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Power PMAC 软件参考手册:动力与灵活性的完美结合
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更新于2024-07-08
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"Power PMAC Software Reference Manual 是Delta Tau Data Systems, Inc.发布的一份软件参考手册,主要针对Power PMAC控制器的软件使用。这份手册提供了关于Power PMAC控制器的详细信息,包括其功能、灵活性和易用性。文档版权为2015年,所有权利归Delta Tau Data Systems, Inc.所有,并强调未经授权不得用于其他用途。手册内容可能因产品改进而更新,可能会与早期版本有所不同。用户如果发现错误或不一致,可以通过电话、传真或电子邮件联系Delta Tau Data Systems, Inc.的技术支持获取帮助。手册还提醒用户,所有的Delta Tau Data Systems, Inc.的运动控制器产品、配件和放大器都含有静电敏感组件,操作时需要注意防静电措施。"
**Power PMAC控制器**是一种高性能的运动控制解决方案,通常用于工业自动化、精密机械和其他需要精确运动控制的领域。Power PMAC软件是其核心组成部分,提供对设备的全面控制和编程,确保了系统的灵活性和易用性。软件参考手册详细阐述了如何配置、编程和优化Power PMAC控制器,以满足不同应用的需求。
**单源机器控制**(SingleSourceMachineControl)是Power PMAC的一个关键特性,它集成了运动控制、I/O处理、逻辑控制和通信功能于一身,减少了系统复杂性和对外部硬件的依赖。这种一体化设计提高了系统的效率和可靠性。
**Delta Tau Data Systems, Inc.**作为制造商,提供技术支持和更新服务,确保客户能够获得最新的软件信息和问题解决方案。用户可以通过电话(818)717-5656或电子邮件(support@deltatau.com)联系技术团队,或访问官方网站http://www.deltatau.com获取更多帮助。
**静电防护**是操作Power PMAC控制器及相关硬件时的重要注意事项。由于静电可能会损坏电子元件,因此在处理这些产品时应遵循ESD(静电放电)防护规范,如佩戴防静电手环、使用防静电包装材料等,以避免潜在的设备损坏。
《Power PMAC Software Reference Manual》是Power PMAC控制器用户不可或缺的参考资料,它详细介绍了软件的各个方面,包括安装、配置、编程以及故障排查,有助于用户充分利用这一强大的运动控制平台。
Power PMAC Software Reference Manual
Table of Contents xvi
Motor[x].pAbsPhasePos ................................................................................................................ 405
Motor[x].pAbsPos ......................................................................................................................... 407
Motor[x].pAdc .............................................................................................................................. 408
Motor[x].pAmpEnable .................................................................................................................. 409
Motor[x].pAmpFault ..................................................................................................................... 410
Motor[x].pAuxFault ...................................................................................................................... 411
Motor[x].pBrakeOut ...................................................................................................................... 412
Motor[x].pBufPos ......................................................................................................................... 413
Motor[x].pBufPos2 ....................................................................................................................... 414
Motor[x].pCaptFlag ...................................................................................................................... 414
Motor[x].pCaptPos ........................................................................................................................ 415
Motor[x].Pdi .................................................................................................................................. 416
Motor[x].pDac ............................................................................................................................... 417
Motor[x].pEnc ............................................................................................................................... 418
Motor[x].pEnc2 ............................................................................................................................. 418
Motor[x].pEncCtrl ......................................................................................................................... 419
Motor[x].pEncLoss ....................................................................................................................... 420
Motor[x].pEncStatus ..................................................................................................................... 421
Motor[x].PhaseCtrl ........................................................................................................................ 422
Motor[x].PhaseEncLeftShift ......................................................................................................... 423
Motor[x].PhaseEncRightShift ....................................................................................................... 424
Motor[x].PhaseFindingDac ........................................................................................................... 425
Motor[x].PhaseFindingTime ......................................................................................................... 425
Motor[x].PhaseLoadEncLeftShift ................................................................................................. 426
Motor[x].PhaseLoadEncRightShift ............................................................................................... 427
Motor[x].PhaseMode .................................................................................................................... 428
Motor[x].PhaseOffset .................................................................................................................... 429
Motor[x].PhasePosSf .................................................................................................................... 430
Motor[x].PhaseSplineCtrl ............................................................................................................. 432
Motor[x].pLimits ........................................................................................................................... 433
Motor[x].pMasterEnc .................................................................................................................... 434
Motor[x].pMotorNode .................................................................................................................. 434
Motor[x].Pni .................................................................................................................................. 435
Motor[x].PosReportMode ............................................................................................................. 436
Motor[x].PosSf .............................................................................................................................. 437
Motor[x].Pos2Sf ............................................................................................................................ 437
Motor[x].PowerOnMode ............................................................................................................... 438
Motor[x].pPhaseEnc ...................................................................................................................... 439
Motor[x].pPhaseLoadEnc ............................................................................................................. 440
Motor[x].PreFilterEna ................................................................................................................... 441
Motor[x].ProgJogPos .................................................................................................................... 442
Motor[x].pSineTable ..................................................................................................................... 442
Motor[x].pVoltSineTable .............................................................................................................. 443
Motor[x].PwmDbComp ................................................................................................................ 443
Motor[x].PwmDbI ......................................................................................................................... 444
Motor[x].PwmSf ........................................................................................................................... 444
