pmacsrm---pmac的软件参考手册（英文）_pmac软件参考手册

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^1 SOFTWARE REFERENCE MANUAL

^2 PMAC / PMAC2

^3 Programmable Multi-Axis Controller

^4 3Ax-602204-xSxx

^5 November 12, 2004

Single Source Machine Control Power // Flexibility // Ease of Use

21314 Lassen Street Chatsworth, CA 91311 // Tel. (818) 998-2095 Fax. (818) 998-7807 // www.deltatau.com

PMAC/PMAC2 Software Reference Manual

Table of Contents i

Table of Contents

PMAC COMMAND AND VARIABLE SUMMARY ..............................................................................................1

Notes .........................................................................................................................................................................1

Definitions.................................................................................................................................................................1

On-Line Commands ..................................................................................................................................................1

On-line Global Commands...................................................................................................................................1

Addressing Mode Commands ..........................................................................................................................1

Communications Control Characters................................................................................................................1

General Global Commands ..............................................................................................................................2

Global Action Commands ................................................................................................................................2

Global Status Commands .................................................................................................................................2

Register Access Commands .............................................................................................................................2

PLC Control Commands ..................................................................................................................................3

Global Variable Commands .............................................................................................................................3

Buffer Control Commands ...............................................................................................................................3

MACRO Ring Commands ...............................................................................................................................4

On-line Coordinate System Commands................................................................................................................4

Axis Definition Commands..............................................................................................................................4

General Coordinate-System Commands...........................................................................................................4

Program Control Commands............................................................................................................................4

Coordinate-System Variable Commands .........................................................................................................4

Axis Attribute Commands................................................................................................................................5

Buffer Control Commands ...............................................................................................................................5

On-Line Motor Commands...................................................................................................................................5

General Motor Commands ...............................................................................................................................5

Jogging Commands ..........................................................................................................................................5

Reporting Commands.......................................................................................................................................6

Buffer Control Commands ...............................................................................................................................6

Motion Program Commands .....................................................................................................................................6

Move Commands .............................................................................................................................................6

Move Mode Commands ...................................................................................................................................6

Axis Attribute Commands................................................................................................................................7

Move Attribute Commands ..............................................................................................................................7

Variable Assignment Commands .....................................................................................................................7

Program Logic Control.....................................................................................................................................7

Miscellaneous Commands................................................................................................................................8

PLC Program Commands..........................................................................................................................................8

Conditions.............................................................................................................................................................9

Actions..................................................................................................................................................................9

PMAC I-Variable Summary....................................................................................................................................10

General Divisions...............................................................................................................................................10

Global I-Variables..............................................................................................................................................10

Motor I-Variables x = Motor Number (#x, x = 1 to 8} ...........................................................................................11

Motor Definition I-Variables..............................................................................................................................11

Motor Safety I-Variables ....................................................................................................................................11

Motor Movement I-Variables..............................................................................................................................11

Motor Servo Control I-Variables {Standard PID Algorithm} ............................................................................12

Motor Servo Control I-Variables {Option 6 Extended Servo Algorithm only}...................................................12

Motor Commutation I-Variables ........................................................................................................................13

Further Motor I-Variables..................................................................................................................................13

Coordinate System I-Variables................................................................................................................................13

PMAC(1) Servo Interface Setup I-Variables...........................................................................................................14

PMAC2 Servo Interface Setup I-Variables .............................................................................................................14

Global Hardware Setup I-Variables...................................................................................................................14

PMAC/PMAC2 Software Reference Manual

ii Table of Contents

Channel n Hardware Setup I-Variables .............................................................................................................14

Ultra-Lite/Supplemental Channel Hardware Setup I-Variables.........................................................................14

MACRO Support I-Variables..................................................................................................................................15

PMAC Error Code Summary ..................................................................................................................................15

PMAC Syntax Notes ...............................................................................................................................................16

PMAC I-VARIABLE SPECIFICATION................................................................................................................17

Global I-Variables...................................................................................................................................................17

I0 Serial Addressing Card Number {PMAC(1) w/Flex CPU, PMAC2 only} .................................................17

I1 Serial Port Mode........................................................................................................................................18

I2 Control Panel Disable................................................................................................................................19

I3 I/O Handshake Control..............................................................................................................................19

I4 Communications Integrity Mode................................................................................................................21

I5 PLC Programs On/Off ...............................................................................................................................22

I6 Error Reporting Mode................................................................................................................................23

I7 In-Position Number of Cycles ....................................................................................................................24

I8 Real Time Interrupt Period........................................................................................................................24

I9 Full/Abbreviated Program Listing Form ...................................................................................................25

I10 Servo Interrupt Time..............................................................................................................................26

I11 Programmed Move Calculation Time....................................................................................................27

I12 Jog-to-Position Calculation Time..........................................................................................................28

I13 Programmed Move Segmentation Time.................................................................................................28

I14 Auto Position Match on Run Enable......................................................................................................29

I15 Degree/Radian Control for User Trig Functions...................................................................................29

I16 Rotary Buffer Request On Point ............................................................................................................29

I17 Rotary Buffer Request Off Point............................................................................................................30

I18 Fixed Buffer Full Warning Point...........................................................................................................31

Data Gathering I-Variables .....................................................................................................................................31

I19 Data Gathering Period (in Servo Cycles)..............................................................................................31

I20 Data Gathering Selection Mask.............................................................................................................32

I21 Data Gathering Source 1 Address.........................................................................................................32

I22–I44 Data Gathering Source 2 thru 24 Addresses........................................................................................33

I45 Data Gathering Buffer Location and Mode...........................................................................................33

I46 CPU Frequency Control {PMAC w/Flex CPU only} ............................................................................34

I47 Address of Pointer for Control-W Command ........................................................................................34

