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Power PMAC用户手册:搜索优化与全面解析
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更新于2024-06-29
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"这份资源是Power PMAC的用户手册,英文版,包含了详细的使用指南,适合初学者。手册经过特殊处理,支持PDF内的关键词搜索,配有书签和书签翻译,便于查阅。由Delta Tau Data Systems, Inc.出版,日期为2015年1月6日。"
Power PMAC是一款强大的机器控制解决方案,其主要特点在于"Power//Flexibility//Ease of Use",即强大的性能、灵活的应用和易于使用。这个系统由Delta Tau Data Systems, Inc.开发,该公司位于美国加利福尼亚州查茨沃斯的拉森街21314号。Power PMAC用户手册详细介绍了如何操作和配置这一控制系统,旨在帮助用户充分利用其功能。
手册内容可能包括以下几个方面:
1. **系统介绍**:Power PMAC的架构、设计目的以及在不同工业应用中的优势。
2. **硬件组件**:详细列出Power PMAC系统的硬件组成部分,如控制器、I/O模块、电源模块等,以及它们的连接和配置方法。
3. **软件界面与编程**:描述Power PMAC的编程环境,可能包括专用的编程语言、编程工具和示例代码,帮助用户创建和编辑控制程序。
4. **通信协议**:解释Power PMAC与其他设备或系统的通信方式,如以太网、串口、现场总线等,以及相关的通信协议设置。
5. **故障排查与维护**:提供故障代码解析、常见问题解答和系统维护建议,帮助用户解决可能出现的问题。
6. **安全指南**:强调操作时的安全注意事项,防止设备损坏或人员受伤。
7. **实例应用**:展示具体的应用场景,如自动化生产线、机器人控制等,帮助用户理解Power PMAC的实际操作流程。
版权信息指出,此手册由Delta Tau Data Systems, Inc.所有,未经书面许可,任何其他用途都是未经授权的。手册内容可能会因产品改进等原因而更新,因此,不同版本之间可能存在差异。如果发现错误或不一致,用户应向Delta Tau Data Systems, Inc.报告。
Power PMAC用户手册是一个全面的学习资源,对于那些想要理解和掌握Power PMAC控制系统的人来说,它是一个不可或缺的参考资料。
Power PMAC User’s Manual
Table of Contents xvi
Software Setup ..................................................................................................................................... 369
Action on Trip ...................................................................................................................................... 369
Voltage Interlock Circuits ......................................................................................................................... 370
Following Error Limits ............................................................................................................................. 370
Fatal Following Error Limit ................................................................................................................ 370
Warning Following Error Limit .......................................................................................................... 372
Position (Overtravel) Limits ..................................................................................................................... 372
Software Overtravel Limit Parameters ................................................................................................ 372
Hardware Overtravel Limit Switches .................................................................................................. 374
Encoder Loss Detection ............................................................................................................................ 376
Signal Loss Detection Circuits ............................................................................................................ 377
Software Setup for Loss Detection ....................................................................................................... 379
Auxiliary Fault Detection ......................................................................................................................... 381
Software Setup for Auxiliary Fault Detection ...................................................................................... 381
Automatic Brake Control .......................................................................................................................... 383
Specifying the Brake Control Output ................................................................................................... 383
Specifying the Brake Timing ................................................................................................................ 383
Amplifier Enable and Fault Lines ............................................................................................................. 384
Current Limits ........................................................................................................................................... 385
Intermittent Current Limits .................................................................................................................. 385
Time-Integrated Current Limits ........................................................................................................... 386
RMS Current Calculations .................................................................................................................. 389
Reference Frame Conversions ............................................................................................................. 392
Torque Control Mode .......................................................................................................................... 393
Sinewave Output Mode ........................................................................................................................ 395
Direct PWM Output Mode ................................................................................................................... 397
Velocity Limits ......................................................................................................................................... 400
Programmed Vector Velocity Limit ..................................................................................................... 400
Programmed Motor Velocity Limit ...................................................................................................... 401
Position-Following Velocity Limit ....................................................................................................... 401
Acceleration Limits ................................................................................................................................... 401
Programmed Vector Acceleration Limits ............................................................................................ 401
Programmed Motor Acceleration Limits ............................................................................................. 402
Motor Move Acceleration Command ................................................................................................... 403
Position-Following Acceleration Limit ............................................................................................... 403
Jerk Limits ................................................................................................................................................ 403
Programmed Motor Jerk Limit ............................................................................................................ 403
Power PMAC User’s Manual
Table of Contents xvii
Motor Move Jerk Command ................................................................................................................ 403
Commanded Safety Stops ......................................................................................................................... 404
Abort: Controlled Stop ........................................................................................................................ 404
Disable: Uncontrolled Stop ................................................................................................................. 404
Hybrid Abort/Disable .......................................................................................................................... 405
EXECUTING INDIVIDUAL MOTOR MOVES ................................................................................. 406
Jogging Move Control .............................................................................................................................. 406
Jog Speed Control ................................................................................................................................ 406
Jog Acceleration Control ..................................................................................................................... 406
Example Jog Move Profile ................................................................................................................... 410
Jog Commands..................................................................................................................................... 410
Triggered Motor Moves ............................................................................................................................ 412
Types of Triggered Moves ................................................................................................................... 412
Trigger Conditions............................................................................................................................... 413
Capturing the Position at Trigger ....................................................................................................... 417
Processing the Hardware-Captured Position ...................................................................................... 421
Processing the Software-Captured Position ........................................................................................ 430
Post-Trigger Move ............................................................................................................................... 430
Homing-Search Moves ......................................................................................................................... 430
Jog-Until-Trigger Moves ..................................................................................................................... 435
