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Power PMAC用户手册:单源机器控制
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更新于2024-07-06
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"Power PMAC 用户手册"
"Power PMAC 用户手册" 是一本详细指导用户如何操作和利用 Power PMAC 进行机器控制的技术文档。Power PMAC 是 Delta Tau Data Systems, Inc. 生产的一款高性能运动控制器,它以其强大、灵活和易用性为主要特点。该手册的目标是为用户提供全面的使用指南,帮助他们有效地集成和控制各种机械设备。
在手册的开头部分,提到了 Power PMAC 的核心价值——“Power//Flexibility//Ease of Use”,这暗示了该控制器具备强大的处理能力、适应不同应用的灵活性以及对用户的友好操作界面。手册的发布者 Delta Tau Data Systems, Inc. 是一家专业的运动控制解决方案提供商,其联系信息包括地址、电话、传真和网址,便于用户在遇到问题时寻求技术支持。
文档的版本号 "O014-E-01" 表明这是一个特定的发行版,而版权信息则强调了手册的内容仅授权给 Delta Tau Data Systems, Inc. 的客户使用,并且可能会随着时间的推移因产品改进而更新。若发现错误或不一致之处,用户可以通过电话、传真或电子邮件与公司的技术支持部门联系。
此外,手册还提到了操作条件,指出所有 Delta Tau Data Systems, Inc. 的运动控制器产品、配件和放大器都包含静电敏感组件,需要正确处理以防止损坏。这意味着在安装或处理这些设备时,用户必须遵循防静电操作规程。
手册的其他部分可能涵盖了 Power PMAC 的硬件组成、软件配置、接线图、编程指南、故障排查和维护建议等内容。用户将能够通过此手册学习如何设置、编程、监控和优化 Power PMAC 控制系统,以实现高效、精确的机器控制。对于需要使用 Power PMAC 进行自动化设备控制的工程师和技术人员来说,这是一份必不可少的参考资料。
Power PMAC User’s Manual
Table of Contents xvi
Software Setup for Loss Detection ....................................................................................................... 420
Auxiliary Fault Detection ......................................................................................................... 424
Software Setup for Auxiliary Fault Detection ...................................................................................... 425
Automatic Brake Control ......................................................................................................... 426
Specifying the Brake Control Output ................................................................................................... 427
Specifying the Brake Timing ................................................................................................................ 427
Amplifier Enable and Fault Lines ............................................................................................. 428
Amplifier Enable Output Configuration .............................................................................................. 428
Amplifier Fault Input Configuration.................................................................................................... 429
Current Limits ......................................................................................................................... 430
Intermittent Current Limits .................................................................................................................. 430
Time-Integrated Current Limits ........................................................................................................... 431
RMS Current Calculations .................................................................................................................. 434
Reference Frame Conversions ............................................................................................................. 436
Torque Control Mode .......................................................................................................................... 438
Sinewave Output Mode ........................................................................................................................ 439
Direct PWM Output Mode ................................................................................................................... 441
Velocity Limits ......................................................................................................................... 445
Programmed Vector Velocity Limit ..................................................................................................... 445
Programmed Motor Velocity Limit ...................................................................................................... 445
Position-Following Velocity Limit ....................................................................................................... 446
Acceleration Limits .................................................................................................................. 446
Programmed Vector Acceleration Limits ............................................................................................ 446
Programmed Motor Acceleration Limits ............................................................................................. 446
Motor Move Acceleration Command ................................................................................................... 447
Position-Following Acceleration Limit ............................................................................................... 447
Jerk Limits ............................................................................................................................... 448
Programmed Motor Jerk Limit ............................................................................................................ 448
Motor Move Jerk Command ................................................................................................................ 448
Commanded Safety Stops ...................................................................................................... 448
Abort: Controlled Stop ........................................................................................................................ 448
Disable: Uncontrolled Stop ................................................................................................................. 449
Hybrid Abort/Disable .......................................................................................................................... 449
EXECUTING INDIVIDUAL MOTOR MOVES .................................................................. 450
Jogging Move Control ............................................................................................................. 450
Jog Speed Control ................................................................................................................................ 450
Jog Acceleration Control ..................................................................................................................... 450
Example Jog Move Profile ................................................................................................................... 454
Jog Commands..................................................................................................................................... 454
Triggered Motor Moves ........................................................................................................... 457
Types of Triggered Moves ................................................................................................................... 457
Trigger Conditions............................................................................................................................... 457
Capturing the Position at Trigger ....................................................................................................... 461
Power PMAC User’s Manual
Table of Contents xvii
Processing the Hardware-Captured Position ...................................................................................... 465
Processing the Software-Captured Position ........................................................................................ 474
Post-Trigger Move ............................................................................................................................... 474
Homing-Search Moves ......................................................................................................................... 474
Jog-Until-Trigger Moves ..................................................................................................................... 479
