PMAC Quick Reference Guide Software Setup PMAC has a large set of initialization parameters (I-Variables) that determine the personality of the card for a specific application. Many of these are used to configure a motor properly. Using PEWIN, follow these steps for Software Setup: 1. Fully reset PMAC to ensure a clean memory configuration before start: $$$*** ;Global Reset P0..1023=0 Q0..1023=0 ;Reset P-variables and Q-variables values M0..1023->* M0..1023=0 ;Reset M-variables definitions and values UNDEFINE ALL ;Undefine Coordinate Systems SAVE ;Save this initial, clean configuration 2. Define the safety I-Variables appropriately (x stands for the motor number, 1 through 8):
For dual feedback systems: encoder velocity the of Distance of Units encoder velocity the of counts of Number 09 Ix encoder position the of Distance of Units encoder position the of counts of Number 08 Ix ⋅ = ⋅ 3. Leave any loads disconnected from the motor at this point. Test the polarity and functioning of the motor by means of open loop commands. For the open loop command to work the overtravel limits must be either disabled (See Ix25) or properly connected. Type the following in the terminal: #1O10 ; “Pound one, ‘O’ ten” will output 10% of the DAC on motor #1.
It ; is about 0.6V on default settings ; ; window should indicate motor #1 counting up> #1O-10 ; “Pound one, ‘O’ negative ten” will output a negative 10% of the ; DAC on motor #1, about -0.6V ; window should indicate motor #1 decreasing> If no motion is observed, slowly increase the percentage of the output command issued. If after 50% no reaction of the motor occurred, check the DAC outputs following the guidelines in the previous sections. 4. Perform a tuning procedure as described in the PEWIN chapter. 5. After the tuning process has been completed satisfactory, check it by means of the following online commands:
SAVE ;Save this setup #1J+ ;Jog Motor #1 continuously in the positive direction #1J- ;Jog Motor #1 continuously in the negative direction #1J=2000 ;Jog Motor #1 to a known location 6. Create a PMAC memory backup file as described in the PEWIN chapter. 30 Installing and Configuring PMAC Motor Safety I-Variables Range Default Units Ix00 Motor x Activate 0 .. 1 0 (1 for Motor 1) none Ix11 Motor x Fatal Following Error Limit 0 .. 8,388,607 32000 1/16 Count Ix12 Motor x Warning Following Error Limit 0 ..
8,388,607 16000 1/16 Count Ix13 Motor x + Software Position Limit +/- 247 0 (Disabled) Encoder Counts Ix14 Motor x - Software Position Limit +/- 247 0 (Disabled) Encoder Counts Ix15 Motor x Abort/Lim Decel Rate Positive floating point 0.25 Counts/msec2 Ix16 Motor x Maximum Velocity Positive floating point 32 Counts/msec Ix17 Motor x Maximum Acceleration Positive floating point 0.015625 Counts/msec2 Ix19 Motor x Maximum Jog Acceleration Positive floating point 0.015625 Counts/msec2 Ix25 Motor x Flag Address PMAC X addresses see Ix25 table Extended legal PMAC X addresses