User Manuals: Delta Tau PMAC Programmable Controller

Manuals and User Guides for Delta Tau PMAC Programmable Controller. We have 3 Delta Tau PMAC Programmable Controller manuals available for free PDF download: User Manual, Hardware Manual, Reference Manual

Delta Tau PMAC User Manual (789 pages)

Brand: Delta Tau | Category: Controller | Size: 9 MB

Updating the Manual for Firmware Version 1.6 Release
4
Table of Contents
6
Power Pmac Family Overview

27
- What Is Power PMAC
  27
- Power PMAC Configurations
  27
  - Power UMAC
    27
  - Compact Power UMAC
    28
  - Power PMAC Etherlite
    28
  - Power Brick Configurations
    28
  - Power Clipper
    29
  - Soft Power PMAC
    30
- What Power PMAC Does
  30
- Key Hardware Components
  33
  - CPU Section
    33
  - Machine Interface Ics
    34
Talking to Power Pmac

39
Power Pmac System Configuration

55
Setting up the Macro Ring

75
Setting up Feedback and Master Position Sensors

102
- Setting up Digital Quadrature Encoders
  102
  - Signal Format
    102
  - Hardware Setup
    103
  - Hardware-Control Parameter Setup
    105
  - Using the Resulting Position Information
    107
- Setting up Digital Hall Sensors
  110
  - Signal Format
    110
  - Hardware Setup
    111
  - Hardware-Control Parameter Setup
    111
  - Using the Resulting Position Information
    112
- Setting up Serial Encoders
  113
  - Signal Format
    113
  - Hardware Setup
    113
  - Hardware-Control Parameter Setup
    113
  - Using the Resulting Position Information
    123
- Setting up Analog Sinusoidal Encoders
  127
  - Signal Format
    127
  - Sinusoidal Encoder Interfaces
    128
  - Hardware Setup
    129
  - Hardware Control Parameter Setup
    131
  - Using the Resulting Position Information
    143
- Setting up Resolvers
  149
  - Signal Format
    149
  - Hardware Setup
    150
  - Hardware-Control Parameter Setup
    150
  - Using the Resulting Position Information
    153
- Setting up Mldts
  157
  - Signal Format
    157
  - Hardware Setup
    158
  - Hardware-Control Parameter Setup
    158
  - Using the Resulting Position Information
    161
- Setting up Parallel Data Position Inputs
  163
  - Signal Format
    163
  - Hardware Setup
    163
  - Hardware Control Parameter Setup
    163
  - Using the Resulting Position Information
    164
- Setting up Analog Data Position Inputs
  166
  - Signal Format
    166
  - Hardware Setup
    167
  - Hardware Control Parameter Setup
    168
  - Using the Resulting Position Information
    171
Setting up the Encoder Conversion Table

177
- What the Encoder Conversion Table Does
  177
- Conversion Table Execution
  178
- Conversion Table Structure
  178
- Conversion Method Overview
  179
- IDE Table Configuration Window
  179
- Scaling of Entry Results
  180
- Using Conversion Table Results
  181
- Default Conversion Table Setup
  182
- Conversion Method Details
  182
Basic Motor Setup

206
Setting up Power Pmac-Based Commutation And/Or Current Loop

232
Setting up the Servo Loop

283
- Servo Update Rate
  283
- Types of Amplifiers
  285
- Selecting a Servo Algorithm
  288
- Position Command Output Algorithm
  289
- Basic PID Algorithm
  289
  - Feedback Terms
    290
  - Feedforward Filter
    292
- Standard Servo Algorithm
  293
  - Polynomial Filters
    293
  - Integration Mode
    296
  - Friction Feedforward
    296
  - Acceleration Feedback
    296
  - Input Deadband Compensation
    296
  - Output Hysteretic Deadband
    298
- Adaptive Servo Control
  299
- Cross-Coupled Gantry Control
  304
- Custom User Servo Algorithms
  306
- Tuning the Servo Loop in the IDE
  307
  - Automatic Tuning
    308
  - Sample Interactive Tuning Process
    310
- Cascading Servo Loops
  315
  - Strategies for Coupling the Loops
    315
  - To Integrate Outer Loop Command or Not
    316
  - Inner Loop General Setup
    316
  - Outer Loop General Setup
    317
  - Joining the Loops through Position Following Function
    317
  - Joining the Loops through Compensation Table
    319
  - Tuning the Outer Loop
    321
  - Programming the Outer-Loop Motor
    322
  - Setup Examples
    322
  - Changing the Operational Mode of Control
    324
- Trajectory Pre-Filter
  325
  - Typical Uses of the Pre-Filter
    325
  - Overview
    326
  - Saved Setup Elements
    327
  - Filter DC Gain
    327
  - Spliner Reconstruction
    328
  - Automated Filter Setup
    328
  - Manual Filter Calculations
    329
Setting up Compensation Tables

