^2 turbo pmac/pmac2 - delta tau

Single Source Machine Control ……………………………………………..…...………………. Power // Flexibility // Ease of Use
21314 Lassen St. Chatsworth, CA 91311 // Tel. (818) 998-2095 Fax. (818) 998-7807 // www.deltatau.com
^1 SOFTWARE REFERENCE MANUAL
^4 3Ax-01.937-xSxx
NEW IDEAS IN MOTION …
Copyright Information © 2014 Delta Tau Data Systems, Inc. All rights reserved.
This document is furnished for the customers of Delta Tau Data Systems, Inc. Other uses are unauthorized without written permission of Delta Tau Data Systems, Inc.
Information contained in this manual may be updated from time-to-time due to product
improvements, etc., and may not conform in every respect to former issues.
To report errors or inconsistencies, call or email:
Delta Tau Data Systems, Inc. Technical Support
Phone: (818) 717-5656
Fax: (818) 998-7807
Email: [email protected]
Website: http://www.deltatau.com
Operating Conditions
All Delta Tau Data Systems, Inc. motion controller products, accessories, and amplifiers contain static sensitive components that can be damaged by incorrect handling. When
installing or handling Delta Tau Data Systems, Inc. products, avoid contact with highly insulated materials. Only qualified personnel should be allowed to handle this
equipment.
In the case of industrial applications, we expect our products to be protected from
hazardous or conductive materials and/or environments that could cause harm to the
controller by damaging components or causing electrical shorts. When our products are used in an industrial environment, install them into an industrial electrical cabinet or
industrial PC to protect them from excessive or corrosive moisture, abnormal ambient
temperatures, and conductive materials. If Delta Tau Data Systems, Inc. products are
directly exposed to hazardous or conductive materials and/or environments, we cannot guarantee their operation.
1 REVISION TO Ixx97 ERROR DESCRIPTION 08/29/06 CP P. SHANTZ
2 REVISION TO IXX83 VARIABLES, P. 188 10/10/06 CP S. SATTARI
3 REV. IXX25 & IXX42 PMAC2 VARIABLES, P. 149 & 159 04/25/07 CP S. SATTARI
4 LOOKAHEAD WARNING TO ISX21(P.220) & \ (P.308) 05/30/07 CP B. PEDERSEN
5 REV. TO IXX02 PULSE FREQ. SETTINGS, P. 127 10/19/07 CP C. WILSON
6 REV. TO IXX24 BIT 16 SETTINGS, P. 145 12/04/07 CP C. WILSON M. ESPOSITO
7 CORRECTION TO ISX99 DEFAULT SETTING, P. 227 01/04/08 CP M.ESPOSITO
8 CORRECTED COORDINATE SYSTEM STATUS BITS FOR “CONTINUOUS MOTION REQUEST” M-VARIABLE DEFS., PP. 619-627, 685-692, 751-758
11/25/08 CP R.NADDAF
9 INCORPORATED V1.941-45 FIRMWARE UPDATES 12/08/09 CP C. WILSON
10 CORRECTED ERRORS P. 97 AND P. 592 01/05/10 CP S. MILICI
11 INCORPORATED V1.946-47 FIRMWARE UPDATES ADDED TO I43 DESCRIPTION FIXED TYPOGRAPHICAL ERRORS
12/19/12 CW C. WILSON
02/24/14 DCDP C. WILSON
Turbo PMAC/PMAC2 Software Reference
Table of Contents v
What is New about Turbo PMAC? ............................................................................................ 21
How do I Convert a PMAC Application? .................................................................................. 22
How do I use this Manual? ........................................................................................................ 22
TURBO PMAC VARIABLE AND COMMAND SUMMARY ............................................. 23
Notes ........................................................................................................................................ 23
Definitions ................................................................................................................................ 23
On-line Motor Commands .................................................................................................... 29
Motion Program Commands ..................................................................................................... 30
PLC Program Commands .......................................................................................................... 33
TURBO PMAC GLOBAL I-VARIABLES ............................................................................ 35
General Global Setup I-Variables .............................................................................................. 35 I0 Serial Card Number......................................................................................................................... 35 I1 Serial Port Mode ............................................................................................................................. 36 I2 Control Panel Port Activation .......................................................................................................... 36 I3 I/O Handshake Control .................................................................................................................... 37 I4 Communications Integrity Mode ...................................................................................................... 38 I5 PLC Program Control ..................................................................................................................... 39 I6 Error Reporting Mode ..................................................................................................................... 39 I7 Phase Cycle Extension ..................................................................................................................... 40 I8 Real-Time Interrupt Period .............................................................................................................. 41 I9 Full/Abbreviated Listing Control ..................................................................................................... 42 I10 Servo Interrupt Time ........................................................................................................................ 42 I11 Programmed Move Calculation Time ............................................................................................... 43 I12 Lookahead Time Spline Enable .................................................................................................... 44 I13 Foreground In-Position Check Enable ............................................................................................. 44 I14 Temporary Buffer Save Enable ........................................................................................................ 45 I15 Degree/Radian Control for User Trig Functions .............................................................................. 45 I16 Rotary Buffer Request On Point ....................................................................................................... 45 I17 Rotary Buffer Request Off Point ....................................................................................................... 46 I18 Fixed Buffer Full Warning Point ...................................................................................................... 46 I19 Clock Source I-Variable Number (Turbo PMAC2 only) ................................................................... 46 I20 MACRO IC 0 Base Address (Turbo PMAC2 only) ............................................................................ 48 I21 MACRO IC 1 Base Address (Turbo PMAC2 only) ............................................................................ 48 I22 MACRO IC 2 Base Address (Turbo PMAC2 only) ............................................................................ 49 I23 MACRO IC 3 Base Address (Turbo PMAC2 only) ............................................................................ 50 I24 Main DPRAM Base Address ............................................................................................................ 50 I26 UMAC Electrical MACRO Enable ................................................................................................... 51 I27 Alternate TWS Input Format ............................................................................................................ 51
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I28 Display Port Disable ....................................................................................................................... 52 I29 Multiplexer Port Alternate Address .................................................................................................. 52 I30 Compensation Table Wrap Enable ................................................................................................... 53 I35 Brick LV & Controller E-Stop Enable .............................................................................................. 53 I36 Enable/Abort Separation Control ..................................................................................................... 54 I37 Additional Wait States ..................................................................................................................... 55 I38 In-Line CALL Enable ....................................................................................................................... 55 I39 UBUS Accessory ID Variable Display Control ................................................................................. 56 I40 Watchdog Timer Reset Value ........................................................................................................... 57 I41 I-Variable Lockout Control .............................................................................................................. 57 I42 Spline/PVT Time Control Mode ....................................................................................................... 58 I43 Auxiliary/Main Serial Port Parser Disable ....................................................................................... 58 I44 PMAC Ladder Program Enable {Special Firmware Only} ............................................................... 59 I45 Foreground Binary Rotary Buffer Transfer Enable........................................................................... 59 I46 P & Q-Variable Storage Location .................................................................................................... 59 I47 DPRAM Motor Data Foreground Reporting Period ......................................................................... 60 I48 DPRAM Motor Data Foreground Reporting Enable ......................................................................... 60 I49 DPRAM Background Data Reporting Enable ................................................................................... 61 I50 DPRAM Background Data Reporting Period ................................................................................... 61 I51 Compensation Table Enable ............................................................................................................ 61 I52 CPU Frequency Control .................................................................................................................. 61 I53 Auxiliary Serial Port Baud Rate Control .......................................................................................... 