiliary Register Enable
70
MACRO IC 1 Node Protocol Type Control
71
MACRO IC 2 Node Auxiliary Register Enable
71
MACRO IC 2 Node Protocol Type Control
72
MACRO IC 3 Node Auxiliary Register Enable
72
MACRO IC 3 Node Protocol Type Control
73
MACRO Type 1 Master/Slave Communications Timeout
73
MACRO Type 1 Master/Master Communications Timeout
74
MACRO Ring Check Period
74
MACRO Maximum Ring Error Count
75
MACRO Minimum Sync Packet Count
75
MACRO Parallel Ring Enable Mask
75
MACRO IC # for Master Communications
76
MACRO Ring Order Number
76
VME/DPRAM Setup I-Variables
77
I90 VME Address Modifier
77
I91 VME Address Modifier Don’t Care Bits
77
I92 VME Base Address Bits A31-A24
77
I93 VME Mailbox Base Address Bits A23-A16 ISA DPRAM Base Address Bits A23-A16
78
I94 VME Mailbox Base Address Bits A15-A08 ISA DPRAM Base Address Bits A15-A14 & Control
78
I95 VME Interrupt Level
79
I96 VME Interrupt Vector
79
I97 VME DPRAM Base Address Bits A23-A20
80
I98 VME DPRAM Enable
80
I99 VME Address Width Control
80
Motor Setup I-Variables
81
Motor xx Activation Control
81
Motor xx Commutation Enable
81
Motor xx Command Output Address
82
Motor xx Position Loop Feedback Address
85
Motor xx Velocity Loop Feedback Address
86
Motor xx Master Position Address
87
Motor xx Position Following Enable and Mode
87
Motor xx Master (Handwheel) Scale Factor
88
Motor xx Position Scale Factor
88
Motor xx Velocity-Loop Scale Factor
88
Motor xx Power-On Servo Position Address
89
Motor Safety I-Variables
94
Motor xx Fatal Following Error Limit
94
Motor xx Warning Following Error Limit
94
Motor xx Positive Software Position Limit
95
Motor xx Negative Software Position Limit
96
Motor xx Abort/Limit Deceleration Rate
97
Motor xx Maximum Program Velocity
98
Motor xx Maximum Program Acceleration
98
Motor xx Maximum Jog/Home Acceleration
100
Motor Motion I-Variables
100
Motor xx Jog/Home Acceleration Time
100
Motor xx Jog/Home S-Curve Time
101
Motor xx Jog Speed
101
Motor xx Home Speed and Direction
101
Motor xx Flag Mode Control
101
Motor xx Flag Address
104
Motor xx Home Offset
107
Motor xx Position Rollover Range
108
Motor xx In-Position Band
109
Motor xx Output/First Phase Offset
110
Motor xx PID Servo Setup I-Variables
111
Motor xx PID Proportional Gain
111
Motor xx PID Derivative Gain
111
Motor xx PID Velocity Feedforward Gain
112
Motor xx PID Integral Gain
112
Motor xx PID Integration Mode
113
Motor xx PID Acceleration Feedforward Gain
113
Motor xx PID Notch Filter Coefficient N1
113
Motor xx PID Notch Filter Coefficient N2
114
Motor xx PID Notch Filter Coefficient D1
114
Motor xx PID Notch Filter Coefficient D2
114
Motor xx Net Desired Position Filter Gain
114
Motor xx Desired Position Limit Band
115
Motor xx Amplifier Flag Address
115
Motor xx Overtravel-Limit Flag Address
117
Motor xx MACRO Slave Command Address
118
Motor Servo and Commutation Modifiers
119
Motor xx Commutation Table Address Offset
119
Motor xx Commutation Delay Compensation
120
Motor xx Continuous Current Limit
120
Motor xx Integrated Current Limit
122
Motor xx User-Written Servo/Phase Enable
123
Motor xx Servo Cycle Period Extension Period
123
Motor xx Current-Loop Integral Gain
124
Motor xx Current-Loop Forward-Path Proportional Gain
124
Motor xx Integration Limit
124
Motor xx Deadband Gain Factor
125
Motor xx Deadband Size
125
Motor xx PWM Scale Factor
126
Motor xx Position Error Limit
126
Motor xx Friction Feedforward
