PowerPMACUsersManual_powerpmac

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Table of Contents

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

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

Table of Contents

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

Table of Contents

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

Table of Contents

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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