62 I54 Serial Port Baud Rate Control ......................................................................................................... 63 I55 DPRAM Background Variable Buffers Enable ................................................................................. 63 I56 DPRAM ASCII Communications Interrupt Enable............................................................................ 63 I57 DPRAM Motor Data Background Reporting Enable ........................................................................ 64 I58 DPRAM ASCII Communications Enable .......................................................................................... 64 I59 Motor/C.S. Group Select .................................................................................................................. 65 I60 Filtered Velocity Sample Time ......................................................................................................... 65 I61 Filtered Velocity Shift ...................................................................................................................... 66 I62 Internal Message Carriage Return Control ...................................................................................... 66 I63 Control-X Echo Enable .................................................................................................................... 67 I64 Internal Response Tag Enable ......................................................................................................... 67 I65 User Configuration Variable ........................................................................................................... 67 I67 Modbus TCP Buffer Start Address ................................................................................................... 68 I68 Coordinate System Activation Control ............................................................................................. 68 I69 Modbus TCP Software Control Panel Start Address ......................................................................... 69
MACRO Ring Configuration I-Variables .............................................................................. 69 I70 MACRO IC 0 Node Auxiliary Register Enable .................................................................................. 69 I71 MACRO IC 0 Node Protocol Type Control ....................................................................................... 70 I72 MACRO IC 1 Node Auxiliary Register Enable .................................................................................. 70 I73 MACRO IC 1 Node Protocol Type Control ....................................................................................... 71 I74 MACRO IC 2 Node Auxiliary Register Enable .................................................................................. 71 I75 MACRO IC 2 Node Protocol Type Control ....................................................................................... 72 I76 MACRO IC 3 Node Auxiliary Register Enable .................................................................................. 72 I77 MACRO IC 3 Node Protocol Type Control ....................................................................................... 73 I78 MACRO Type 1 Master/Slave Communications Timeout .................................................................. 73 I79 MACRO Type 1 Master/Master Communications Timeout ................................................................ 74 I80 MACRO Ring Check Period ............................................................................................................. 74 I81 MACRO Maximum Ring Error Count .............................................................................................. 75 I82 MACRO Minimum Sync Packet Count ............................................................................................. 75
Table of Contents vii
I83 MACRO Parallel Ring Enable Mask ................................................................................................ 75 I84 MACRO IC # for Master Communications ....................................................................................... 76 I85 MACRO Ring Order Number ........................................................................................................... 76
VME/DPRAM Setup I-Variables ........................................................................................... 77 I90 VME Address Modifier .................................................................................................................... 77 I91 VME Address Modifier Don’t Care Bits ........................................................................................... 77 I92 VME Base Address Bits A31-A24 ..................................................................................................... 77 I93 VME Mailbox Base Address Bits A23-A16 ISA DPRAM Base Address Bits A23-A16 ............................ 78 I94 VME Mailbox Base Address Bits A15-A08 ISA DPRAM Base Address Bits A15-A14 & Control ........... 78 I95 VME Interrupt Level ........................................................................................................................ 79 I96 VME Interrupt Vector ...................................................................................................................... 79 I97 VME DPRAM Base Address Bits A23-A20 ....................................................................................... 80 I98 VME DPRAM Enable ...................................................................................................................... 80 I99 VME Address Width Control ............................................................................................................ 80
Motor Setup I-Variables ............................................................................................................ 81
Motor Definition I-Variables ................................................................................................ 81 Ixx00 Motor xx Activation Control ........................................................................................................ 81 Ixx01 Motor xx Commutation Enable .................................................................................................... 81 Ixx02 Motor xx Command Output Address ............................................................................................ 82 Ixx03 Motor xx Position Loop Feedback Address .................................................................................. 85 Ixx04 Motor xx Velocity Loop Feedback Address ................................................................................... 86 Ixx05 Motor xx Master Position Address ............................................................................................... 87 Ixx06 Motor xx Position Following Enable and Mode............................................................................ 87 Ixx07 Motor xx Master (Handwheel) Scale Factor ................................................................................. 88 Ixx08 Motor xx Position Scale Factor.................................................................................................... 88 Ixx09 Motor xx Velocity-Loop Scale Factor ........................................................................................... 88 Ixx10 Motor xx Power-On Servo Position Address ................................................................................ 89
Motor Safety I-Variables ...................................................................................................... 94 Ixx11 Motor xx Fatal Following Error Limit ......................................................................................... 94 Ixx12 Motor xx Warning Following Error Limit .................................................................................... 94 Ixx13 Motor xx Positive Software Position Limit ................................................................................... 95 Ixx14 Motor xx Negative Software Position Limit .................................................................................. 96 Ixx15 Motor xx Abort/Limit Deceleration Rate ...................................................................................... 97 Ixx16 Motor xx Maximum Program Velocity ......................................................................................... 98 Ixx17 Motor xx Maximum Program Acceleration .................................................................................. 98 Ixx19 Motor xx Maximum Jog/Home Acceleration ............................................................................... 100
Motor Motion I-Variables ................................................................................................... 100 Ixx20 Motor xx Jog/Home Acceleration Time ...................................................................................... 100 Ixx21 Motor xx Jog/Home S-Curve Time ............................................................................................. 101 Ixx22 Motor xx Jog Speed ................................................................................................................... 101 Ixx23 Motor xx Home Speed and Direction ......................................................................................... 101 Ixx24 Motor xx Flag Mode Control ..................................................................................................... 101 Ixx25 Motor xx Flag Address .............................................................................................................. 104 Ixx26 Motor xx Home Offset................................................................................................................ 107 Ixx27 Motor xx Position Rollover Range ............................................................................................. 108 Ixx28 Motor xx In-Position Band......................................................................................................... 109 Ixx29 Motor xx Output/First Phase Offset ........................................................................................... 110
Motor xx PID Servo Setup I-Variables ................................................................................ 111 Ixx30 Motor xx PID Proportional Gain ............................................................................................... 111 Ixx31 Motor xx PID Derivative Gain ................................................................................................... 111