Motor[x].RapidSpeedSel ............................................................................................................... 445
Motor[x].ServoCaptTimeOffset .................................................................................................... 446
Motor[x].ServoCtrl ........................................................................................................................ 447
Motor[x].SlewMasterPosSf ........................................................................................................... 448
Motor[x].SlipGain ......................................................................................................................... 448
Power PMAC Software Reference Manual
Table of Contents xvii
Motor[x].SoftLimitOffset .............................................................................................................. 449
Motor[x].Stime .............................................................................................................................. 450
Motor[x].TraceSize ....................................................................................................................... 451
Motor[x].WarnFeLimit ................................................................................................................. 451
Motor Servo Loop Term Elements ....................................................................................................... 453
Motor[x].Servo.BreakPosErr ........................................................................................................ 453
Motor[x].Servo.EstMinDac ........................................................................................................... 453
Motor[x].Servo.EstTime ............................................................................................................... 454
Motor[x].Servo.Kafb ..................................................................................................................... 454
Motor[x].Servo.Kaff ..................................................................................................................... 455
Motor[x].Servo.Kai ....................................................................................................................... 456
Motor[x].Servo.Kbi ....................................................................................................................... 456
Motor[x].Servo.Kbreak ................................................................................................................. 457
Motor[x].Servo.Kci ....................................................................................................................... 458
Motor[x].Servo.Kdi ....................................................................................................................... 458
Motor[x].Servo.Kei ....................................................................................................................... 459
Motor[x].Servo.Kfi ....................................................................................................................... 459
Motor[x].Servo.Kfff ...................................................................................................................... 460
Motor[x].Servo.Ki ......................................................................................................................... 461
Motor[x].Servo.Kp ........................................................................................................................ 462
Motor[x].Servo.Kvfb ..................................................................................................................... 462
Motor[x].Servo.Kvff ..................................................................................................................... 463
Motor[x].Servo.Kvifb ................................................................................................................... 464
Motor[x].Servo.Kviff .................................................................................................................... 465
Motor[x].Servo.Kxig ..................................................................................................................... 466
Motor[x].Servo.Kxpg .................................................................................................................... 467
Motor[x].Servo.Kxvg .................................................................................................................... 467
Motor[x].Servo.MaxDR ................................................................................................................ 468
Motor[x].Servo.MaxGainFactor.................................................................................................... 469
Motor[x].Servo.MaxInt ................................................................................................................. 469
Motor[x].Servo.MaxPosErr ........................................................................................................... 470
Motor[x].Servo.MaxW .................................................................................................................. 470
Motor[x].Servo.MinDR ................................................................................................................. 471
Motor[x].Servo.MinGainFactor .................................................................................................... 472
Motor[x].Servo.MinW .................................................................................................................. 473
Motor[x].Servo.NominalGain ....................................................................................................... 474
Motor[x].Servo.OutDbOff ............................................................................................................ 474
Motor[x].Servo.OutDbOn ............................................................................................................. 475
Motor[x].Servo.OutDbSeed .......................................................................................................... 475
Motor[x].Servo.SwFffInt .............................................................................................................. 476
Motor[x].Servo.SwPoly7 .............................................................................................................. 476
Motor[x].Servo.SwZvInt ............................................................................................................... 477
MuxIo. Saved Data Structure Elements .................................................................................................... 478
MuxIo.ClockPeriod ....................................................................................................................... 478
MuxIo.Enable................................................................................................................................ 478
MuxIo.InBit .................................................................................................................................. 479
MuxIo.OutBit ................................................................................................................................ 479
MuxIo.pIn ..................................................................................................................................... 480
MuxIo.pOut ................................................................................................................................... 481
Power PMAC Software Reference Manual
