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Delta Tau Power PMAC用户手册
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更新于2024-06-19
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"2023-Power PMAC Users Manual 是一本关于Power PMAC控制器的用户手册,由Delta Tau Data Systems公司出版。手册包含了产品详细信息、使用指南、版权信息以及技术支持联系方式。Delta Tau Data Systems是一家专业提供运动控制产品的公司,而Power PMAC是一款集强大功能、灵活性和易用性于一身的设备。手册提醒用户在安装或处理产品时需注意静电敏感组件的防护,以防止损坏。"
**Power PMAC控制器详解:**
Power PMAC控制器是Delta Tau Data Systems公司推出的一款高级运动控制解决方案。它具有以下关键特点:
1. **单源机器控制(SingleSourceMachineControl)**:
Power PMAC控制器的设计旨在为用户提供全面的机器控制能力,整合了动力、灵活性和易用性。这表示它能够处理复杂的运动控制任务,同时保持操作简单,适应各种应用需求。
2. **强大的功能**:
Power PMAC控制器以其强大的计算能力和高级控制算法著称,能够处理高精度、高速度的运动控制任务。它可能包括多轴同步、精确定位、动态响应优化等功能,适用于自动化生产线、精密机械和科研设备等领域。
3. **灵活性**:
由于其高度可配置性和模块化设计,Power PMAC能够适应各种不同的硬件配置和软件需求。用户可以根据具体应用调整控制器设置,以满足特定机器或流程的需求。
4. **易用性**:
用户手册的标题暗示Power PMAC易于使用,这意味着它可能配备了直观的用户界面、详细的编程指南和故障排除步骤,使得非专业人员也能相对轻松地进行设置和操作。
5. **技术文档与更新**:
Delta Tau Data Systems强调手册中的信息可能会因产品改进而更新,确保用户始终获取最新、最准确的技术资料。用户在遇到错误或不一致问题时,可以通过电话、传真或电子邮件联系技术支持获取帮助。
6. **静电防护**:
为了保护内部的静态敏感组件,用户在安装和处理Power PMAC时需要采取适当的防静电措施,如佩戴防静电手环,使用防静电包装材料等,以避免潜在的电子元件损坏。
7. **操作条件**:
手册提到了所有Delta Tau Data Systems的产品,包括Power PMAC,都含有静电敏感组件,因此在特定的操作条件下使用,例如在适宜的温度、湿度环境中,并遵循正确的电磁兼容性(EMC)标准。
通过这份用户手册,用户可以全面了解如何安装、配置、编程和维护Power PMAC控制器,以充分发挥其潜力,实现高效、精准的运动控制。
Power PMAC User’s Manual
Table of Contents xvi
Software Overtravel Limit Parameters ...................................................................................... 423
Hardware Overtravel Limit Switches ......................................................................................... 426
Software Motor Interlocks .................................................................................................... 429
Encoder Loss Detection ....................................................................................................... 430
Signal Loss Detection Circuits .................................................................................................... 430
Software Setup for Loss Detection ............................................................................................ 432
Auxiliary Fault Detection ...................................................................................................... 436
Software Setup for Auxiliary Fault Detection .......................................................................... 437
Automatic Brake Control ...................................................................................................... 438
Specifying the Brake Control Output ........................................................................................ 439
Specifying the Brake Timing ........................................................................................................ 439
Amplifier Enable and Fault Lines ......................................................................................... 440
Amplifier Enable Output Configuration .................................................................................... 440
Amplifier Fault Input Configuration ........................................................................................... 441
Current Limits ....................................................................................................................... 442
Intermittent Current Limits ........................................................................................................... 442
Time-Integrated Current Limits ................................................................................................... 443
RMS Current Calculations ............................................................................................................ 446
Reference Frame Conversions .................................................................................................... 448
Torque Control Mode ..................................................................................................................... 450
Sinewave Output Mode ................................................................................................................. 451
Direct PWM Output Mode ............................................................................................................. 453
Velocity Limits ....................................................................................................................... 457
Programmed Vector Velocity Limit ............................................................................................ 457
Programmed Motor Velocity Limit ............................................................................................. 457
Position-Following Velocity Limit ............................................................................................... 458
Acceleration Limits ............................................................................................................... 458
Programmed Vector Acceleration Limits ................................................................................. 458
Programmed Motor Acceleration Limits ................................................................................... 458
Motor Move Acceleration Command ......................................................................................... 459
Position-Following Acceleration Limit ...................................................................................... 459
Jerk Limits ............................................................................................................................. 460
Programmed Motor Jerk Limit..................................................................................................... 460
Motor Move Jerk Command ......................................................................................................... 460
Commanded Safety Stops .................................................................................................... 460
Abort: Controlled Stop .................................................................................................................. 460
Disable: Uncontrolled Stop .......................................................................................................... 461
Hybrid Abort/Disable ...................................................................................................................... 461
EXECUTING INDIVIDUAL MOTOR MOVES .................................................................. 462
Jogging Move Control ............................................................................................................. 462
Jog Speed Control ................................................................................................................................ 462
Jog Acceleration Control ..................................................................................................................... 462
Power PMAC User’s Manual
Table of Contents xvii
Example Jog Move Profile ................................................................................................................... 466
Jog Commands..................................................................................................................................... 466
Triggered Motor Moves ........................................................................................................... 469
Types of Triggered Moves ................................................................................................................... 469
Trigger Conditions............................................................................................................................... 469
Capturing the Position at Trigger ....................................................................................................... 473