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Motor Servo and Commutation Modifiers ........................................................................... 119 Ixx55 Motor xx Commutation Table Address Offset ............................................................................. 119 Ixx56 Motor xx Commutation Delay Compensation ............................................................................. 120 Ixx57 Motor xx Continuous Current Limit ........................................................................................... 120 Ixx58 Motor xx Integrated Current Limit ............................................................................................. 122 Ixx59 Motor xx User-Written Servo/Phase Enable ............................................................................... 123 Ixx60 Motor xx Servo Cycle Period Extension Period .......................................................................... 123 Ixx61 Motor xx Current-Loop Integral Gain ........................................................................................ 124 Ixx62 Motor xx Current-Loop Forward-Path Proportional Gain ......................................................... 124 Ixx63 Motor xx Integration Limit......................................................................................................... 124 Ixx64 Motor xx Deadband Gain Factor ............................................................................................... 125 Ixx65 Motor xx Deadband Size ............................................................................................................ 125 Ixx66 Motor xx PWM Scale Factor...................................................................................................... 126 Ixx67 Motor xx Position Error Limit ................................................................................................... 126 Ixx68 Motor xx Friction Feedforward ................................................................................................. 127 Ixx69 Motor xx Output Command Limit............................................................................................... 127
Motor Commutation Setup I-Variables ............................................................................... 129 Ixx70 Motor xx Number of Commutation Cycles (N) ............................................................................ 129 Ixx71 Motor xx Counts per N Commutation Cycles .............................................................................. 129 Ixx72 Motor xx Commutation Phase Angle .......................................................................................... 130 Ixx73 Motor xx Phase Finding Output Value ....................................................................................... 131 Ixx74 Motor xx Phase Finding Time .................................................................................................... 132 Ixx75 Motor xx Phase Position Offset .................................................................................................. 132 Ixx76 Motor xx Current-Loop Back-Path Proportional Gain ............................................................... 134 Ixx77 Motor xx Magnetization Current ................................................................................................ 134 Ixx78 Motor xx Slip Gain .................................................................................................................... 134 Ixx79 Motor xx Second Phase Offset ................................................................................................... 135 Ixx80 Motor xx Power-Up Mode ......................................................................................................... 136 Ixx81 Motor xx Power-On Phase Position Address .............................................................................. 137 Ixx82 Motor xx Current-Loop Feedback Address ................................................................................. 143 Ixx83 Motor xx Commutation Position Address ................................................................................... 145 Ixx84 Motor xx Current-Loop Feedback Mask Word ................................................................................ 147
Further Motor I-Variables .................................................................................................. 148 Ixx85 Motor xx Backlash Take-up Rate ............................................................................................... 148 Ixx86 Motor xx Backlash Size .............................................................................................................. 148 Ixx87 Motor xx Backlash Hysteresis .................................................................................................... 148 Ixx88 Motor xx In-Position Number of Scans ....................................................................................... 149 Ixx90 Motor xx Rapid Mode Speed Select ............................................................................................ 149
Table of Contents ix
Ixx91 Motor xx Power-On Phase Position Format ............................................................................... 149 Ixx92 Motor xx Jog Move Calculation Time ........................................................................................ 152 Ixx95 Motor xx Power-On Servo Position Format ............................................................................... 152 Ixx96 Motor xx Command Output Mode Control ................................................................................. 156 Ixx97 Motor xx Position Capture & Trigger Mode............................................................................... 157 Ixx98 Motor xx Third-Resolver Gear Ratio .......................................................................................... 157 Ixx99 Motor xx Second-Resolver Gear Ratio ....................................................................................... 158
Supplemental Motor Setup I-Variables ............................................................................... 159 Iyy00/50 Motor xx Extended Servo Algorithm Enable ........................................................................... 159 Iyy10 – Iyy39/Iyy60 – Iyy89 Motor xx Extended Servo Algorithm Gains ................................................ 160
System Configuration Reporting ............................................................................................. 161 I4900 Servo ICs Present ...................................................................................................................... 161 I4901 Servo IC Type ............................................................................................................................ 161 I4902 MACRO ICs Present.................................................................................................................. 162 I4903 MACRO IC Types ...................................................................................................................... 162 I4904 Dual-Ported RAM ICs Present ................................................................................................... 163 I4908 End of Open Memory................................................................................................................. 164 I4909 Turbo CPU ID Configuration .................................................................................................... 164 I4910 – I4925 Servo IC Card Identification .......................................................................................... 165 I4926 – I4941 MACRO IC Card Identification ...................................................................................... 167 I4942 – I4949 DPRAM IC Card Identification ...................................................................................... 168 I4950 – I4965 I/O IC Card Identification .............................................................................................. 169
Data Gathering I-Variables ...................................................................................................... 170 I5000 Data Gathering Buffer Location and Mode ............................................................................... 170 I5001 – I5048 Data Gathering Source 1-48 Address ............................................................................. 170 I5049 Data Gathering Period .............................................................................................................. 171 I5050 Data Gathering Selection Mask 1 .............................................................................................. 171 I5051 Data Gathering Selection Mask 2 .............................................................................................. 171
A/D Processing Table I-Variables ........................................................................................... 172 I5060 A/D Processing Ring Size .......................................................................................................... 172 I5061-I5076 A/D Ring Slot Pointers ..................................................................................................... 173 I5080 A/D Ring Convert Enable ......................................................................................................... 174 I5081-I5096 A/D Ring Convert Codes................................................................................................... 174
Coordinate System I-Variables ................................................................................................ 175 Isx11 Coordinate System ‘x’ User Countdown Timer 1 ........................................................................ 176 Isx12 Coordinate System x User Countdown Timer 2 .......................................................................... 176 Isx13 Coordinate System x Segmentation Time .................................................................................... 177 Isx14 Coordinate System ‘x’ End-of-Move Anticipation Time .............................................................. 178 Isx15 Coordinate System ‘x’ Segmentation Override ........................................................................... 178 Isx16 Coordinate System ‘x’ Segmentation Override Slew ................................................................... 179 Isx20 Coordinate System x Lookahead Length ..................................................................................... 180 Isx21 Coordinate System x Lookahead State Control ........................................................................... 181 Isx50 Coordinate System x Kinematic Calculations Enable ................................................................. 181 Isx53 Coordinate System x Step Mode Control .................................................................................... 182 Isx78 Coordinate System ‘x’ Maximum Circle Acceleration ................................................................. 182 Isx79 Coordinate System ‘x’ Rapid Move Mode Control ...................................................................... 183 Isx81 Coordinate System ‘x’ Blend Disable In-Position Time-Out ....................................................... 184 Isx82 Coordinate System ‘x’ Blend Disable Dwell Time ...................................................................... 184 Isx83 Coordinate System ‘x’ Corner Blend Break Point ....................................................................... 185 Isx84 Coordinate System ‘x’ Outside Corner Stop Point Control ......................................................... 186
