User's Manual

PMAC User Manual
Table of Contents iii
Control-Character Commands ...........................................................................................................................34
Resetting PMAC .....................................................................................................................................................35
PMAC Reset Actions...........................................................................................................................................35
PMAC Re-initialization Actions: Standard CPU................................................................................................35
PMAC Re-initialization Actions: Flash CPU .....................................................................................................36
Re-initialize Command .......................................................................................................................................37
TROUBLESHOOTING............................................................................................................................................39
PMAC Card Troubleshooting .................................................................................................................................39
General ...............................................................................................................................................................39
Bus Communications ..........................................................................................................................................39
Serial Communications.......................................................................................................................................39
Commutation Troubleshooting................................................................................................................................39
Servo Loop and Jogging Troubleshooting...............................................................................................................39
Homing Search Troubleshooting.............................................................................................................................40
No Movement at All ............................................................................................................................................40
Movement, But Sluggish. ....................................................................................................................................40
Runaway Condition ............................................................................................................................................40
Brief Movement, Then Stop.................................................................................................................................40
Motion Program Troubleshooting ...........................................................................................................................40
INPUT/OUTPUT: CONNECTING PMAC TO THE MACHINE.......................................................................41
Capabilities and Features.........................................................................................................................................41
Quadrature Encoder Inputs (JMACH Port) .............................................................................................................41
Single-Ended vs. Differential..............................................................................................................................41
Differential Encoders..........................................................................................................................................42
Analog Encoders.................................................................................................................................................42
Power Supply and Isolation................................................................................................................................43
Wiring Techniques..............................................................................................................................................43
Encoder Signal Sampling....................................................................................................................................43
Digital Delay Filter ............................................................................................................................................44
Error Detection...................................................................................................................................................44
Optically Isolated Dedicated Digital Input Flags (JMACH Port)............................................................................45
Flag Wiring.........................................................................................................................................................45
Overtravel Limit Inputs.......................................................................................................................................45
Home Flag Input.................................................................................................................................................45
Amplifier Fault Input ..........................................................................................................................................45
Flag Isolation .....................................................................................................................................................45
Dedicated Digital Output Flags (JMACH, JEQU Ports) .........................................................................................45
Amplifier-Enable/Direction Output ....................................................................................................................45
Amplifier Enable/Disable Use ............................................................................................................................46
Transition............................................................................................................................................................46
Sinking Drivers ...................................................................................................................................................46
Sourcing Drivers.................................................................................................................................................46
Polarity Control..................................................................................................................................................46
Direction Bit Use ................................................................................................................................................47
General-Purpose Use .........................................................................................................................................47
Compare-Equals Outputs ...................................................................................................................................47
Optically Isolated Analog Outputs (JMACH Port) .................................................................................................48
Connections ........................................................................................................................................................48
Isolation..............................................................................................................................................................48
Drive Capability .................................................................................................................................................48
General-Purpose Use .........................................................................................................................................48
General-Purpose Digital Inputs and Outputs (JOPTO Port)....................................................................................48
Software Access ..................................................................................................................................................48
Standard Sinking Outputs ...................................................................................................................................48
Option for Sourcing Outputs...............................................................................................................................49