Program Move-Until-Trigger .............................................................................................................. 436
Open-Loop Moves .................................................................................................................................... 436
SETTING UP COORDINATE SYSTEMS .......................................................................................... 437
What is a Coordinate System? .................................................................................................................. 437
Number of Coordinate Systems ........................................................................................................... 437
Strategy for Assigning Coordinate Systems ......................................................................................... 437
Fault Sharing ....................................................................................................................................... 438
What is an Axis? ....................................................................................................................................... 438
Single-Motor Axes ............................................................................................................................... 438
Multiple-Motor Axes ............................................................................................................................ 438
Phantom Axes ...................................................................................................................................... 439
Axis Definition Statements ....................................................................................................................... 439
Matching Motor to Axis ....................................................................................................................... 440
Scaling and Offset ................................................................................................................................ 440
The Null Definition .............................................................................................................................. 440
Defining a Motor to Multiple Axes ...................................................................................................... 440
Cartesian Axis Sets .............................................................................................................................. 442
The Spindle Axis Definition ................................................................................................................. 443
Power PMAC User’s Manual
Table of Contents xviii
Conversion from Axis to Motor Position ............................................................................................. 444
Conversion from Motor to Axis Positions ............................................................................................ 444
Coordinate-System Kinematic Subroutines .............................................................................................. 446
Creating the Kinematic Program Buffers ............................................................................................ 447
Generalizing the Routines to Multiple Coordinate Systems ................................................................ 457
Axis Transformation Matrices .................................................................................................................. 460
Transformation Matrix Data Structures .............................................................................................. 461
Using the Matrices ............................................................................................................................... 462
Examples .............................................................................................................................................. 463
Rescaling Feedrate and Tool Radius ................................................................................................... 464
Segmentation Mode .................................................................................................................................. 464
Time-Base Control and Override Techniques........................................................................................... 466
Time-Base Control ............................................................................................................................... 466
Segmentation Override ........................................................................................................................ 469
Axis Target Position and Distance-to-Go Reporting ................................................................................ 472
Setting Up the Target Position Buffer .................................................................................................. 472
Querying the Target Position Data ..................................................................................................... 473
POWER PMAC COMPUTATIONAL FEATURES ........................................................................... 476
Computational Priorities ........................................................................................................................... 476
Phase (Commutation) Update ............................................................................................................. 476
Servo Update ....................................................................................................................................... 476
Real-Time Interrupt Tasks ................................................................................................................... 477
Background Tasks ................................................................................................................................ 477
Monitoring Processing Time ............................................................................................................... 477
Numerical Values ...................................................................................................................................... 478
Internal Formats .................................................................................................................................. 478
Pre-Defined Data Structures ..................................................................................................................... 481
Specifying Data Structure Indices ....................................................................................................... 482
User Variables ........................................................................................................................................... 483
Direct Access to User Variables .......................................................................................................... 483
User-Specified Variable Names Through IDE .................................................................................... 484
Automatically Assigned Declared Variables ....................................................................................... 484
System Global (“P”) Variables ........................................................................................................... 486
Coordinate System Global (“Q”) Variables ....................................................................................... 487
User Pointer (“M”) Variables ............................................................................................................. 488
Pre-Defined Setup Pointer (“I”) Variables ......................................................................................... 488
Local (“L”) Variables ......................................................................................................................... 489
Power PMAC User’s Manual
Table of Contents xix
Return/Stack (“R”) Variables .............................................................................................................. 490
Coordinate System Kinematic Axis (“C”) Variables........................................................................... 491
Non-Stack Local (“D”) Variables ....................................................................................................... 492
User Shared Memory Buffer Variables ............................................................................................... 493
Operators ................................................................................................................................................... 495
Arithmetic Operators ........................................................................................................................... 495
Bit-Wise Operators .............................................................................................................................. 495
Standard Assignment Operators .......................................................................................................... 496
Synchronous Assignment Operators .................................................................................................... 496
Functions ................................................................................................................................................... 497
Scalar Functions .................................................................................................................................. 497