Table of Contents x
Isx85 Coordinate System ‘x’ Corner Dwell Break Point ...................................................................... 186 Isx86 Coordinate System x Alternate Feedrate .................................................................................... 187 Isx87 Coordinate System x Default Program Acceleration Time .......................................................... 188 Isx88 Coordinate System x Default Program S-Curve Time ................................................................. 188 Isx89 Coordinate System x Default Program Feedrate/Move Time ...................................................... 189 Isx90 Coordinate System x Feedrate Time Units .................................................................................. 189 Isx91 Coordinate System x Default Working Program Number ............................................................ 189 Isx92 Coordinate System ‘x’ Move Blend Disable................................................................................ 190 Isx93 Coordinate System x Time Base Control Address ....................................................................... 190 Isx94 Coordinate System x Time Base Slew Rate ................................................................................. 191 Isx95 Coordinate System x Feed Hold Slew Rate ................................................................................. 191 Isx96 Coordinate System x Circle Error Limit ..................................................................................... 191 Isx97 Coordinate System x Minimum Arc Length................................................................................. 192 Isx98 Coordinate System x Maximum Feedrate ................................................................................... 193 Isx99 Coordinate System x Cutter-Comp Outside Corner Break Point ................................................. 193
Turbo PMAC2 MACRO IC I-Variables .................................................................................. 194 I6800/I6850/I6900/I6950 MACRO IC MaxPhase/PWM Frequency Control .......................................... 194 I6801/I6851/I6901/I6951 MACRO IC Phase Clock Frequency Control ................................................. 196 I6802/I6852/I6902/I6952 MACRO IC Servo Clock Frequency Control .................................................. 196 I6803/I6853/I6903/I6953 MACRO IC Hardware Clock Control ............................................................ 198 I6804/I6854/I6904/I6954 MACRO IC PWM Deadtime / PFM Pulse Width Control ............................... 200 I6805/I6855/I6905/I6955 MACRO IC DAC Strobe Word ...................................................................... 200 I6806/I6856/I6906/I6956 MACRO IC ADC Strobe Word ...................................................................... 201 I6807/I6857/I6907/I6957 MACRO IC Clock Direction Control ............................................................. 201
Channel-Specific MACRO IC I-variables............................................................................ 202 I68n0/I69n0 MACRO IC Channel n* Encoder/Timer Decode Control ................................................... 203 I68n1/I69n1 MACRO IC Channel n* Position Compare Channel Select ................................................ 204 I68n2/I69n2 MACRO IC Encoder n* Capture Control .......................................................................... 204 I68n3/I69n3 MACRO IC Channel n* Capture Flag Select Control ........................................................ 205 I68n4/I69n4 MACRO IC Channel n* Encoder Gated Index Select ......................................................... 206 I68n5/I69n5 MACRO IC Channel n* Encoder Index Gate State/Demux Control .................................... 207 I68n6/I69n6 MACRO IC Channel n* Output Mode Select ..................................................................... 208 I68n7/I69n7 MACRO IC Channel n* Output Invert Control .................................................................. 208 I68n8/I69n8 MACRO IC Channel n* PFM Direction Signal Invert Control........................................... 209 I68n9/I69n9 Reserved for Future Use ................................................................................................... 209
MACRO IC Ring Setup I-variables ..................................................................................... 210 I6840/I6890/I6940/I6990 MACRO IC Ring Configuration/Status .......................................................... 210 I6841/I6891/I6941/I6991 MACRO IC Node Activate Control ................................................................ 211
Servo IC I-Variables ............................................................................................................... 212
PMAC2-Style Channel-Specific Servo IC I-Variables ......................................................... 221 I7mn0 Servo IC m Channel n Encoder/Timer Decode Control.............................................................. 221
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I7mn1 Servo IC m Channel n Position Compare Channel Select .......................................................... 222 I7mn2 Servo IC m Channel n Capture Control..................................................................................... 222 I7mn3 Servo IC m Channel n Capture Flag Select Control .................................................................. 223 I7mn4 Servo IC m Channel n Encoder Gated Index Select ................................................................... 223 I7mn5 Servo IC m Channel n Encoder Index Gate State/Demux Control .............................................. 224 I7mn6 Servo IC m Channel n Output Mode Select ................................................................................ 225 I7mn7 Servo IC m Channel n Output Invert Control ............................................................................ 225 I7mn8 Servo IC m Channel n PFM Direction Signal Invert Control ..................................................... 226 I7mn9 Servo IC m Channel n Hardware-1/T Control ........................................................................... 226
PMAC-Style Servo IC Setup I-Variables ............................................................................. 227 I7mn0 Servo IC m Channel n Encoder/Timer Decode Control.............................................................. 227 I7mn1 Servo IC m Channel n Encoder Filter Disable........................................................................... 228 I7mn2 Servo IC m Channel n Capture Control..................................................................................... 228 I7mn3 Servo IC m Channel n Capture Flag Select Control .................................................................. 229
Conversion Table I-Variables ............................................................................................. 230 I8000 - I8191 Conversion Table Setup Lines ......................................................................................... 230
TURBO PMAC ON-LINE COMMAND SPECIFICATION .............................................. 254 <CONTROL-A> ...................................................................................................................................... 254 <CONTROL-B> ...................................................................................................................................... 254 <CONTROL-C> ..................................................................................................................................... 255 <CONTROL-D> ..................................................................................................................................... 256 <CONTROL-E> ...................................................................................................................................... 256 <CONTROL-F> ...................................................................................................................................... 257 <CONTROL-G> ..................................................................................................................................... 257 <CONTROL-H> ..................................................................................................................................... 258 <CONTROL-I> ....................................................................................................................................... 258 <CONTROL-K> ..................................................................................................................................... 258 <CONTROL-M> ..................................................................................................................................... 259 <CONTROL-N> ..................................................................................................................................... 259 <CONTROL-O> ..................................................................................................................................... 260 <CONTROL-P> ...................................................................................................................................... 260 <CONTROL-Q> ..................................................................................................................................... 261 <CONTROL-R> ...................................................................................................................................... 261 <CONTROL-S> ...................................................................................................................................... 261 <CONTROL-T> ...................................................................................................................................... 262 <CONTROL-V> ...................................................................................................................................... 262 <CONTROL-X> ...................................................................................................................................... 263 !{axis}{constant}[{axis}{constant}…] ...................................................................................................... 