Table of Contents xviii
MuxIo.UpdatePeriod ..................................................................................................................... 481
MuxIo.PortA[n].AutoParityCheck / MuxIo.PortB[n].AutoParityCheck ...................................... 482
MuxIo.PortA[n].Dir / MuxIo.PortB[n].Dir ................................................................................... 483
MuxIo.PortA[n].Enable / MuxIo.PortB[n].Enable ....................................................................... 483
PowerBrick[i]. Saved Data Structure Elements ........................................................................................ 484
Sys. Saved Data Structure Elements ......................................................................................................... 485
Sys.AbortAllBit ............................................................................................................................ 485
Sys.AbortAllLimit ........................................................................................................................ 485
Sys.BgSleepTime .......................................................................................................................... 486
Sys.BgWDTReset ......................................................................................................................... 486
Sys.BusCtrl[n] ............................................................................................................................... 487
Sys.CamEnable ............................................................................................................................. 488
Sys.CompEnable ........................................................................................................................... 489
Sys.CompMotor ............................................................................................................................ 489
Sys.CpuTimerIntr.......................................................................................................................... 490
Sys.FirstEnc .................................................................................................................................. 491
Sys.I[i] ........................................................................................................................................... 491
Sys.MaxCoords ............................................................................................................................. 491
Sys.MaxEcats ................................................................................................................................ 492
Sys.MaxMotors ............................................................................................................................. 492
Sys.MaxRtPlc................................................................................................................................ 493
Sys.MaxTimedUnderflow ............................................................................................................. 493
Sys.MotorsPerRtInt ....................................................................................................................... 494
Sys.NoShortCmds ......................................................................................................................... 496
Sys.pAbortAll ............................................................................................................................... 497
Sys.PhaseCycleExt ........................................................................................................................ 497
Sys.PhaseOverServoPeriod ........................................................................................................... 498
Sys.PreCalc ................................................................................................................................... 499
Sys.RtIntPeriod ............................................................................................................................. 500
Sys.SendFileMode ........................................................................................................................ 500
Sys.ServoPeriod ............................................................................................................................ 501
Sys.SimConfigOk ......................................................................................................................... 502
Sys.WDTReset .............................................................................................................................. 502
POWER PMAC NON-SAVED SETUP DATA STRUCTURE ELEMENTS ................................... 504
Acc5E[i]. Non-Saved Setup Data Structure Elements .............................................................................. 504
Acc5E3[i]. Non-Saved Setup Data Structure Elements ............................................................................ 504
Acc5EP3[i]. Non-Saved Setup Data Structure Elements .......................................................................... 504
Acc11C[i]. Non-Saved Setup Data Structure Elements ............................................................................ 504
Acc11E[i]. Non-Saved Setup Data Structure Elements ............................................................................ 504
Acc14E[i]. Non-Saved Setup Data Structure Elements ............................................................................ 504
Acc24C2[i]. Non-Saved Setup Data Structure Elements .......................................................................... 504
Power PMAC Software Reference Manual
Table of Contents xix
Acc24C2A[i]. Non-Saved Setup Data Structure Elements ....................................................................... 505
Acc24E2[i]. Non-Saved Setup Data Structure Elements .......................................................................... 505
Acc24E2A[i]. Non-Saved Setup Data Structure Elements ....................................................................... 505
Acc24E2S[i]. Non-Saved Setup Data Structure Elements ........................................................................ 505
Acc24E3[i]. Non-Saved Setup Data Structure Elements .......................................................................... 505
Acc36E[i]. Non-Saved Setup Data Structure Elements ............................................................................ 506
Acc36E[i].ConvertCode ................................................................................................................ 506
Acc51C[i]. Non-Saved Setup Data Structure Elements ............................................................................ 507
Acc51E[i]. Non-Saved Setup Data Structure Elements ............................................................................ 507
Acc58E[i]. Non-Saved Setup Data Structure Elements ............................................................................ 507
Acc59E[i]. Non-Saved Setup Data Structure Elements ............................................................................ 508
Acc59E[i].ConvertCode ................................................................................................................ 508
Acc59E[i].DAC[j] ......................................................................................................................... 508
Acc59E[i].DACHighLow[j] ......................................................................................................... 509
Acc59E3[i]. Non-Saved Setup Data Structure Elements .......................................................................... 510
