PMAC Product Guide Coordinate Systems.....................................................................................................................................................69 Axis Definitions .......................................................................................................................................................69 Axis Definition Statements.......................................................................................................................................70 Writing a Motion Program...........................................................................................................................................70 Running a Motion Program .........................................................................................................................................72 Subroutines and Subprograms .....................................................................................................................................73 Passing Arguments to Subroutines ..........................................................................................................................73 How PMAC Executes a Motion Program....................................................................................................................74 Linear Blended Moves.................................................................................................................................................75 Notes about Linear Interpolation Moves.................................................................................................................76 Circular Interpolation ..................................................................................................................................................79 Splined Moves.............................................................................................................................................................81 PVT-Mode Moves.......................................................................................................................................................81 Other Programming Features.......................................................................................................................................84 Internal Timebase, the Feedrate Override ..............................................................................................................84 Synchronous M-Variable Assignment......................................................................................................................84 Axis Transformation Matrices.................................................................................................................................84 Learning a Motion Program....................................................................................................................................84 PLC PROGRAMS.....................................................................................................................................................85 Entering a PLC Program..............................................................................................................................................86 PLC Program Structure ...............................................................................................................................................86 Calculation Statements ................................................................................................................................................87 Conditional Statements................................................................................................................................................87 Level-Triggered Conditions.....................................................................................................................................87 Edge-Triggered Conditions .....................................................................................................................................87 WHILE Loops .............................................................................................................................................................88 COMMAND and SEND statements............................................................................................................................88 Timers..........................................................................................................................................................................89 TROUBLESHOOTING............................................................................................................................................91 Resetting PMAC to Factory Defaults..........................................................................................................................91 The Watchdog Timer (Red LED)................................................................................................................................91 Establishing Communications .....................................................................................................................................92 General....................................................................................................................................................................92 Bus Communications...............................................................................................................................................93 Serial Communications............................................................................................................................................93 Motor Parameters ........................................................................................................................................................93 Motion Programs.........................................................................................................................................................94 PLC Programs .............................................................................................................................................................95 I-VARIABLES...........................................................................................................................................................97 Global I-Variables .......................................................................................................................................................97 I1 Serial Port Mode.................................................................................................................................................97 I5 PLC Programs On/Off ........................................................................................................................................98 I6 Error Reporting Mode.........................................................................................................................................98 I7 In-Position Number of Cycles .............................................................................................................................99 I8 Real Time Interrupt Period ...............................................................................................................................100 I9 Full/Abbreviated Program Listing Form ..........................................................................................................100 I13 Programmed Move Segmentation Time.....................................................................................................101 I15 Degree/Radian Control for User Trig Functions............................................................................................102 I50 Rapid Move Mode Control..............................................................................................................................102 I52 \ Program Hold Slew Rate...............................................................................................................................102 I53 Program Step Mode Control...........................................................................................................................102 Motor Definition I-Variables.....................................................................................................................................103 Ix00 Motor x Activate ........................................................................................................................................103 Ix01 Motor x PMAC-Commutation Enable ...........................................................................................................103 iv Table of Contents