264 @ ............................................................................................................................................................ 264 @{card} .................................................................................................................................................. 265 # ............................................................................................................................................................. 266 #{constant} .............................................................................................................................................. 266 #{constant}-> .......................................................................................................................................... 267 #{constant}->0 ........................................................................................................................................ 267 #{constant}->{axis definition} ................................................................................................................. 268 #{constant}->I......................................................................................................................................... 269 ##............................................................................................................................................................ 270 ##{constant} ............................................................................................................................................ 270 $ ............................................................................................................................................................. 271 $$............................................................................................................................................................ 272
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LIST PLC ................................................................................................................................................ 347 LIST PROGRAM ..................................................................................................................................... 348 LIST ROTARY ......................................................................................................................................... 349 LIST TCOMP .......................................................................................................................................... 349 LIST TCOMP DEF .................................................................................................................................. 350 LOCK{constant},P{constant} .................................................................................................................. 350 M{constant} ............................................................................................................................................ 351 M{data}={expression} ............................................................................................................................. 352 M{constant}->......................................................................................................................................... 352 M{constant}->* ....................................................................................................................................... 353 M{constant}->D:{address} ...................................................................................................................... 354 M{constant}->DP:{address} ................................................................................................................... 354 M{constant}->F:{address} ...................................................................................................................... 355 M{constant}->L:{address} ...................................................................................................................... 355 M{constant}->TWB:{address} ................................................................................................................. 356 M{constant}->TWD:{address} ................................................................................................................ 357 M{constant}->TWR:{address} ................................................................................................................. 358 M{constant}->TWS:{address} ................................................................................................................. 358 M{constant}->X/Y:{address} ................................................................................................................... 360 MACROASCII{master #} [replaced] ................................................................................................... 361 MACROAUX{node #},M{slave var}={constant} ...................................................................................... 361 MACROAUX{node #},{param #}={constant} ........................................................................................... 362 MACROAUXREAD ................................................................................................................................. 363 MACROAUXWRITE ................................................................................................................................ 363 MACROMST{master#},{master variable} ................................................................................................ 364 MACROMST{master#},{master variable}={constant} .............................................................................. 365 MACROMSTASCII{master #} .................................................................................................................. 366 MACROMSTREAD ................................................................................................................................. 367 MACROMSTWRITE ................................................................................................................................ 368 MACROSLV{command} {node#} ............................................................................................................. 369 MACROSLV{node#},{slave variable} ...................................................................................................... 370 MACROSLV{node#},{slave variable}={constant} .................................................................................... 371 MACROSLVREAD .................................................................................................................................. 372 MACROSLVWRITE ................................................................................................................................. 373 MACROSTASCII {station #} .................................................................................................................... 374 MACROSTASCIIFREQ ........................................................................................................................... 375 MACROSTASCIIFREQ={constant} ......................................................................................................... 375 MACROSTASCIIFREQ=* ....................................................................................................................... 375 MFLUSH ................................................................................................................................................ 376 MOVETIME ............................................................................................................................................ 376 NOFRAX ................................................................................................................................................. 376 NORMAL ................................................................................................................................................ 377 O{constant} ............................................................................................................................................. 377 OPEN BINARY ROTARY ......................................................................................................................... 378 OPEN FORWARD ................................................................................................................................... 378 OPEN INVERSE ...................................................................................................................................... 379 OPEN PLC.............................................................................................................................................. 380 OPEN PROGRAM ................................................................................................................................... 381 OPEN ROTARY ....................................................................................................................................... 381 P ............................................................................................................................................................. 382 P{constant} ............................................................................................................................................. 382
Table of Contents xv