Acc65E[i]. Non-Saved Setup Data Structure Elements ............................................................................ 510
Acc66E[i]. Non-Saved Setup Data Structure Elements ............................................................................ 510
Acc67E[i]. Non-Saved Setup Data Structure Elements ............................................................................ 510
Acc68E[i]. Non-Saved Setup Data Structure Elements ............................................................................ 510
Acc72EX[i]. Non-Saved Setup Data Structure Elements ......................................................................... 511
Acc72EX[i].Idata16[j] .................................................................................................................. 511
Acc72EX[i].Idata32[j] .................................................................................................................. 511
Acc72EX[i].Udata8[j] ................................................................................................................... 512
Acc72EX[i].Udata16[j] ................................................................................................................. 513
Acc72EX[i].Udata32[j] ................................................................................................................. 513
Acc84B[i]. Non-Saved Setup Data Structure Elements ............................................................................ 515
Acc84C[i]. Non-Saved Setup Data Structure Elements ............................................................................ 515
Acc84E[i]. Non-Saved Setup Data Structure Elements ............................................................................ 515
Acc84E[i].AuxSerialEncCtrl ............................................................................................................... 515
Acc84E[i].AuxChan[j].SerialEncCmd ................................................................................................ 515
Acc84S[i]. Non-Saved Setup Data Structure Elements ............................................................................ 516
Power PMAC Software Reference Manual
Table of Contents xx
BrickAC. Non-Saved Data Structure Elements ........................................................................................ 517
BrickAC. Multi-Channel Non-Saved Setup Elements .......................................................................... 517
BrickAC.Config ............................................................................................................................ 517
BrickAC.Monitor .......................................................................................................................... 518
BrickAC.Reset .............................................................................................................................. 520
BrickLV. Non-Saved Data Structure Elements ........................................................................................ 522
BrickLV. Multi-Channel Setup Elements ............................................................................................. 522
BrickLV.Config ............................................................................................................................ 522
BrickLV.Monitor .......................................................................................................................... 523
BrickLV.Reset .............................................................................................................................. 525
Clipper[i]. Non-Saved Setup Data Structure Elements ............................................................................. 526
CamTable[m]. Non-Saved Setup Data Structure Elements ...................................................................... 527
CamTable[m].Enable .................................................................................................................... 527
CamTable[m].PosOffset ................................................................................................................ 527
Cid[j]. Non-Saved Setup Data Structure Elements ................................................................................... 529
Cid[j].PartCtrl[k] ........................................................................................................................... 529
Cid[j].PartData[k] .......................................................................................................................... 530
Clipper[i]. Non-Saved Data Structure Elements ....................................................................................... 530
Coord[x]. Non-Saved Setup Data Structure Elements .............................................................................. 531
Coord[x].DesTimeBase ................................................................................................................. 531
Coord[x].InvTimeMode ................................................................................................................ 531
Coord[x].Q[i] ................................................................................................................................ 533
Coord[x].SegOverride ................................................................................................................... 534
Coord[x].TxyzScale ...................................................................................................................... 534
Coord[x].CC3Data[i]. 3D Cutter Compensation Elements ................................................................ 535
Coord[x].CC3Data[i].CutRadius ................................................................................................... 535
Coord[x].CC3Data[i].NdotT ......................................................................................................... 536
Coord[x].CC3Data[0].ToolOffset ................................................................................................. 537
Coord[x].CC3Data[0].ToolRadius ................................................................................................ 538
Coord[x].Ldata. Non-Saved Local Data Elements .............................................................................. 538
ECAT[i]. Non-Saved Setup Data Structure Elements .............................................................................. 539
ECAT[i].IOBuffer[m] ................................................................................................................... 539
EtherCAT Cyclic I/O Non-Saved Elements ......................................................................................... 539
ECAT[i].IO[k].Data ...................................................................................................................... 539
ECAT[i].IO[k].Offset .................................................................................................................... 539
EtherCAT Low-Priority I/O Module Non-Saved Elements .................................................................. 540
ECAT[i].LPIO[k].Data ................................................................................................................. 540
Gate1[i]. (PMAC2-Style Servo IC) Non-Saved Setup Data Structure Elements ..................................... 541
Gate1[i].Chan[j].AmpEna ............................................................................................................. 541
Gate1[i].Chan[j].CompA .............................................................................................................. 541
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