Processing the Hardware-Captured Position ...................................................................................... 477
Processing the Software-Captured Position ........................................................................................ 486
Post-Trigger Move ............................................................................................................................... 486
Homing-Search Moves ......................................................................................................................... 486
Jog-Until-Trigger Moves ..................................................................................................................... 491
Program Move-Until-Trigger .............................................................................................................. 492
Open-Loop Moves .................................................................................................................. 493
SETTING UP COORDINATE SYSTEMS ............................................................................ 494
What is a Coordinate System? ................................................................................................ 494
Number of Coordinate Systems ........................................................................................................... 494
Strategy for Assigning Coordinate Systems ......................................................................................... 494
Fault Sharing ....................................................................................................................................... 495
What is an Axis? ..................................................................................................................... 495
Single-Motor Axes ............................................................................................................................... 495
Multiple-Motor Axes ............................................................................................................................ 495
Phantom Axes ...................................................................................................................................... 496
Axis Definition Statements ...................................................................................................... 496
Matching Motor to Axis ....................................................................................................................... 497
Scaling and Offset ................................................................................................................................ 497
The Null Definition .............................................................................................................................. 497
Defining a Motor to Multiple Axes ...................................................................................................... 497
Cartesian Axis Sets .............................................................................................................................. 499
Rotary Axes with Rollover Capability ................................................................................................. 500
The Spindle Axis Definition ................................................................................................................. 501
Conversion from Axis to Motor Position ............................................................................................. 502
Conversion from Motor to Axis Positions ............................................................................................ 503
Coordinate-System Kinematic Subroutines ............................................................................. 505
Creating the Kinematic Program Buffers ............................................................................................ 506
Generalizing the Routines to Multiple Coordinate Systems ................................................................ 516
Axis Transformation Matrices .................................................................................................. 519
Transformation Matrix Data Structures .............................................................................................. 520
Using the Matrices ............................................................................................................................... 521
Examples .............................................................................................................................................. 522
Rescaling Feedrate and Tool Radius ................................................................................................... 523
Segmentation Mode ................................................................................................................ 524
Time-Base Control and Override Techniques ......................................................................... 525
Time-Base Control ............................................................................................................................... 525
Power PMAC User’s Manual
Table of Contents xviii
Segmentation Override ........................................................................................................................ 528
Axis Target Position and Distance-to-Go Reporting ................................................................ 531
Setting Up the Target Position Buffer .................................................................................................. 531
Querying the Target Position Data ..................................................................................................... 532
Path Vector Speed and Angle Reporting ................................................................................. 535
Enabling the Path Calculations ........................................................................................................... 535
Configuring the 2D Path Calculations ................................................................................................ 535
Additionally Configuring the 3D Path Calculations ........................................................................... 536
Using With Non-Cartesian Systems ..................................................................................................... 537
Using the Reported Results .................................................................................................................. 537
POWER PMAC COMPUTATIONAL FEATURES ............................................................. 541
Computational Priorities .......................................................................................................... 541
Phase (Commutation) Update ............................................................................................................. 541
Servo Update ....................................................................................................................................... 541
Real-Time Interrupt Tasks ................................................................................................................... 542
Background Tasks ................................................................................................................................ 542
Monitoring Processing Time ............................................................................................................... 542
Numerical Values .................................................................................................................... 543
Internal Formats .................................................................................................................................. 543