127
Motor xx Output Command Limit
127
Motor Commutation Setup I-Variables
129
Ixx70 Motor xx Number of Commutation Cycles (N)
129
Ixx71 Motor xx Counts per N Commutation Cycles
129
Ixx72 Motor xx Commutation Phase Angle
130
Ixx73 Motor xx Phase Finding Output Value
131
Ixx74 Motor xx Phase Finding Time
132
Ixx75 Motor xx Phase Position Offset
132
Ixx76 Motor xx Current-Loop Back-Path Proportional Gain
134
Ixx77 Motor xx Magnetization Current
134
Ixx78 Motor xx Slip Gain
134
Ixx79 Motor xx Second Phase Offset
135
Ixx80 Motor xx Power-Up Mode
136
Ixx81 Motor xx Power-On Phase Position Address
137
Ixx82 Motor xx Current-Loop Feedback Address
143
Ixx83 Motor xx Commutation Position Address
145
Ixx84 Motor xx Current-Loop Feedback Mask Word
147
Further Motor I-Variables
148
Motor xx Backlash Take-up Rate
148
Motor xx Backlash Size
148
Motor xx Backlash Hysteresis
148
Motor xx In-Position Number of Scans
149
Motor xx Rapid Mode Speed Select
149
Motor xx Power-On Phase Position Format
149
Motor xx Jog Move Calculation Time
152
Motor xx Power-On Servo Position Format
152
Motor xx Command Output Mode Control
156
Motor xx Position Capture & Trigger Mode
157
Motor xx Third-Resolver Gear Ratio
157
Motor xx Second-Resolver Gear Ratio
158
Supplemental Motor Setup I-Variables
159
Iyy00/50 Motor xx Extended Servo Algorithm Enable
159
Iyy10 – Iyy39/Iyy60 – Iyy89 Motor xx Extended Servo Algorithm Gains
160
System Configuration Reporting
161
I4900 Servo ICs Present
161
I4901 Servo IC Type
161
I4902 MACRO ICs Present
162
I4903 MACRO IC Types
162
I4904 Dual-Ported RAM ICs Present
163
I4908 End of Open Memory
164
I4909 Turbo CPU ID Configuration
164
I4910 – I4925 Servo IC Card Identification
165
I4926 – I4941 MACRO IC Card Identification
167
I4942 – I4949 DPRAM IC Card Identification
168
I4950 – I4965 I/O IC Card Identification
169
Data Gathering I-Variables
170
Data Gathering Buffer Location and Mode
170
I5001 – I5048 Data Gathering Source 1-48 Address
170
I5049 Data Gathering Period
171
I5050 Data Gathering Selection Mask 1
171
I5051 Data Gathering Selection Mask 2
171
A/D Processing Table I-Variables
172
I5060 A/D Processing Ring Size
172
I5061-I5076 A/D Ring Slot Pointers
173
A/D Ring Convert Enable
174
I5081-I5096 A/D Ring Convert Codes
174
Coordinate System I-Variables
175
Coordinate System ‘x’ User Countdown Timer 1
176
Coordinate System x User Countdown Timer 2
176
Coordinate System x Segmentation Time
177
Coordinate System ‘x’ End-of-Move Anticipation Time
178
Coordinate System ‘x’ Segmentation Override
178
Coordinate System ‘x’ Segmentation Override Slew
179
Coordinate System x Lookahead Length
180
Coordinate System x Lookahead State Control
181
Coordinate System x Kinematic Calculations Enable
181
Coordinate System x Step Mode Control
182
Coordinate System ‘x’ Maximum Circle Acceleration
182
Coordinate System ‘x’ Rapid Move Mode Control
183
Coordinate System ‘x’ Blend Disable In-Position Time-Out
184
Coordinate System ‘x’ Blend Disable Dwell Time
184
Coordinate System ‘x’ Corner Blend Break Point
185
Coordinate System ‘x’ Outside Corner Stop Point Control
186
Coordinate System ‘x’ Corner Dwell Break Point
186
Coordinate System x Alternate Feedrate
187
Coordinate System x Default Program Acceleration Time
188
Coordinate System x Default Program S-Curve Time
188
Coordinate System x Default Program Feedrate/Move Time
189
Coordinate System x Feedrate Time Units