Vector Functions .................................................................................................................................. 497
Matrix Functions ................................................................................................................................. 498
Expressions ............................................................................................................................................... 499
The {data} Syntax ..................................................................................................................................... 500
Standard Variable Value Assignment ....................................................................................................... 500
Synchronous Variable Value Assignment ................................................................................................ 501
Variables That Can Be Assigned Synchronously ................................................................................. 501
Why Needed in Motion Programs ........................................................................................................ 502
Why Needed in PLC Programs ............................................................................................................ 503
The Synchronous Assignment Buffer ................................................................................................... 503
Execution Details ................................................................................................................................. 504
Comparators .............................................................................................................................................. 504
Conditions ................................................................................................................................................. 505
Explicit Comparisons ........................................................................................................................... 505
Compound Conditions ......................................................................................................................... 505
Condition Negation .............................................................................................................................. 506
USING GENERAL-PURPOSE DIGITAL I/O WITH POWER PMAC ........................................... 507
Note on Using “Dedicated” I/O for General Purpose Use ........................................................................ 507
Digital I/O Hardware and Configuration .................................................................................................. 507
UMAC Digital I/O Boards ................................................................................................................... 507
Compact UMAC ACC-11C Digital I/O ............................................................................................... 508
UMAC ACC-5E Digital I/O ................................................................................................................. 509
UMAC ACC-5E3 Digital I/O ............................................................................................................... 509
Power Brick Digital I/O ....................................................................................................................... 510
Power Clipper Digital I/O ................................................................................................................... 510
ACC-34 Family Multiplexed Digital I/O ............................................................................................. 511
Power PMAC User’s Manual
Table of Contents xx
Software Configuration for Digital I/O Use ............................................................................................. 513
UMAC Digital I/O Boards ................................................................................................................... 513
Compact UMAC ACC-11C Digital I/O ............................................................................................... 515
UMAC ACC-5E Digital I/O ................................................................................................................. 515
UMAC ACC-5E3 Digital I/O ............................................................................................................... 517
Power Brick Digital I/O ....................................................................................................................... 518
Power Clipper Digital I/O ................................................................................................................... 518
ACC-34 Family Multiplexed Digital I/O ............................................................................................. 519
Accessing Digital I/O Points in the Script Environment .......................................................................... 523
Accessing Output Points at Different Priority Levels .......................................................................... 523
UMAC Digital I/O Boards ................................................................................................................... 524
Compact UMAC ACC-11C Digital I/O ............................................................................................... 525
UMAC ACC-5E Digital I/O ................................................................................................................. 525
UMAC ACC-5E3 Digital I/O ............................................................................................................... 526
Power Brick Digital I/O ....................................................................................................................... 526
Power Clipper Digital I/O ................................................................................................................... 527
ACC-34 Family Multiplexed Digital I/O ............................................................................................. 528
Accessing Digital I/O Points in the C Environment ................................................................................. 529
Accessing Output Points at Different Priority Levels .......................................................................... 529
Volatile Variable Declarations ............................................................................................................ 529
Using Data Structures ......................................................................................................................... 529
Using Direct Pointer Variables ........................................................................................................... 530
UMAC Digital I/O Boards ................................................................................................................... 531
Compact UMAC ACC-11C Digital I/O ............................................................................................... 532
UMAC ACC-5E Digital I/O ................................................................................................................. 532
UMAC ACC-5E3 Digital I/O ............................................................................................................... 534
Power Brick Digital I/O ....................................................................................................................... 535
Power Clipper Digital I/O ................................................................................................................... 537
ACC-34 Family Multiplexed Digital I/O ............................................................................................. 538
USING GENERAL-PURPOSE ANALOG I/O WITH POWER PMAC ........................................... 539
Note on Using “Dedicated” I/O for General Purpose Use ........................................................................ 539
Analog I/O Hardware and Configuration .................................................................................................. 539
UMAC ACC-28E ADC Board ............................................................................................................. 539
UMAC ACC-36E ADC Board ............................................................................................................. 540
UMAC ACC-59E ADC/DAC Board .................................................................................................... 541
UMAC ACC-59E3 ADC/DAC Board .................................................................................................. 541
Power Brick Optional Analog I/O ....................................................................................................... 543
Power Clipper Optional On-Board Analog I/O................................................................................... 544
Power Clipper with ACC-28B ADC Board ......................................................................................... 545
Power Clipper with ACC-8AS True DAC Board ................................................................................. 545
Software Configuration for Analog I/O Use ............................................................................................. 546
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