Pre-Defined Data Structures ................................................................................................... 546
Specifying Data Structure Indices ....................................................................................................... 547
User Variables ........................................................................................................................ 548
Direct Access to User Variables .......................................................................................................... 548
User-Specified Variable Names Through IDE .................................................................................... 549
Automatically Assigned Declared Variables ....................................................................................... 549
System Global (“P”) Variables ........................................................................................................... 551
Coordinate System Global (“Q”) Variables ....................................................................................... 552
User Pointer (“M”) Variables ............................................................................................................. 553
Pre-Defined Setup Pointer (“I”) Variables ......................................................................................... 553
Local (“L”) Variables ......................................................................................................................... 554
Return/Stack (“R”) Variables .............................................................................................................. 556
Coordinate System Kinematic Axis (“C”) Variables........................................................................... 557
Non-Stack Local (“D”) Variables ....................................................................................................... 557
User Shared Memory Buffer Variables ............................................................................................... 558
Operators ................................................................................................................................ 560
Arithmetic Operators ........................................................................................................................... 560
Bit-Wise Operators .............................................................................................................................. 560
Standard Assignment Operators .......................................................................................................... 561
Synchronous Assignment Operators .................................................................................................... 561
Functions ................................................................................................................................ 562
Scalar Functions .................................................................................................................................. 562
Vector Functions .................................................................................................................................. 562
Matrix Functions ................................................................................................................................. 563
Power PMAC User’s Manual
Table of Contents xix
Expressions ............................................................................................................................ 564
The {data} Syntax ................................................................................................................... 565
Standard Variable Value Assignment ...................................................................................... 565
Synchronous Variable Value Assignment................................................................................ 566
Variables That Can Be Assigned Synchronously ................................................................................. 566
Why Needed in Motion Programs ........................................................................................................ 567
Why Needed in PLC Programs ............................................................................................................ 568
The Synchronous Assignment Buffer ................................................................................................... 569
Execution Details ................................................................................................................................. 569
Comparators ........................................................................................................................... 569
Conditions ............................................................................................................................... 570
Explicit Comparisons ........................................................................................................................... 570
Compound Conditions ......................................................................................................................... 570
Condition Negation .............................................................................................................................. 571
USING GENERAL PURPOSE DIGITAL I/O WITH POWER PMAC ............................. 572
Note on Using “Dedicated” I/O for General Purpose Use ........................................................ 572
Digital I/O Hardware and Configuration ................................................................................... 572
UMAC Digital I/O Boards ................................................................................................................... 572
Compact UMAC ACC-11C Digital I/O ............................................................................................... 573
UMAC ACC-5E Digital I/O ................................................................................................................. 574
UMAC ACC-5E3 Digital I/O ............................................................................................................... 574
Power Brick Digital I/O ....................................................................................................................... 575
Power Clipper Digital I/O ................................................................................................................... 575
ACC-34 Family Multiplexed Digital I/O ............................................................................................. 576
Software Configuration for Digital I/O Use ............................................................................... 578
UMAC Digital I/O Boards ................................................................................................................... 578
Compact UMAC ACC-11C Digital I/O ............................................................................................... 580
UMAC ACC-5E Digital I/O ................................................................................................................. 580
UMAC ACC-5E3 Digital I/O ............................................................................................................... 582
Power Brick Digital I/O ....................................................................................................................... 583
Power Clipper Digital I/O ................................................................................................................... 583
ACC-34 Family Multiplexed Digital I/O ............................................................................................. 584