332
Setting up Electronic Cam Tables

349
- Uses of Electronic Cam Tables
  349
  - Position Commands
    349
  - Torque Offset Commands
    349
  - Direct Output Commands
    349
- Comparison to External Time Base Techniques
  350
- Table Design Techniques
  351
- Reserving Memory for the Tables
  353
- Defining the Table Structure
  353
  - Source Motor Number: Source
    353
  - Number of Data Zones: Nx
    354
  - Starting Source Location: X0, Slewx0
    354
  - Source Span: DX
    355
  - Target Motor Number: Target
    355
  - Target Position Scale Factor: Possf
    355
  - Target Position Offset Slew: Slewposoffset
    355
  - Target Torque Offset Enable Control: Dacenable
    355
  - Target Torque Scale Factor: Dacsf
    355
  - Output Address: Pout
    355
  - Buffered Output Address: Poutbuf
    356
  - Output Shifting:outleftshift
    356
  - Output Masking: Outbits
    356
- Entering the Table Data Points
  356
- Returning Vs. Non-Returning Position Tables
  357
  - Returning Position Tables
    357
  - Non-Returning Position Tables
    358
- Enabling the Cam Tables
  359
- Action of the Cam Tables
  359
- Adjusting of the Table Action
  361
- Rollover of the Table
  363
- Iterative Learning Control
  364
- Combining Cam Motion with Other Motion
  364
- Reporting Motor Position with Cam Table Motion
  365
- Disabling the Cam Tables
  365
- Switching between Cam Tables
  365
Making Your Power Pmac Application Safe

366
- Watchdog Timer
  366
  - Soft Watchdog Trips
    366
  - Hard Watchdog Trips
    368
- Global Abort-All Input
  369
  - 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
- Acceleration Limits
  401
- Jerk Limits
  403
  - Programmed Motor Jerk Limit
    403
  - 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
  - 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
- 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
- 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
- Accessing Analog I/O Points in the Script Environment
  552
  - UMAC ACC-28E Adcs
    552
  - UMAC ACC-36E and ACC-59E Adcs
    552
  - UMAC ACC-59E Dacs
    552
  - UMAC ACC-59E3 Adcs
    553
  - UMAC ACC-59E3 Dacs
    554
  - Power Brick Optional Adcs
    555
  - Power Brick Optional Filtered-PWM Analog Outputs
    557
  - Power Brick Optional True-DAC Analog Outputs
    558
  - Power Clipper Optional On-Board Adcs
    559
  - Power Clipper Optional On-Board Analog Output
    560
  - Power Clipper with ACC-28B Adcs
    561
  - Power Clipper with ACC-8AS True DAC Outputs
    562
- Accessing Analog I/O Points in the C Environment
  564
  - Volatile Variable Declarations
    564
  - Using Data Structures
    564
  - Using Direct Pointer Variables
    564
  - UMAC ACC-28E Adcs
    565
  - UMAC ACC-36E and ACC-59E Adcs
    566
  - UMAC ACC-59E Dacs
    566
  - UMAC ACC-59E3 Adcs
    567
  - UMAC ACC-59E3 Dacs
    568
  - Power Brick Optional Adcs
    569
  - Power Brick Optional Filtered PWM Analog Outputs
    571
  - Power Brick Optional True-DAC Analog Outputs
    572
  - Power Clipper Optional On-Board Adcs
    573
  - Power Clipper Optional On-Board Filtered-PWM Analog Output
    574
  - Power Clipper with ACC-28B Adcs
    575
  - Power Clipper with ACC-8AS True-DAC Analog Outputs
    577
Writing and Executing Script Programs in the Power Pmac

579
- Classes of Script Programs
  579
  - Motion Programs
    579
  - Rotary Motion Programs
    579
  - PLC Programs
    579
  - Subprograms
    580
  - Kinematic Subroutines
    580
- Script Language Syntax Features
  580
  - Mathematical Capabilities
    580
  - Program Flow Control
    581
  - Motion Specification
    585
  - Program Direct Commands
    588
- Downloading Rules for Script Programs
  590
  - Motion Programs
    590
  - Rotary Motion Programs
    590
  - PLC Programs
    591
  - Subprograms
    591
  - Kinematic Subroutines
    592
- Implementing Script Programs in the IDE
  592
  - Organizing Your Program Files
    592
  - User Variable Names
    593
  - IDE Program Enhancements
    595
- Execution Rules for Script Programs
  599
  - Motion Programs
    599
  - Rotary Motion Programs
    604
  - PLC Programs
    604
  - Subprograms
    605
  - Kinematic Subroutines
    605
- Starting and Stopping Script Program Execution
  606
- Implementing an RS-274 Style Motion Program
  617
  - G, M, T, and D-Codes
    617
  - Standard G-Codes
    618
Power Pmac Move Mode Trajectories