Program Move-Until-Trigger .............................................................................................................. 480
Open-Loop Moves .................................................................................................................. 481
SETTING UP COORDINATE SYSTEMS ............................................................................ 482
What is a Coordinate System? ................................................................................................ 482
Number of Coordinate Systems ........................................................................................................... 482
Strategy for Assigning Coordinate Systems ......................................................................................... 482
Fault Sharing ....................................................................................................................................... 483
What is an Axis? ..................................................................................................................... 483
Single-Motor Axes ............................................................................................................................... 483
Multiple-Motor Axes ............................................................................................................................ 483
Phantom Axes ...................................................................................................................................... 484
Axis Definition Statements ...................................................................................................... 484
Matching Motor to Axis ....................................................................................................................... 485
Scaling and Offset ................................................................................................................................ 485
The Null Definition .............................................................................................................................. 485
Defining a Motor to Multiple Axes ...................................................................................................... 485
Cartesian Axis Sets .............................................................................................................................. 487
Rotary Axes with Rollover Capability ................................................................................................. 488
The Spindle Axis Definition ................................................................................................................. 489
Conversion from Axis to Motor Position ............................................................................................. 490
Conversion from Motor to Axis Positions ............................................................................................ 491
Coordinate-System Kinematic Subroutines ............................................................................. 493
Creating the Kinematic Program Buffers ............................................................................................ 494
Generalizing the Routines to Multiple Coordinate Systems ................................................................ 504
Axis Transformation Matrices .................................................................................................. 507
Transformation Matrix Data Structures .............................................................................................. 508
Using the Matrices ............................................................................................................................... 509
Examples .............................................................................................................................................. 510
Rescaling Feedrate and Tool Radius ................................................................................................... 511
Segmentation Mode ................................................................................................................ 512
Time-Base Control and Override Techniques ......................................................................... 513
Time-Base Control ............................................................................................................................... 513
Segmentation Override ........................................................................................................................ 516
Axis Target Position and Distance-to-Go Reporting ................................................................ 519
Setting Up the Target Position Buffer .................................................................................................. 519
Querying the Target Position Data ..................................................................................................... 520
POWER PMAC COMPUTATIONAL FEATURES ............................................................. 523
Power PMAC User’s Manual
Table of Contents xviii
Computational Priorities .......................................................................................................... 523
Phase (Commutation) Update ............................................................................................................. 523
Servo Update ....................................................................................................................................... 523
Real-Time Interrupt Tasks ................................................................................................................... 524
Background Tasks ................................................................................................................................ 524
Monitoring Processing Time ............................................................................................................... 524
Numerical Values .................................................................................................................... 525
Internal Formats .................................................................................................................................. 525
Pre-Defined Data Structures ................................................................................................... 528
Specifying Data Structure Indices ....................................................................................................... 529
User Variables ........................................................................................................................ 530
Direct Access to User Variables .......................................................................................................... 530
User-Specified Variable Names Through IDE .................................................................................... 531
Automatically Assigned Declared Variables ....................................................................................... 531
System Global (“P”) Variables ........................................................................................................... 533
Coordinate System Global (“Q”) Variables ....................................................................................... 534
User Pointer (“M”) Variables ............................................................................................................. 535
Pre-Defined Setup Pointer (“I”) Variables ......................................................................................... 535