189
Coordinate System x Default Working Program Number
189
Coordinate System ‘x’ Move Blend Disable
190
Coordinate System x Time Base Control Address
190
Coordinate System x Time Base Slew Rate
191
Coordinate System x Feed Hold Slew Rate
191
Coordinate System x Circle Error Limit
191
Coordinate System x Minimum Arc Length
192
Coordinate System x Maximum Feedrate
193
Coordinate System x Cutter-Comp Outside Corner Break Point
193
Turbo PMAC2 MACRO IC I-Variables
194
MACRO IC MaxPhase/PWM Frequency Control
194
MACRO IC Phase Clock Frequency Control
196
MACRO IC Servo Clock Frequency Control
196
MACRO IC Hardware Clock Control
198
MACRO IC PWM Deadtime / PFM Pulse Width Control
200
MACRO IC DAC Strobe Word
200
MACRO IC ADC Strobe Word
201
MACRO IC Clock Direction Control
201
Channel-Specific MACRO IC I-variables
202
MACRO IC Channel n* Encoder/Timer Decode Control
203
MACRO IC Channel n* Position Compare Channel Select
204
MACRO IC Encoder n* Capture Control
204
MACRO IC Channel n* Capture Flag Select Control
205
MACRO IC Channel n* Encoder Gated Index Select
206
MACRO IC Channel n* Encoder Index Gate State/Demux Control
207
MACRO IC Channel n* Output Mode Select
208
MACRO IC Channel n* Output Invert Control
208
MACRO IC Channel n* PFM Direction Signal Invert Control
209
Reserved for Future Use
209
MACRO IC Ring Setup I-variables
210
MACRO IC Ring Configuration/Status
210
MACRO IC Node Activate Control
211
Servo IC I-Variables
212
PMAC2-Style Multi-Channel Servo IC I-Variables
213
Servo IC m MaxPhase/PWM Frequency Control
213
Servo IC m Phase Clock Frequency Control
215
Servo IC m Servo Clock Frequency Control
215
Servo IC m Hardware Clock Control
217
Servo IC m PWM Deadtime / PFM Pulse Width Control
218
Servo IC m DAC Strobe Word
219
Servo IC m ADC Strobe Word
219
Servo IC m Phase/Servo Clock Direction
220
PMAC2-Style Channel-Specific Servo IC I-Variables
221
Servo IC m Channel n Encoder/Timer Decode Control
221
Servo IC m Channel n Position Compare Channel Select
222
Servo IC m Channel n Capture Control
222
Servo IC m Channel n Capture Flag Select Control
223
Servo IC m Channel n Encoder Gated Index Select
223
Servo IC m Channel n Encoder Index Gate State/Demux Control
224
Servo IC m Channel n Output Mode Select
225
Servo IC m Channel n Output Invert Control
225
Servo IC m Channel n PFM Direction Signal Invert Control
226
Servo IC m Channel n Hardware-1/T Control
226
PMAC-Style Servo IC Setup I-Variables
227
Servo IC m Channel n Encoder/Timer Decode Control
227
Servo IC m Channel n Encoder Filter Disable
228
Servo IC m Channel n Capture Control
228
Servo IC m Channel n Capture Flag Select Control
229
Conversion Table I-Variables
230
Conversion Table Setup Lines
230
TURBO PMAC ON-LINE COMMAND SPECIFICATION
254
<CONTROL-A>
254
<CONTROL-B>
254
<CONTROL-C>
255
<CONTROL-D>
256
<CONTROL-E>
256
<CONTROL-F>
257
<CONTROL-G>
257
<CONTROL-H>
258
<CONTROL-I>
258
<CONTROL-K>
258
<CONTROL-M>
259
<CONTROL-N>
259
<CONTROL-O>
260
<CONTROL-P>
260
<CONTROL-Q>
261
<CONTROL-R>
261
<CONTROL-S>
261
<CONTROL-T>
262
<CONTROL-V>
262
<CONTROL-X>
263
!{axis}{constant}[{axis}{constant}…]
264
@
264
@{card}
265
#
266
#{constant}
266
#{constant}->
267
#{constant}->0
267
#{constant}->{axis definition}
268
#{constant}->I
269
##
270
##{constant}
270
$
271
$$
272
$$$
273
$$$***
273
$$*
274
$*
274
%
275
%{constant}
276
&
276
&{constant}
277
\
278
<
278
>
279
/
279
?
