Delta Tau UMAC Turbo System Manuals

Manuals and User Guides for Delta Tau UMAC Turbo System. We have 1 Delta Tau UMAC Turbo System manual available for free PDF download: Reference Manual

Delta Tau UMAC Turbo System Reference Manual

Delta Tau UMAC Turbo System Reference Manual (108 pages)

Brand: Delta Tau | Category: Controller | Size: 2 MB

Table of Contents

Table of Contents
5
Introduction
9
- Description of PMAC
  9
- Types of PMAC
  10
  - PMAC PC or PMAC VME Features
    10
  - Pmac Pc
    10
  - PMAC Lite
    10
  - Pmac Vme
    10
  - Pmac Std
    10
  - PMAC Mini
    11
  - Pmac2
    12
  - PMAC2 Ultralite
    12
  - Turbo PMAC Family
    12
- PMAC Connectors and Indicators
  13
- Working with PMAC
  14
  - Hardware Setup
    14
  - Software Setup
    14
  - Programming PMAC
    15
- PMAC Tasks
  15
  - Single Character I/O
    16
  - Commutation Update
    16
  - Servo Update
    16
  - VME Mailbox Processing
    17
  - Real-Time Interrupt Tasks
    17
  - Background Tasks
    17
  - Observations
    18
  - Priority Level Optimization
    19
Pmac Executive Program, Pewin
21
- Configuring PEWIN
  21
- Quick Plot Feature
  22
- Saving and Retrieving PMAC Parameters
  23
- The Watch and Position Windows
  23
- Uploading and Downloading Files
  23
- Using MACRO Names and Include Files
  23
- Downloading Compiled Plccs
  24
- PID Tuning Utility
  24
- Other Features
  27
Installing and Configuring Pmac
29
- Jumpers Setup
  29
- Serial Connections
  29
- Establishing Host Communications
  30
  - Terminal Mode Communications
    30
  - Resetting PMAC for First Time Use
    31
- Connections
  31
- Power Supplies
  31
  - Digital Power Supply
    31
  - Analog Power Supply
    31
  - Flags Power Supply (Optional)
    32
- Overtravel Limits and Home Switches
  32
  - Disabling the Overtravel Limits Flags
    32
  - Types of Overtravel Limits
    32
  - Home Switches
    33
  - Pmacpack and PMAC2 Flag Inputs
    33
  - Checking the Flag Inputs
    33
- Motor Signals Connections
  34
- Machine Connections Example
  37
Programming Pmac
39
- Online Commands
  39
- Buffered (Program) Commands
  40
- Computational Features
  40
  - I-Variables
    40
  - P-Variables
    41
  - Q-Variables
    41
  - M-Variables
    42
  - Array Capabilities
    43
  - Operators
    44
  - Functions
    44
  - Comparators
    45
  - User-Written Phase and User-Written Servo Algorithms
    45
- Memory Map
  45
  - User Buffer Storage Space
    46
- Encoder Conversion Table
  46
  - Conversion Table Structure
    47
  - Further Position Processing
    47
- PMAC Position Registers
  48
- Homing Search Moves
  49
- Command and Send Statements
  50
Motion Programs
51
Plc Programs
69
- Entering a PLC Program
  70
- PLC Program Structure
  71
- Calculation Statements
  71
- Conditional Statements
  71
  - Level-Triggered Conditions
    71
  - Edge-Triggered Conditions
    71
- WHILE Loops
  72
- COMMAND and SEND Statements
  72
- Timers
  73
- Compiled PLC Programs
  74
Troubleshooting
75
- Resetting PMAC to Factory Defaults
  75
- The Watchdog Timer (Red LED)
  75
- Establishing Communications
  76
  - General
    76
  - Bus Communications
    77
  - Serial Communications
    77
- Motor Parameters
  77
- Motion Programs
  78
- PLC Programs
  79
Appendix A - Pmac Error Code Summary
81
- I6, Error Reporting Mode
  81
Appendix B - Pmac I-Variables Summary
83
Appendix C - Pmac On-Line (Immediate) Commands
89
Appendix D - Pmac Program Command Specifications
95
Appendix E - Motor Suggested M-Variable Definitions
99
Appendix F - I/O Suggested M-Variable Definitions
103
Appendix G - Acc-8D/8P Pinout Descriptions
107

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