Local (“L”) Variables ......................................................................................................................... 536
Return/Stack (“R”) Variables .............................................................................................................. 538
Coordinate System Kinematic Axis (“C”) Variables........................................................................... 539
Non-Stack Local (“D”) Variables ....................................................................................................... 539
User Shared Memory Buffer Variables ............................................................................................... 540
Operators ................................................................................................................................ 542
Arithmetic Operators ........................................................................................................................... 542
Bit-Wise Operators .............................................................................................................................. 542
Standard Assignment Operators .......................................................................................................... 543
Synchronous Assignment Operators .................................................................................................... 543
Functions ................................................................................................................................ 544
Scalar Functions .................................................................................................................................. 544
Vector Functions .................................................................................................................................. 544
Matrix Functions ................................................................................................................................. 545
Expressions ............................................................................................................................ 546
The {data} Syntax ................................................................................................................... 547
Standard Variable Value Assignment ...................................................................................... 547
Synchronous Variable Value Assignment................................................................................ 548
Variables That Can Be Assigned Synchronously ................................................................................. 548
Why Needed in Motion Programs ........................................................................................................ 549
Why Needed in PLC Programs ............................................................................................................ 550
The Synchronous Assignment Buffer ................................................................................................... 551
Execution Details ................................................................................................................................. 551
Comparators ........................................................................................................................... 551
Conditions ............................................................................................................................... 552
Power PMAC User’s Manual
Table of Contents xix
Explicit Comparisons ........................................................................................................................... 552
Compound Conditions ......................................................................................................................... 552
Condition Negation .............................................................................................................................. 553
USING GENERAL PURPOSE DIGITAL I/O WITH POWER PMAC ............................. 554
Note on Using “Dedicated” I/O for General Purpose Use ........................................................ 554
Digital I/O Hardware and Configuration ................................................................................... 554
UMAC Digital I/O Boards ................................................................................................................... 554
Compact UMAC ACC-11C Digital I/O ............................................................................................... 555
UMAC ACC-5E Digital I/O ................................................................................................................. 556
UMAC ACC-5E3 Digital I/O ............................................................................................................... 556
Power Brick Digital I/O ....................................................................................................................... 557
Power Clipper Digital I/O ................................................................................................................... 557
ACC-34 Family Multiplexed Digital I/O ............................................................................................. 558
Software Configuration for Digital I/O Use ............................................................................... 560
UMAC Digital I/O Boards ................................................................................................................... 560
Compact UMAC ACC-11C Digital I/O ............................................................................................... 562
UMAC ACC-5E Digital I/O ................................................................................................................. 562
UMAC ACC-5E3 Digital I/O ............................................................................................................... 564
Power Brick Digital I/O ....................................................................................................................... 565
Power Clipper Digital I/O ................................................................................................................... 565
ACC-34 Family Multiplexed Digital I/O ............................................................................................. 566
Accessing Digital I/O Points in the Script Environment ............................................................ 570
Accessing Output Points at Different Priority Levels .......................................................................... 570
UMAC Digital I/O Boards ................................................................................................................... 571
Compact UMAC ACC-11C Digital I/O ............................................................................................... 572
UMAC ACC-5E Digital I/O ................................................................................................................. 572
UMAC ACC-5E3 Digital I/O ............................................................................................................... 573
Power Brick Digital I/O ....................................................................................................................... 574
Power Clipper Digital I/O ................................................................................................................... 574
ACC-34 Family Multiplexed Digital I/O ............................................................................................. 575
Using Cyclic Scanned Buffered Inputs and Outputs ................................................................ 576
Enabling Cyclic Scanned I/O ............................................................................................................... 576