280
??
284
???
289
A
291
ABR[{constant}]
292
ABS
293
{axis}={constant}
294
B{constant}
295
CHECKSUM
295
CID
296
CLEAR
296
CLEAR ALL
297
CLEAR ALL PLCS
297
CLOSE
297
CLOSE ALL
298
CLRF
299
{constant}
299
CPU
300
DATE
300
DEFINE BLCOMP
300
DEFINE CCBUF
301
DEFINE COMP (one-dimensional)
302
DEFINE COMP (two-dimensional)
303
DEFINE GATHER
307
DEFINE LOOKAHEAD
307
DEFINE ROTARY
309
DEFINE TBUF
310
DEFINE TCOMP
310
DEFINE UBUFFER [modified description]
311
DELETE ALL
312
DELETE ALL TEMPS
313
DELETE BLCOMP
313
DELETE CCUBUF
314
DELETE COMP
314
DELETE LOOKAHEAD
314
DELETE GATHER
315
DELETE PLCC
316
DELETE ROTARY
316
DELETE TBUF
317
DELETE TCOMP
317
DISABLE PLC
318
DISABLE PLCC
318
E
319
EAVERSION
319
ENABLE PLC
320
ENABLE PLCC
321
ENDGATHER
321
F
322
FRAX
322
FREAD
323
FSAVE
323
FSAVECLEAR
324
GATHER
324
H
325
HOME
326
HOMEZ
326
I{constant}
327
I{data}={expression}
328
I{constant}=*
329
I{constant}=@I{constant}
330
IDC
330
IDNUMBER
331
INC
331
J!
332
J+
332
J-
333
J/
333
J:{constant}
334
J:*
334
J=
335
J={constant}
335
J=*
336
J=={constant}
336
J^{constant}
337
J^*
337
{jog command}^{constant}
338
K
339
LEARN
340
LIST
341
LIST BLCOMP
341
LIST BLCOMP DEF
342
LIST COMP
342
LIST COMP DEF
343
LIST FORWARD
343
LIST GATHER
344
LIST INVERSE
344
LIST LDS
345
LIST LINK
345
LIST PC
345
LIST PE
346
LIST PLC
347
LIST PROGRAM
348
LIST ROTARY
349
LIST TCOMP
349
LIST TCOMP DEF
350
LOCK{constant},P{constant}
350
M{constant}
351
M{data}={expression}
352
M{constant}->
352
M{constant}->*
353
M{constant}->D:{address}
354
M{constant}->DP:{address}
354
M{constant}->F:{address}
355
M{constant}->L:{address}
355
M{constant}->TWB:{address}
356
M{constant}->TWD:{address}
357
M{constant}->TWR:{address}
358
M{constant}->TWS:{address}
358
M{constant}->X/Y:{address}
360
[replaced]
361
MACROAUX{node #},M{slave var}={constant}
361
MACROAUX{node #},{param #}={constant}
362
MACROAUXREAD
363
MACROAUXWRITE
363
MACROMST{master#},{master variable}
364
MACROMST{master#},{master variable}={constant}
365
MACROMSTASCII{master #}
366
MACROMSTREAD
367
MACROMSTWRITE
368
MACROSLV{command} {node#}
369
MACROSLV{node#},{slave variable}
370
MACROSLV{node#},{slave variable}={constant}
371
MACROSLVREAD
372
MACROSLVWRITE
373
MACROSTASCII {station #}
374
MACROSTASCIIFREQ
375
MACROSTASCIIFREQ={constant}
375
MACROSTASCIIFREQ=*
375
MFLUSH
376
MOVETIME
376
NOFRAX
376
NORMAL
377
O{constant}
377
OPEN BINARY ROTARY
378
OPEN FORWARD
378
OPEN INVERSE
379
OPEN PLC
380
OPEN PROGRAM
381
OPEN ROTARY
381
P
382
P{constant}
382
P{data}={expression}
383
PASSWORD={string}
384