P{data}={expression}.............................................................................................................................. 383 PASSWORD={string}.............................................................................................................................. 384 PAUSE PLC ............................................................................................................................................ 385 PC........................................................................................................................................................... 386 PE ........................................................................................................................................................... 387 PMATCH ................................................................................................................................................ 387 PR ........................................................................................................................................................... 388 Q ............................................................................................................................................................. 388 Q{constant} ............................................................................................................................................. 389 Q{data}={expression} ............................................................................................................................. 389 R ............................................................................................................................................................. 391 R[H]{address}......................................................................................................................................... 391 RESUME PLC ......................................................................................................................................... 392 S ............................................................................................................................................................. 393 SAVE....................................................................................................................................................... 394 SETPHASE ............................................................................................................................................. 395 SID ......................................................................................................................................................... 395 SIZE ........................................................................................................................................................ 396 STN ......................................................................................................................................................... 396 STN={constant} ...................................................................................................................................... 397 TIME....................................................................................................................................................... 397 TIME={time} .......................................................................................................................................... 397 TODAY ................................................................................................................................................... 398 TODAY={date} ....................................................................................................................................... 399 TYPE....................................................................................................................................................... 399 UNDEFINE ............................................................................................................................................. 400 UNDEFINE ALL ..................................................................................................................................... 400 UNLOCK{constant} ................................................................................................................................ 401 UPDATE ................................................................................................................................................. 401 V ............................................................................................................................................................. 401 VERSION ................................................................................................................................................ 402 VID ......................................................................................................................................................... 402 W{address} ............................................................................................................................................. 403 Z ............................................................................................................................................................. 403
TURBO PMAC PROGRAM COMMAND SPECIFICATION .......................................... 405 {axis}{data}[{axis}{data}…] ................................................................................................................... 405 {axis}{data}:{data} [{axis}{data}:{data}…] ............................................................................................ 405 {axis}{data}^{data}[{axis}{data}^{data}...] ............................................................................................. 406 {axis}{data}[{axis}{data}…] {vector}{data} [{vector}{data}…]............................................................... 407 A{data} ................................................................................................................................................... 409 ABS ......................................................................................................................................................... 409 ADDRESS ............................................................................................................................................... 410 ADDRESS#P{constant} ........................................................................................................................... 410 ADDRESS&P{constant} .......................................................................................................................... 411 ADIS{constant} ....................................................................................................................................... 412 AND ({condition}) ................................................................................................................................... 412 AROT{constant} ...................................................................................................................................... 413 B{data} ................................................................................................................................................... 414 BLOCKSTART ........................................................................................................................................ 414 BLOCKSTOP .......................................................................................................................................... 415 C{data} ................................................................................................................................................... 415
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CALL ...................................................................................................................................................... 415 CC0 ........................................................................................................................................................ 417 CC1 ........................................................................................................................................................ 417 CC2 ........................................................................................................................................................ 418 CC3 ........................................................................................................................................................ 418 CC4 ........................................................................................................................................................ 419 CCR{data} .............................................................................................................................................. 419 CIRCLE1 ................................................................................................................................................ 420 CIRCLE2 ................................................................................................................................................ 420 COMMANDx"{command}" ...................................................................................................................... 421 COMMANDx^{letter} .............................................................................................................................. 423 CREAD ................................................................................................................................................... 424 D{data} ................................................................................................................................................... 425 DELAY{data} .......................................................................................................................................... 426 DISABLE PLC {constant}[,{constant}...] ................................................................................................. 426 DISABLE PLCC {constant}[,{constant}...] ............................................................................................... 427 DISPLAY [{constant}] "{message}" ......................................................................................................... 428 DISPLAY ... {variable} ............................................................................................................................ 428 DWELL ................................................................................................................................................... 429 ELSE ....................................................................................................................................................... 429 ENABLE PLC.......................................................................................................................................... 431 ENABLE PLCC ....................................................................................................................................... 431 ENDIF .................................................................................................................................................... 432 ENDWHILE ............................................................................................................................................ 432 F{data} ................................................................................................................................................... 433 FRAX ...................................................................................................................................................... 434 G{data} ................................................................................................................................................... 435 GOSUB ................................................................................................................................................... 436 GOTO ..................................................................................................................................................... 436 HOME .................................................................................................................................................... 