Specifying Scanned Input Registers ..................................................................................................... 577
Override “Forcing” of Inputs ............................................................................................................. 578
Filtering of Inputs ................................................................................................................................ 578
Resulting Registers .............................................................................................................................. 579
Using the Resulting Values .................................................................................................................. 579
Writing to Outputs Using Holding Registers ....................................................................................... 579
Override “Forcing” of Outputs ........................................................................................................... 580
Specifying Scanned Output Registers .................................................................................................. 580
Accessing Digital I/O Points in the C Environment .................................................................. 582
Accessing Output Points at Different Priority Levels .......................................................................... 582
Volatile Variable Declarations ............................................................................................................ 582
Using Data Structures ......................................................................................................................... 582
Power PMAC User’s Manual
Table of Contents xx
Using Direct Pointer Variables ........................................................................................................... 583
UMAC Digital I/O Boards ................................................................................................................... 584
Compact UMAC ACC-11C Digital I/O ............................................................................................... 585
UMAC ACC-5E Digital I/O ................................................................................................................. 585
UMAC ACC-5E3 Digital I/O ............................................................................................................... 587
Power Brick Digital I/O ....................................................................................................................... 588
Power Clipper Digital I/O ................................................................................................................... 590
ACC-34 Family Multiplexed Digital I/O ............................................................................................. 591
USING GENERAL PURPOSE ANALOG I/O WITH POWER PMAC ............................. 592
Note on Using “Dedicated” I/O for General Purpose Use ........................................................ 592
Analog I/O Hardware and Configuration .................................................................................. 592
UMAC ACC-28E ADC Board ............................................................................................................. 592
UMAC ACC-36E ADC Board ............................................................................................................. 593
UMAC ACC-59E ADC/DAC Board .................................................................................................... 594
UMAC ACC-59E3 ADC/DAC Board .................................................................................................. 594
Power Brick Optional Analog I/O ....................................................................................................... 596
Power Clipper Optional On-Board Analog I/O................................................................................... 597
Power Clipper with ACC-28B ADC Board ......................................................................................... 598
Power Clipper with ACC-8AS True DAC Board ................................................................................. 598
Software Configuration for Analog I/O Use .............................................................................. 599
UMAC ACC-28E ADC Board ............................................................................................................. 599
UMAC ACC-36E, ACC-59E ADC Inputs ............................................................................................ 599
UMAC ACC-59E DAC Outputs ........................................................................................................... 600
UMAC ACC-59E3 ADC Inputs ........................................................................................................... 600
UMAC ACC-59E3 DAC Outputs ......................................................................................................... 601
Power Brick Optional ADC Inputs ...................................................................................................... 601
Power Brick Optional Filtered-PWM Analog Outputs ........................................................................ 602
Power Brick Optional True DAC Outputs ........................................................................................... 603
Power Clipper Optional On-Board Analog Inputs .............................................................................. 603
Power Clipper Optional On-Board Analog Outputs ........................................................................... 603
Power Clipper with ACC-28B Analog Inputs ...................................................................................... 604
Power Clipper with ACC-8AS Analog Outputs ................................................................................... 604
Software Filtering of ADC Values with the Encoder Conversion Table ............................................. 604
Accessing Analog I/O Points in the Script Environment ........................................................... 605
UMAC ACC-28E ADCs ....................................................................................................................... 605
UMAC ACC-36E and ACC-59E ADCs ............................................................................................... 605
UMAC ACC-59E DACs ....................................................................................................................... 605
UMAC ACC-59E3 ADCs ..................................................................................................................... 606
UMAC ACC-59E3 DACs ..................................................................................................................... 607
Power Brick Optional ADCs ............................................................................................................... 608
Power Brick Optional Filtered-PWM Analog Outputs ........................................................................ 610
Power Brick Optional True-DAC Analog Outputs .............................................................................. 611
Power Clipper Optional On-Board ADCs ........................................................................................... 612
Power Clipper Optional On-Board Analog Output ............................................................................. 613
Power Clipper with ACC-28B ADCs ................................................................................................... 614
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