PAUSE PLC
385
PC
386
PE
387
PMATCH
387
PR
388
Q
388
Q{constant}
389
Q{data}={expression}
389
R
391
R[H]{address}
391
RESUME PLC
392
S
393
SAVE
394
SETPHASE
395
SID
395
SIZE
396
STN
396
STN={constant}
397
TIME
397
TIME={time}
397
TODAY
398
TODAY={date}
399
TYPE
399
UNDEFINE
400
UNDEFINE ALL
400
UNLOCK{constant}
401
UPDATE
401
V
401
VERSION
402
VID
402
W{address}
403
Z
403
TURBO PMAC PROGRAM COMMAND SPECIFICATION
405
{axis}{data}[{axis}{data}…]
405
{axis}{data}:{data} [{axis}{data}:{data}…]
405
{axis}{data}[{axis}{data}…] {vector}{data} [{vector}{data}…]
407
A{data}
409
ABS
409
ADDRESS
410
ADDRESS#P{constant}
410
ADDRESS&P{constant}
411
ADIS{constant}
412
AND ({condition})
412
AROT{constant}
413
B{data}
414
BLOCKSTART
414
BLOCKSTOP
415
C{data}
415
CALL
415
CC0
417
CC1
417
CC2
418
CC3
418
CC4
419
CCR{data}
419
CIRCLE1
420
CIRCLE2
420
COMMANDx"{command}"
421
COMMANDx^{letter}
423
CREAD
424
D{data}
425
DELAY{data}
426
DISPLAY [{constant}] "{message}"
428
DWELL
429
ELSE
429
ENABLE PLC
431
ENABLE PLCC
431
ENDIF
432
ENDWHILE
432
F{data}
433
FRAX
434
G{data}
435
GOSUB
436
GOTO
436
HOME
437
HOMEZ
438
I{data}
439
I{data}={expression}
439
IDIS{constant}
440
IF ({condition})
440
INC
441
IROT{constant}
442
J{data}
443
K{data}
443
LINEAR
444
LOCK{constant},P{constant}
444
M{data}
445
M{data}={expression}
445
M{data}=={expression}
446
M{data}&={expression}
447
M{data}|={expression}
447
M{data}^={expression}
448
MACROAUXREAD
449
MACROAUXWRITE
450
MACROMSTREAD
450
MACROMSTWRITE
451
MACROSLVREAD
452
MACROSLVWRITE
454
N{constant}
455
NOFRAX
455
NORMAL
455
NX{data}
456
NY{data}
457
NZ{data}
457
O{constant}
458
OR({condition})
459
P{data}={expression}
459
PAUSE PLC
460
PRELUDE
461
PSET
462
PVT{data}
463
Q{data}={expression}
463
R{data}
464
RAPID
465
READ
466
RESUME PLC
467
RETURN
468
S{data}
468
SENDx
469
SENDx^{letter}
470
SETPHASE
471
SPLINE1
472
SPLINE2
473
STOP
473
T{data}
473
TA{data}
474
TINIT
475
TM{data}
475
TR{data}
476
TS{data}
477
TSELECT{constant}
478
TX{data}
478
TY{data}
479
TZ{data}
479
U{data}
480
UNLOCK{constant}
480
V{data}
481
W{data}
481
WAIT
482
WHILE({condition})
482
X{data}
484
Y{data}
484
Z{data}
485
TURBO PMAC MATHEMATICAL FEATURES
486
Mathematical Operators
486
+
486
-
486
*
486
/
486
%
487
&
488
|
488
^
489
Mathematical Functions
489
ABS
489
ACOS
489
ASIN
490
ATAN
490
ATAN2
491
COS
492
EXP
492
INT
492
LN
493
SIN
493
SQRT
494
TAN
494
TURBO PMAC MEMORY AND I/O MAP
495
Program (Machine Code) Memory
495
Global Servo Registers
495
Temporary Stack Registers
497
Motor Registers
497
Global Registers
