PMAC Quick Reference Guide Flags Power Supply (Optional) ..........................................................................................................................24 Overtravel Limits and Home Switches....................................................................................................................24 Disabling the Overtravel Limits Flags ...............................................................................................................24 Types of Overtravel Limits..................................................................................................................................24 Home Switches....................................................................................................................................................25 PMACPack and PMAC2 Flag Inputs .................................................................................................................25 Checking the Flag Inputs....................................................................................................................................25 Motor Signals Connections .....................................................................................................................................26 Incremental Encoder Connection .......................................................................................................................26 Checking the Encoder Inputs..............................................................................................................................26 Checking the DAC Outputs.................................................................................................................................26 DAC Output Signals ...........................................................................................................................................27 Amplifier Enable Signal (AENAx/DIRn).............................................................................................................27 Amplifier Fault Signal (FAULTn).......................................................................................................................28 General-Purpose Digital Inputs and Outputs (JOPTO Port).............................................................................28 Machine Connections Example...............................................................................................................................29 PROGRAMMING PMAC........................................................................................................................................31 Online Commands...................................................................................................................................................31 Buffered (Program) Commands ..............................................................................................................................32 Computational Features...........................................................................................................................................32 I-Variables..........................................................................................................................................................32 P-Variables.........................................................................................................................................................33 Q-Variables ........................................................................................................................................................33 M-Variables........................................................................................................................................................34 Array Capabilities ..............................................................................................................................................35 Operators............................................................................................................................................................36 Functions ............................................................................................................................................................36 Comparators.......................................................................................................................................................37 User-Written Phase and User-Written Servo Algorithms...................................................................................37 Memory Map...........................................................................................................................................................37 User Buffer Storage Space..................................................................................................................................38 Encoder Conversion Table......................................................................................................................................38 Conversion Table Structure................................................................................................................................39 Further Position Processing...............................................................................................................................39 PMAC Position Registers........................................................................................................................................40 Homing Search Moves............................................................................................................................................41 Command and Send Statements..............................................................................................................................42 MOTION PROGRAMS............................................................................................................................................43 How PMAC Executes a Motion Program ...............................................................................................................43 Coordinate Systems.................................................................................................................................................44 Axis Definitions...................................................................................................................................................44 Axis Definition Statements..................................................................................................................................45 Writing a Motion Program ......................................................................................................................................45 Running a Motion Program.....................................................................................................................................46 Subroutines and Subprograms.................................................................................................................................47 Passing Arguments to Subroutines .....................................................................................................................48 G, M, T, and D-Codes (Machine-Tool Style Programs).....................................................................................48 Linear Blended Moves ............................................................................................................................................49 Observations.......................................................................................................................................................50 Circular Interpolation ..............................................................................................................................................54 Splined Moves.........................................................................................................................................................56 PVT-Mode Moves...................................................................................................................................................56 Other Programming Features ..................................................................................................................................58 Rotary Motion Program Buffers.........................................................................................................................58 Internal Time Base, the Feedrate Override ........................................................................................................58 ii Table of Contents