Delta Tau GEO BRICK LV User Manual
Turbo PMAC User Manual
216
Making your Application Safe
•
5V power-supply disturbances
•
Loose connections
2. If there is an immediate watchdog timer trip in Step 1, power up with the re-initialization jumper ON.
If it does not trip now, there is a problem in the servo/phase task loading for the frequency, or an
immediate software problem on the board. Check for the following:
immediate software problem on the board. Check for the following:
•
Phase and servo clock frequencies vs. the number of motors used by Turbo PMAC. These
frequencies may need to be reduced.
frequencies may need to be reduced.
•
A PLC 0 or PLCC 0 program running immediately on power-up (I5 saved at 1 or 3) and taking
too much time.
too much time.
•
User-written servo or phase program not returning properly.
3. If there is an immediate watchdog timer trip in Step 2, check for hardware issues:
•
Correct settings of clock-frequency jumpers (Turbo PMAC)
•
Jumpers set for external servo and phase clock, but none provided
•
Disconnect any accessories and repeat to see if they are causing the problem
•
Check for adequate 5V power supply levels (check at the Turbo PMAC CPU, not at the supply)
•
Inspect for hardware damage
4. If nothing is found in Step 3, power up with the firmware reload (bootstrap) jumper ON. If there is
no watchdog timer trip here and you can do basic communications (??? should cause a BOOTSTRAP
ROM reply), there is a problem with your operational firmware and it must be reloaded.
ROM reply), there is a problem with your operational firmware and it must be reloaded.
Hardware Stop Command Inputs
Turbo PMAC controllers have hardware inputs that can stop a move or a program with user-set
decelerations. The Abort input stops motion of all axes in the selected coordinate systems, as determined
by the motor/system select inputs, starting immediately, and with each motor decelerating at a rate set by
Ix15. The Hold input performs the same function, except that the axes are decelerated at rates such that
the desired multi-axis path is maintained during deceleration.
decelerations. The Abort input stops motion of all axes in the selected coordinate systems, as determined
by the motor/system select inputs, starting immediately, and with each motor decelerating at a rate set by
Ix15. The Hold input performs the same function, except that the axes are decelerated at rates such that
the desired multi-axis path is maintained during deceleration.
These dedicated inputs are on Turbo PMAC’s control panel connector (JPAN; J2). Which coordinate
system they act on is determined by the binary number produced by the four low-true input lines FPD0/
(LSBit), FPD1/, FPD2/, and FPD3/ (MSBit). A value of zero (all high) disables the functions; values of 1
through 8 select the numbered coordinate system.
system they act on is determined by the binary number produced by the four low-true input lines FPD0/
(LSBit), FPD1/, FPD2/, and FPD3/ (MSBit). A value of zero (all high) disables the functions; values of 1
through 8 select the numbered coordinate system.
Host-Generated Stop Commands
These functions and several others can also be performed from the host with one- or two-character
commands. For instance, <CTRL-A> performs the same function as the Abort input with all coordinate
systems selected, and A aborts the software-addressed coordinate system. <CTRL-O> holds all
coordinate systems, and H holds the software-addressed coordinate system. In addition <CTRL-Q> stops
all programs at the end of the upcoming move, and Q stops the program of the software-addressed
coordinate system. <CTRL-K> disables all motors immediately and K disables the software-addressed
motor (if the motor is in a coordinate system that is running a motion program, an Abort command should
be issued before the K command.
Any of these commands may be issued from within a Turbo PMAC program, using the
COMMAND"{command}" or the COMMAND^{letter} syntax. However, a motor-kill (K) command
for a motor in the coordinate system will be rejected automatically when issued from within a motion
program running in that coordinate system.
commands. For instance, <CTRL-A> performs the same function as the Abort input with all coordinate
systems selected, and A aborts the software-addressed coordinate system. <CTRL-O> holds all
coordinate systems, and H holds the software-addressed coordinate system. In addition <CTRL-Q> stops
all programs at the end of the upcoming move, and Q stops the program of the software-addressed
coordinate system. <CTRL-K> disables all motors immediately and K disables the software-addressed
motor (if the motor is in a coordinate system that is running a motion program, an Abort command should
be issued before the K command.
Any of these commands may be issued from within a Turbo PMAC program, using the
COMMAND"{command}" or the COMMAND^{letter} syntax. However, a motor-kill (K) command
for a motor in the coordinate system will be rejected automatically when issued from within a motion
program running in that coordinate system.