503
Communication Buffers
504
Coordinate System Registers
504
Program and Buffer Pointers
508
Processed A/D Registers
509
Additional Coordinate System Registers
509
MACRO Ring Status Registers
510
MACRO Flag Registers
511
Encoder Conversion Table Registers
511
Buffer Pointers
512
Commutation Sine Table
512
User Variable Registers
512
User Program and Buffer Storage
512
Battery-Backed RAM Registers (Option 16x required)
512
Dual Ported RAM Registers (Option 2x required)
512
DPRAM Control Panel
513
DPRAM Control Panel Registers
514
Motor Data Reporting Buffer Control (used if I48=1 or I57=1)
515
Motor Data Reporting Buffer (Used if I48 = 1 or I57 = 1)
515
Global Background Data Reporting Buffer (used if I49 = 1)
520
(used if I49 = 1)
520
Background Variable Read and Write Buffer Control (used if I55 = 1)
525
Data Gathering Control (used if I5000 = 2 or 3)
526
VME Bus/DPRAM Interface Registers
526
Turbo PMAC2 I/O Control Registers
527
PMAC-Style Servo ASIC Registers
529
PMAC2-Style Servo ASIC Registers
533
Turbo PMAC2 MACRO and I/O ASIC Registers
543
MACRO Ring Control Registers
546
Turbo PMAC2 MACRO Node Registers
550
Turbo PMAC I/O Registers
552
Turbo PMAC2 Option 12 A/D Register
554
3U Turbo PMAC2 Stack I/O Registers
554
JEXP Expansion Port I/O Registers
556
UMAC UBUS Expansion Port I/O Registers
556
TURBO PMAC SUGGESTED M-VARIABLE DEFINITIONS
558
TURBO PMAC2 SUGGESTED M-VARIABLE DEFINITIONS
610
UMAC TURBO SUGGESTED M-VARIABLE DEFINITIONS
676
CHANGE SUMMARY: PMAC TO TURBO PMAC
742
Overview Feature Comparison
742
I-Variable Changes
743
I-Variable Changes (continued)
744
DPRAM Function Changes
744
Compensation Table Changes
744
Commutation Changes
745
Overtravel Limit Changes
745
Cutter Radius Compensation Changes
745
Communications Changes
745
Memory and I/O Map Changes
746
Jumper Changes
747
On-line Command Changes
747
Program Command Changes
748
Encoder Conversion Table Changes
748
FIRMWARE UPDATE LISTING
749
V1.933 Updates (July 1999)
749
V1.934 Updates (September 1999)
749
V1.935 Updates (February 2000)
751
V1.936 Updates (April 2000)
751
V1.937 Updates (November, 2000)
752
V1.938 Updates (June, 2001)
754
V1.939 Updates (March, 2002)
754
V1.940 Updates (June, 2003)
755
V1.941 Updates (September 2005)
756
V1.942 Updates (October 2005)
757
V1.943 Updates (January 2007)
758
V1.944 Updates (January 2008)
758
V1.945 Updates (June 2008)
758
V1.946 Updates (Dec 2008, Geo Brick only)
759
V1.947 Updates (May 2010)
759
V1.948 Updates (November 2013)
760

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