I48 DPRAM Servo Data Enable ..................................................................................................................35

I49 DPRAM Background Data Enable........................................................................................................35

I50 Rapid Move Mode Control ....................................................................................................................36

I51 Compensation Table Enable..................................................................................................................36

I52 \ Program Hold Slew Rate.....................................................................................................................36

I53 Program Step Mode Control..................................................................................................................37

I54 Serial Baud Rate {PMAC(1) w/Flex CPU or PMAC2 only}..................................................................37

I55 DPRAM Background Variable Buffers Enable......................................................................................38

I56 DPRAM ASCII Communications Interrupt Enable................................................................................39

I57 DPRAM Binary Rotary Buffer Enable...................................................................................................39

I58 DPRAM ASCII Communications Enable...............................................................................................40

I59 DPRAM Buffer Maximum Motor/C.S. Number .....................................................................................40

I60 Auto-Converted ADC Register Address {PMAC(1) only} .....................................................................40

I61 Number of Auto-Converted ADC Registers {PMAC(1) only}................................................................41

I62 Internal Message Carriage Return Control...........................................................................................42

I63 Control-X Echo Enable..........................................................................................................................42

I64 Internal Response Tag Enable...............................................................................................................43

I65 (Reserved for future use) ..............................................................................................................................43

I66 Servo-Channel ADC Auto-Copy Disable {PMAC2 only}......................................................................44

I67—I80 (Reserved for Future Use)..................................................................................................................44

I8x Motor x Third-Resolver Gear Ratio.......................................................................................................44

PMAC/PMAC2 Software Reference Manual

Table of Contents iii

I89 Cutter Comp Outside Corner Break Point.............................................................................................45

I90 Minimum Arc Angle...............................................................................................................................46

I9x Motor x Second-Resolver Gear Ratio....................................................................................................47

I99 Backlash Hysteresis...............................................................................................................................48

Motor x I-Variables.................................................................................................................................................48

Motor Definition I-Variables..............................................................................................................................48

Ix00 Motor x Activate ...............................................................................................................................48

Ix01 Motor x PMAC-Commutation Enable ..............................................................................................49

Ix02 Motor x Command Output Address ..................................................................................................49

Ix03 Motor x Position Loop Feedback Address ........................................................................................52

Ix04 Motor x Velocity Loop Feedback Address........................................................................................53

Ix05 Motor x Master (Handwheel) Position Address ................................................................................54

Ix06 Motor x Master (Handwheel) Following Enable...............................................................................55

Ix07 Motor x Master (Handwheel) Scale Factor .......................................................................................55

Ix08 Motor x Position Scale Factor ...........................................................................................................55

Ix09 Motor x Velocity Loop Scale Factor .................................................................................................56

Ix10 Motor x Power-Up Servo Position Address ......................................................................................56

Motor Safety I-Variables ....................................................................................................................................62

Ix11 Motor x Fatal (Shutdown) Following Error Limit.............................................................................62

Ix12 Motor x Warning Following Error Limit ..........................................................................................63

Ix13 Motor x Positive Software Position Limit.........................................................................................64

Ix14 Motor x Negative Software Position Limit .......................................................................................64

Ix15 Motor x Deceleration Rate on Position Limit or Abort .....................................................................65

Ix16 Motor x Maximum Permitted Motor Program ..................................................................................65

Ix17 Motor x Maximum Permitted Motor Program Acceleration .............................................................66

Ix19 Motor x Maximum Permitted Motor Jog/Home Acceleration ..........................................................67

Motor Movement I-Variables..............................................................................................................................68

Ix20 Motor x Jog/Home Acceleration Time ..............................................................................................68

Ix21 Motor x Jog/Home S-Curve Time.....................................................................................................68

Ix22 Motor x Jog Speed.............................................................................................................................69

Ix23 Motor x Homing Speed and Direction ..............................................................................................69

Ix24 (Reserved for Future Use) .................................................................................................................69

Ix25 Motor x Limit/Home Flag .................................................................................................................70

Ix26 Motor x Home Offset ........................................................................................................................74

Ix27 Motor x Position Rollover Range......................................................................................................74

Ix28 Motor x In-position Band ..................................................................................................................76

Ix29 Motor x Output/First Phase Offset ....................................................................................................76

Servo Control I-Variables...................................................................................................................................78

Ix30 – Ix58 Motor x Extended Servo Algorithm Gains {Option 6 firmware only} .................................78

Ix30 Motor x PID Proportional Gain.........................................................................................................78

Ix31 Motor x PID Derivative Gain............................................................................................................79

Ix32 Motor x PID Velocity Feedforward Gain..........................................................................................80

Ix33 Motor x PID Integral Gain ................................................................................................................80

Ix34 Motor x PID Integration Mode..........................................................................................................81

Ix35 Motor x PID Acceleration Feedforward Gain ...................................................................................81

Ix36 Motor x PID Notch Filter Coefficient N1 .........................................................................................81

Ix37 Motor x PID Notch Filter Coefficient N2 .........................................................................................82

Ix38 Motor x PID Notch Filter Coefficient D1 .........................................................................................82

Ix39 Motor x PID Notch Filter Coefficient D2 .........................................................................................82

Ix40 - Ix56 Motor x Extended Servo Algorithm I-Variables....................................................................83

Ix40 Motor x Net Desired Position Filter Gain {Option 6L Firmware Only}...........................................83

Motor Servo Loop Modifiers...............................................................................................................................84

Ix57 Motor x Continuous Current Limit....................................................................................................84

Ix58 Motor x Integrated Current Limit......................................................................................................85

Ix59 Motor x User-Written Servo/Phase Enable .......................................................................................86

Ix60 Motor x Servo Cycle Period Extension .............................................................................................87