437 HOMEZ .................................................................................................................................................. 438 I{data} .................................................................................................................................................... 439 I{data}={expression}............................................................................................................................... 439 IDIS{constant} ........................................................................................................................................ 440 IF ({condition}) ....................................................................................................................................... 440 INC ......................................................................................................................................................... 441 IROT{constant} ....................................................................................................................................... 442 J{data} .................................................................................................................................................... 443 K{data} ................................................................................................................................................... 443 LINEAR................................................................................................................................................... 444 LOCK{constant},P{constant} .................................................................................................................. 444 M{data} .................................................................................................................................................. 445 M{data}={expression} ............................................................................................................................. 445 M{data}=={expression} .......................................................................................................................... 446 M{data}&={expression} .......................................................................................................................... 447 M{data}|={expression} ............................................................................................................................ 447 M{data}^={expression} ........................................................................................................................... 448 MACROAUXREAD ................................................................................................................................. 449 MACROAUXWRITE ................................................................................................................................ 450 MACROMSTREAD ................................................................................................................................. 450 MACROMSTWRITE ................................................................................................................................ 451
Table of Contents xvii
MACROSLVREAD .................................................................................................................................. 452 MACROSLVWRITE ................................................................................................................................. 454 N{constant} ............................................................................................................................................. 455 NOFRAX ................................................................................................................................................. 455 NORMAL ................................................................................................................................................ 455 NX{data} ................................................................................................................................................. 456 NY{data} ................................................................................................................................................. 457 NZ{data} ................................................................................................................................................. 457 O{constant} ............................................................................................................................................. 458 OR({condition}) ...................................................................................................................................... 459 P{data}={expression}.............................................................................................................................. 459 PAUSE PLC ............................................................................................................................................ 460 PRELUDE............................................................................................................................................... 461 PSET ....................................................................................................................................................... 462 PVT{data} ............................................................................................................................................... 463 Q{data}={expression} ............................................................................................................................. 463 R{data} ................................................................................................................................................... 464 RAPID .................................................................................................................................................... 465 READ ...................................................................................................................................................... 466 RESUME PLC ......................................................................................................................................... 467 RETURN ................................................................................................................................................. 468 S{data} .................................................................................................................................................... 468 SENDx .................................................................................................................................................... 469 SENDx^{letter} ........................................................................................................................................ 470 SETPHASE ............................................................................................................................................. 471 SPLINE1 ................................................................................................................................................. 472 SPLINE2 ................................................................................................................................................. 473 STOP ...................................................................................................................................................... 473 T{data} ................................................................................................................................................... 473 TA{data} ................................................................................................................................................. 474 TINIT ...................................................................................................................................................... 475 TM{data} ................................................................................................................................................ 475 TR{data} ................................................................................................................................................. 476 TS{data} .................................................................................................................................................. 477 TSELECT{constant} ................................................................................................................................ 478 TX{data} ................................................................................................................................................. 478 TY{data} ................................................................................................................................................. 479 TZ{data} ................................................................................................................................................. 479 U{data} ................................................................................................................................................... 480 UNLOCK{constant} ................................................................................................................................ 480 V{data} ................................................................................................................................................... 481 W{data} .................................................................................................................................................. 481 WAIT....................................................................................................................................................... 482 WHILE({condition}) ................................................................................................................................ 482 X{data} ................................................................................................................................................... 484 Y{data} ................................................................................................................................................... 484 Z{data} ................................................................................................................................................... 485
TURBO PMAC MATHEMATICAL FEATURES .............................................................. 486
Mathematical Operators .......................................................................................................... 486 + ............................................................................................................................................................. 486
