Delta Tau GEO BRICK LV Manuel D’Utilisation
Turbo PMAC User Manual
14
Turbo PMAC Family Overview
Axes
Generally, motions in a Turbo PMAC system are commanded through the use of axes. An axis in Turbo
PMAC consists of the software structures for programmed moves. Axes are specified by letter (A, B, C,
U, V, W, X, Y, and Z), and their attributes are specified in terms of user-specified units (e.g. millimeters,
inches, degrees, seconds, minutes).
Axes are assigned to motors through axis definition statements or kinematic subroutines. While there is
usually a one-to-one mapping between axes and motors (e.g. Motor 1 assigned to the X-axis and Motor 2
assigned to the Y-axis), this does not have to be the case. Multiple motors can be assigned to a single
axis, as in a gantry configuration; there can be no motors assigned to an axis, creating a virtual axis; or
there can be a complex relationship of multiple motors to multiple axes in a kinematic algorithm.
An axis belongs to a coordinate system (see below). Up to 9 axes may be used in a single coordinate
system, one of each letter name.
PMAC consists of the software structures for programmed moves. Axes are specified by letter (A, B, C,
U, V, W, X, Y, and Z), and their attributes are specified in terms of user-specified units (e.g. millimeters,
inches, degrees, seconds, minutes).
Axes are assigned to motors through axis definition statements or kinematic subroutines. While there is
usually a one-to-one mapping between axes and motors (e.g. Motor 1 assigned to the X-axis and Motor 2
assigned to the Y-axis), this does not have to be the case. Multiple motors can be assigned to a single
axis, as in a gantry configuration; there can be no motors assigned to an axis, creating a virtual axis; or
there can be a complex relationship of multiple motors to multiple axes in a kinematic algorithm.
An axis belongs to a coordinate system (see below). Up to 9 axes may be used in a single coordinate
system, one of each letter name.
Coordinate Systems
The coordinate system is Turbo PMAC’s structure for achieving tightly coordinated motion of multiple
motors. Turbo PMAC supports up to 16 separate coordinate systems. A motor is assigned to an axis in a
particular coordinate system. Multiple axes in the same coordinate system that are commanded on the
same line of a motion program are automatically coordinated.
To make the motion of more than one motor coordinated, assign them to axes in the same coordinate
system. To have independent motion of motors (i.e. starting stopping, and changing speeds at arbitrary
times with respect to each other, assign the motors to axes in separate coordinate systems.
motors. Turbo PMAC supports up to 16 separate coordinate systems. A motor is assigned to an axis in a
particular coordinate system. Multiple axes in the same coordinate system that are commanded on the
same line of a motion program are automatically coordinated.
To make the motion of more than one motor coordinated, assign them to axes in the same coordinate
system. To have independent motion of motors (i.e. starting stopping, and changing speeds at arbitrary
times with respect to each other, assign the motors to axes in separate coordinate systems.
User Programs
Turbo PMAC users can install several types of programs into the controller, each type with a specific
purpose.
purpose.
Motion Programs
Turbo PMAC motion programs provide an easy way to specify sequences of coordinated motion and the
execution of any calculations that are synchronous with the programmed motions. The motion program
language combines features of the RS-274 standard G-code machine-tool programming language, which
is good for specifying sequences of coordinated motion, and BASIC, which is good for the associated
math and logic.
execution of any calculations that are synchronous with the programmed motions. The motion program
language combines features of the RS-274 standard G-code machine-tool programming language, which
is good for specifying sequences of coordinated motion, and BASIC, which is good for the associated
math and logic.
PLC Programs
PLC programs in Turbo PMAC are intended for actions and calculations that are asynchronous to the
programmed motion. PLC programs repeatedly scan in the fashion of regular programmable logic
controllers. They can be used for I/O control as a dedicated PLC would be, but because they have direct
access to all registers in Turbo PMAC, they have many other uses as well.
Turbo PMAC programs can either be written in a BASIC-like text language, or in IEC-1131 ladder logic
or sequential function charts (extended memory option and special PC software required). Text PLC
programs can be run either as interpreted code, or as compiled code for greater efficiency. See the User
Manual section on PLC programs for more details.
programmed motion. PLC programs repeatedly scan in the fashion of regular programmable logic
controllers. They can be used for I/O control as a dedicated PLC would be, but because they have direct
access to all registers in Turbo PMAC, they have many other uses as well.
Turbo PMAC programs can either be written in a BASIC-like text language, or in IEC-1131 ladder logic
or sequential function charts (extended memory option and special PC software required). Text PLC
programs can be run either as interpreted code, or as compiled code for greater efficiency. See the User
Manual section on PLC programs for more details.
User-Written Servo and Phase Algorithms
Virtually all users will be able to utilize Turbo PMAC’s built-in servo-loop-closure and phase-
commutation algorithms. However, it is possible for the user to install custom algorithms for either or
both of these to accomplish tasks not possible with the standard algorithms. Some people will use these
algorithms simply for high-speed, high-priority I/O or calculations by activating them on an otherwise
unused motor.
User-written servo algorithms can be written either in the high-level PMAC language (for ease of use) or
in DSP56300 assembly language (for maximum efficiency). User-written phase algorithms must be
written in assembly language. See the User Manual sections on commutation and servo loops for details.
commutation algorithms. However, it is possible for the user to install custom algorithms for either or
both of these to accomplish tasks not possible with the standard algorithms. Some people will use these
algorithms simply for high-speed, high-priority I/O or calculations by activating them on an otherwise
unused motor.
User-written servo algorithms can be written either in the high-level PMAC language (for ease of use) or
in DSP56300 assembly language (for maximum efficiency). User-written phase algorithms must be
written in assembly language. See the User Manual sections on commutation and servo loops for details.