626
- Modal Move-Rule Commands
  626
- Move Commands
  626
- Rapid Move Mode
  627
  - Rapid Mode Declaration
    627
  - Position or Distance Specification
    627
  - Velocity Specification
    627
  - Acceleration Specification
    627
  - Sample Move Profile
    631
  - Multi-Axis Path Options
    632
  - Rapid-Mode Move-Until-Trigger
    632
  - Breaking into a Rapid-Mode Move
    634
  - Executing Rapid-Style Moves with Linear Mode
    634
- Linear Move Mode
  635
  - Optional Segmentation Mode
    635
  - Linear Mode Declaration
    635
  - Position or Distance Specification
    635
  - Feedrate or Move-Time Specification
    636
  - Acceleration Specification
    638
  - Linear Move Examples
    640
  - Blending Moves Together
    642
  - Special Linear Contouring Mode
    646
  - Using Linear Mode for "Rapid" Moves
    647
- Circle Move Mode
  648
  - Enabling Move Segmentation
    648
  - Specifying the Interpolation Plane
    648
  - Circle Mode Declaration
    650
  - Position or Distance Specification
    650
  - Center Specification
    650
  - Motion of Other Axes
    653
  - Feedrate or Move-Time Specification
    653
  - Acceleration Specification
    655
  - Blending Moves Together
    655
  - Blended Move "Cornering" Control
    656
- Tool (Cutter) Radius Compensation
  665
  - Two-Dimensional Tool Radius Compensation
    665
  - Three-Dimensional Tool Radius Compensation
    679
- PVT Move Mode
  686
  - PVT Mode Declaration
    686
  - Position or Distance Specification
    686
  - Velocity Specification
    686
  - Power PMAC Calculations
    686
  - Use of PVT Mode in Contouring
    688
  - Lookahead with PVT Moves
    689
  - Blending PVT Moves with Linear and Circle Moves
    689
  - Issues with Single-Stepping
    691
- Spline Move Mode
  692
  - Spline Mode Declaration
    692
  - Position or Distance Specification
    692
  - Uniform-Time Calculations
    692
  - Non-Uniform-Time Calculations
    694
  - Use of Spline Mode for Contouring
    695
- Power PMAC Special Lookahead Function
  696
  - Principle of Operation
    696
  - Sample Effect Diagrams
    697
  - Interactions with Kinematics
    698
  - Transparent Operation
    698
  - Quick Instructions: Setting up Lookahead
    698
  - Detailed Instructions: Setting up to Use Lookahead
    699
  - Running a Program with Lookahead
    705
  - Stopping While in Lookahead
    706
  - Reversal While in Lookahead
    708
  - Feedrate Override with Lookahead
    709
Synchronizing Power Pmac to External Events

711
Writing C Functions and Programs in Power Pmac

751
- Priorities for C Programs and Routines in Power PMAC
  751
- Creating C Functions and Programs
  752
- Accessing Shared Memory and Structures
  753
- Accessing ASIC Hardware Registers
  753
  - Using the Data Structures
    754
  - Using Direct Pointer Variables
    755
- Capture/Compare Interrupt Service Routine
  756
- User-Written Phase Routines
  760
  - Declaration
    760
  - Automatic Preparation for Routine
    760
  - Input/Output Access
    760
  - Basic Example Routine
    761
  - Compiling and Downloading
    761
- User-Written Servo Routines
  762
  - Declaration
    762
  - Automatic Preparation of Input Values
    763
  - Automatic Processing of Returned Value
    763
  - Basic Example Routine
    763
  - Multi-Motor Routines
    764
  - Compiling and Downloading
    765
- Real-Time Interrupt C PLC Routine
  765
- Background C PLC Routines
  766
- Cfromscript Function
  767
- Background C Application Programs
  773
Example Script Programs

774
- Simple Motion Programs
  774

Delta Tau PMAC Hardware Manual (51 pages)

Programmable Multi-Axis Controller

Brand: Delta Tau | Category: Computer Hardware | Size: 1 MB

Delta Tau PMAC Reference Manual (6 pages)

Software Reference Manual

Brand: Delta Tau | Category: Controller | Size: 0 MB

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User Manuals: Delta Tau PMAC Programmable Controller

Delta Tau PMAC User Manual (789 pages)

Table of Contents

Power Pmac Family Overview

Talking to Power Pmac

Power Pmac System Configuration

Setting up the Macro Ring

Setting up Feedback and Master Position Sensors

Setting up the Encoder Conversion Table

Basic Motor Setup

Setting up Power Pmac-Based Commutation And/Or Current Loop

Setting up the Servo Loop

Setting up Compensation Tables

Setting up Electronic Cam Tables

Making Your Power Pmac Application Safe

Executing Individual Motor Moves

Setting up Coordinate Systems

Power Pmac Computational Features

Using General-Purpose Digital I/O with Power Pmac

Using General-Purpose Analog I/O with Power Pmac

Writing and Executing Script Programs in the Power Pmac

Power Pmac Move Mode Trajectories

Synchronizing Power Pmac to External Events

Writing C Functions and Programs in Power Pmac

Example Script Programs

Delta Tau PMAC Hardware Manual (51 pages)

Table of Contents

Introduction

Hardware Setup

Option 15 - Voltage to Frequency Converter

Suggested I/O M-Variable Definitions

E-Point Jumper Descriptions

Mating Connectors

Connector Pinouts

Jumpers and Connectors Layout

Schematics

Delta Tau PMAC Reference Manual (6 pages)

Table of Contents

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