Table of Contents xviii
- .............................................................................................................................................................. 486 * ............................................................................................................................................................. 486 / .............................................................................................................................................................. 486 % ............................................................................................................................................................ 487 & ............................................................................................................................................................ 488 | .............................................................................................................................................................. 488 ^ .............................................................................................................................................................. 489
Mathematical Functions .......................................................................................................... 489 ABS ......................................................................................................................................................... 489 ACOS ...................................................................................................................................................... 489 ASIN ....................................................................................................................................................... 490 ATAN ...................................................................................................................................................... 490 ATAN2 .................................................................................................................................................... 491 COS ........................................................................................................................................................ 492 EXP ........................................................................................................................................................ 492 INT ......................................................................................................................................................... 492 LN ........................................................................................................................................................... 493 SIN .......................................................................................................................................................... 493 SQRT ...................................................................................................................................................... 494 TAN ........................................................................................................................................................ 494
TURBO PMAC MEMORY AND I/O MAP ........................................................................ 495
Program (Machine Code) Memory .......................................................................................... 495
Global Servo Registers ............................................................................................................ 495
Temporary Stack Registers ...................................................................................................... 497
Processed A/D Registers ......................................................................................................... 509
MACRO Flag Registers .......................................................................................................... 511
Buffer Pointers ........................................................................................................................ 512
Battery-Backed RAM Registers (Option 16x required) ............................................................ 512
Dual Ported RAM Registers (Option 2x required) ................................................................... 512
DPRAM Control Panel ....................................................................................................... 513
DPRAM Control Panel Registers ........................................................................................ 514
Motor Data Reporting Buffer Control (used if I48=1 or I57=1) ......................................... 515
Table of Contents xix
Motor Data Reporting Buffer (Used if I48 = 1 or I57 = 1) .................................................. 515
Background Data Reporting Buffer Control (used if I49 = 1 or I57 = 1) ............................ 519
Global Background Data Reporting Buffer (used if I49 = 1) ............................................... 520
Coordinate System Background Data Reporting Buffer ...................................................... 520
(used if I49 = 1) .................................................................................................................. 520
DPRAM ASCII Buffers (used if I58 = 1) ............................................................................. 525
Background Variable Read and Write Buffer Control (used if I55 = 1) ............................... 525
Binary Rotary Program Buffer Control (used after OPEN BIN ROT) ................................. 526
Data Gathering Control (used if I5000 = 2 or 3) ................................................................ 526
Variable-Sized Buffers/Open-Use Space ............................................................................. 526
Turbo PMAC2 I/O Control Registers ...................................................................................... 527
PMAC-Style Servo ASIC Registers ........................................................................................ 529
PMAC2-Style Servo ASIC Registers....................................................................................... 533
I/O Control and Data Registers (MACRO IC 0 only) .......................................................... 543
MACRO Ring Control Registers ......................................................................................... 546
Supplemental Servo Channel Registers (MACRO IC 0 only) ............................................... 547
Turbo PMAC2 MACRO Node Registers.............................................................................. 550
Turbo PMAC2 Option 12 A/D Register .................................................................................. 554
3U Turbo PMAC2 Stack I/O Registers .................................................................................... 554
JEXP Expansion Port I/O Registers ......................................................................................... 556
UMAC UBUS Expansion Port I/O Registers ........................................................................... 556
TURBO PMAC SUGGESTED M-VARIABLE DEFINITIONS ........................................ 558
TURBO PMAC2 SUGGESTED M-VARIABLE DEFINITIONS ...................................... 610
UMAC TURBO SUGGESTED M-VARIABLE DEFINITIONS ........................................ 676
CHANGE SUMMARY: PMAC TO TURBO PMAC ......................................................... 742
Overview Feature Comparison ................................................................................................ 742
Communications Changes ....................................................................................................... 745
Table of Contents xx
FIRMWARE UPDATE LISTING ....................................................................................... 749
V1.946 Updates (Dec 2008, Geo Brick only) .......................................................................... 759
V1.947 Updates (May 2010) ................................................................................................... 759
V1.948 Updates (November 2013) .......................................................................................... 760
INTRODUCTION
What is Turbo PMAC? The Turbo PMAC is the newest addition to the renowned PMAC family of motion controllers. The
Turbo refers to a new high-performance CPU section that can be used with existing PMAC or PMAC2
interface circuitry to turbo-charge the application.
The Turbo PMAC is currently available in six versions:
Turbo PMAC PC: PMAC servo interface circuitry, PC (ISA) bus interface
Turbo PMAC VME PMAC servo interface circuitry, VME bus interface
Turbo PMAC2 PC PMAC2 servo interface circuitry, PC (ISA) bus interface Turbo PMAC2 VME PMAC2 servo interface circuitry, VME bus interface
Turbo PMAC2 PC Ultralite MACRO servo interface circuitry, PC(ISA) bus interface
Turbo PMAC2 3U (UMAC Turbo and 3U Turbo Stack) PMAC2 servo interface circuitry, PC/104 bus interface
Each of these versions has its own Hardware Reference manual.
More versions will be available in the near future.
What is New about Turbo PMAC? The Turbo PMAC uses the increased speed and memory of the newest generation of digital signal
processing (DSP) ICs to enhance the capabilities of the PMAC family. The Turbo PMAC has the software capability to control 32 axes in 16 independent coordinate systems, up from eight axes in eight
coordinate systems for the standard PMAC.
Many users will find the Turbo PMAC a very powerful and cost-effective solution when controlling large numbers of axes. Remember that a PMAC board itself has at most eight servo interface channels; the
actual control of more than eight physical axes will require the use of either Acc-24 family axis expansion
boards, or remote interface circuitry on the MACRO ring.
The extra software axis capability can be useful for virtual axes which do not require (full) physical hardware interface circuitry. Virtual axes have many important uses, including:
Phantom coordinate systems in tool tip coordinates for inverse kinematics
Virtual masters to replace mechanical line-shaft masters
Redundant axes for error checking and recovery purposes
Cascaded servo loops for hybrid control techniques (e.g. force and position)
Many other users will find the Turbo PMAC valuable even if less than eight axes are used, just because of the additional computational speed. The DSP of the base version of the Turbo PMAC runs at 80 MHz,
but because operations on internal registers (about half of all operations) run in one clock cycle instead of
the two clock cycles required for the standard PMAC, performance is equivalent to that

^2 turbo pmac/pmac2 - delta tau

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