PMAC Quick Reference Guide External Time Base Control (Electronic Cams) .................................................................................................59 Position Following (Electronic Gearing) ...........................................................................................................59 Cutter Radius Compensation..............................................................................................................................59 Synchronous M-Variable Assignment.................................................................................................................60 Synchronizing PMAC to Other PMACs..............................................................................................................60 Axis Transformation Matrices ............................................................................................................................60 Position-Capture and Position-Compare Functions ..........................................................................................60 Learning a Motion Program...............................................................................................................................60 PLC PROGRAMS.....................................................................................................................................................61 Entering a PLC Program .........................................................................................................................................62 PLC Program Structure ...........................................................................................................................................63 Calculation Statements............................................................................................................................................63 Conditional Statements............................................................................................................................................63 Level-Triggered Conditions................................................................................................................................63 Edge-Triggered Conditions ................................................................................................................................63 WHILE Loops.........................................................................................................................................................64 COMMAND and SEND Statements.......................................................................................................................64 Timers .....................................................................................................................................................................65 Compiled PLC Programs.........................................................................................................................................66 TROUBLESHOOTING............................................................................................................................................67 Resetting PMAC to Factory Defaults......................................................................................................................67 The Watchdog Timer (Red LED)............................................................................................................................67 Establishing Communications.................................................................................................................................68 General...............................................................................................................................................................68 Bus Communications ..........................................................................................................................................69 Serial Communications.......................................................................................................................................69 Motor Parameters....................................................................................................................................................69 Motion Programs.....................................................................................................................................................70 PLC Programs .........................................................................................................................................................71 APPENDIX A – PMAC ERROR CODE SUMMARY...........................................................................................73 I6, Error Reporting Mode:.......................................................................................................................................73 APPENDIX B – PMAC I-VARIABLES SUMMARY............................................................................................75 APPENDIX C – PMAC ON-LINE (IMMEDIATE) COMMANDS......................................................................81 APPENDIX D – PMAC PROGRAM COMMAND SPECIFICATIONS.............................................................87 APPENDIX E – MOTOR SUGGESTED M-VARIABLE DEFINITIONS..........................................................91 APPENDIX F – I/O SUGGESTED M-VARIABLE DEFINITIONS....................................................................95 APPENDIX G – ACC-8D/8P PINOUT DESCRIPTIONS.....................................................................................99 Table of Contents iii