PMAC Product Guide PMAC has its own on-board memory. Programs and motion parameters can be kept in memory without the need to re-program each time PMAC is power up.
Standard Features for a Typical Application • Motorola DSP 56k Digital Signal Processor • Four digital-to-analog converter (DAC) outputs • Four full encoder channels • 16 general purpose I/O, OPTO-22 compatible • Overtravel limit, home, amplifier fault/enable flags • Display port for LCD and VFD displays • Bus, RS-422 and/or RS-232 control • Stand-alone operation • Linear and circular interpolation • 256 motion programs capacity • Asynchronous PLC program capability • 36-bit position range (+/- 64 billion counts) • 16-bit DAC output resolution • S-curve acceleration and deceleration • Cubic trajectory calculations, splines • Position, velocity and time PVT move types • Advanced PID servo motion algorithms Configuring and Programming PMAC Hardware Setup On the PMAC, there are many jumpers (pairs of metal prongs) called E-points.
Some have been shorted together. Others have been left open. These jumpers customize the hardware features of the board for a given application. For example, some of these jumpers set the baud rate for serial communications while others determine the type of amplifier enable signals that PMAC can output. Check each jumper configuration before installation to the machine. Details of each jumper function and setting are provided in the chapters of this manual. Once PMAC jumpers are properly set, install it in the machine either in a stand-alone configuration or inside the computer on the ISA bus.
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. Once set up, these variables may be stored in non-volatile EAROM memory (using the SAVE command) so the card is always configured properly. (PMAC loads the EAROM I-variable values into RAM on power up.) Note: The EZ-PMAC Setup Software provides dedicated screens as well as a terminal window for configuring each I-Variable. In a terminal window, the value of any I-Variable may be queried simply by typing in the name of the I- Variable.
For instance, typing I900 causes the value of the I900 to be returned. Change the value by typing in the name, an equals sign, and the new value (e.g. I900=3 ). To change any I-Variables during this setup, use the SAVE command before powering down or resetting the card or the changes made will be lost. 2 Introduction