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首页Power PMAC 用户手册:机器控制和运动控制解决方案
"Power PMAC 用户手册"
Power PMAC 用户手册是 Delta Tau Data Systems, Inc. 发布的一份详细的用户手册,旨在指导用户正确使用 Power PMAC 产品。该手册涵盖了 Power PMAC 的各种使用方法、资源、连接方式、设置方法和工业应用指导。
**Power PMAC 概述**
Power PMAC 是一款高性能的运动控制器,能够满足各种工业自动化应用的需求。该产品具有高度的灵活性、可靠性和灵活性,能够满足用户的各种需求。
**使用方法**
Power PMAC 的使用方法非常灵活,用户可以根据自己的需求选择合适的使用方法。该产品支持多种运动控制协议,包括 EtherCAT、PROFIBUS、CANopen 等。用户可以根据自己的需求选择合适的协议来实现运动控制。
**资源**
Power PMAC 提供了丰富的资源来帮助用户快速上手。该产品提供了详细的用户手册、技术支持和在线资源,能够满足用户的各种需求。
**连接方式**
Power PMAC 支持多种连接方式,包括 EtherCAT、PROFIBUS、CANopen 等。用户可以根据自己的需求选择合适的连接方式来实现运动控制。
**设置方法**
Power PMAC 的设置方法非常灵活,用户可以根据自己的需求选择合适的设置方法。该产品提供了详细的设置指南和技术支持,能够帮助用户快速上手。
**工业应用指导**
Power PMAC 广泛应用于工业自动化领域,能够满足各种工业应用的需求。该产品具有高度的灵活性和可靠性,能够满足用户的各种需求。
**产品特点**
Power PMAC 具有以下特点:
* 高度灵活性和可靠性
* 广泛应用于工业自动化领域
* 支持多种运动控制协议
* 提供了丰富的资源和技术支持
* 具有高度的灵活性和可靠性
**技术支持**
Delta Tau Data Systems, Inc. 提供了详细的技术支持,包括在线资源、技术支持热线和 Email 支持。用户可以随时联系技术支持团队来获取帮助。
**版权信息**
该手册的版权归 Delta Tau Data Systems, Inc.所有。任何未经授权的使用都是禁止的。
**更新信息**
该手册的信息可能会因产品改进而更新,用户可以随时联系 Delta Tau Data Systems, Inc. 获取最新的信息。
Power PMAC 用户手册是 Delta Tau Data Systems, Inc. 发布的一份详细的用户手册,旨在指导用户正确使用 Power PMAC 产品。该手册涵盖了 Power PMAC 的各种使用方法、资源、连接方式、设置方法和工业应用指导。
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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