Accessing Digital I/O Points in the Script Environment ............................................................ 588
Accessing Output Points at Different Priority Levels .......................................................................... 588
UMAC Digital I/O Boards ................................................................................................................... 589
Compact UMAC ACC-11C Digital I/O ............................................................................................... 590
UMAC ACC-5E Digital I/O ................................................................................................................. 590
UMAC ACC-5E3 Digital I/O ............................................................................................................... 591
Power Brick Digital I/O ....................................................................................................................... 592
Power Clipper Digital I/O ................................................................................................................... 592
ACC-34 Family Multiplexed Digital I/O ............................................................................................. 593
Using Cyclic Scanned Buffered Inputs and Outputs ................................................................ 594
Enabling Cyclic Scanned I/O ............................................................................................................... 594
Power PMAC User’s Manual
Table of Contents xx
Specifying Scanned Input Registers ..................................................................................................... 595
Override “Forcing” of Inputs ............................................................................................................. 596
Filtering of Inputs ................................................................................................................................ 596
Resulting Registers .............................................................................................................................. 597
Using the Resulting Values .................................................................................................................. 597
Writing to Outputs Using Holding Registers ....................................................................................... 597
Override “Forcing” of Outputs ........................................................................................................... 598
Specifying Scanned Output Registers .................................................................................................. 598
Accessing Digital I/O Points in the C Environment .................................................................. 600
Accessing Output Points at Different Priority Levels .......................................................................... 600
Volatile Variable Declarations ............................................................................................................ 600
Using Data Structures ......................................................................................................................... 600
Using Direct Pointer Variables ........................................................................................................... 601
UMAC Digital I/O Boards ................................................................................................................... 602
Compact UMAC ACC-11C Digital I/O ............................................................................................... 603
UMAC ACC-5E Digital I/O ................................................................................................................. 603
UMAC ACC-5E3 Digital I/O ............................................................................................................... 605
Power Brick Digital I/O ....................................................................................................................... 606
Power Clipper Digital I/O ................................................................................................................... 608
ACC-34 Family Multiplexed Digital I/O ............................................................................................. 609
WRITING AND EXECUTING SCRIPT PROGRAMS IN THE POWER PMAC ........... 610
Classes of Script Programs ..................................................................................................... 610
Motion Programs ................................................................................................................................. 610
Rotary Motion Programs ..................................................................................................................... 610
PLC Programs ..................................................................................................................................... 610
Subprograms ........................................................................................................................................ 611
Kinematic Subroutines ......................................................................................................................... 611
Script Language Syntax Features ........................................................................................... 611
Mathematical Capabilities ................................................................................................................... 611
Program Flow Control ........................................................................................................................ 612
Motion Specification ............................................................................................................................ 617
Program Direct Commands ................................................................................................................. 620
Downloading Rules for Script Programs .................................................................................. 622
Motion Programs ................................................................................................................................. 622
Rotary Motion Programs ..................................................................................................................... 622
PLC Programs ..................................................................................................................................... 623
Subprograms ........................................................................................................................................ 623
Kinematic Subroutines ......................................................................................................................... 624
Implementing Script Programs in the IDE ................................................................................ 624
Organizing Your Program Files .......................................................................................................... 624
User Variable Names ........................................................................................................................... 625
IDE Program Enhancements ............................................................................................................... 627
Execution Rules for Script Programs ....................................................................................... 632
Motion Programs ................................................................................................................................. 632
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