User's Manual

Turbo PMAC User Manual
x Table of Contents
Requirements for Hardware Capture ...............................................................................................................357
Setting the Trigger Condition ...........................................................................................................................357
Automatic Move-Until-Trigger Functions ........................................................................................................358
Manual Use of the Capture Feature .................................................................................................................358
Converting to Motor and Axis Coordinates ......................................................................................................361
Using the Position-Compare Feature on Turbo PMAC.........................................................................................362
Scaling and Offset of Position-Compare Registers...........................................................................................362
Setup on a PMAC-Style Servo IC......................................................................................................................362
Setup on a PMAC2-Style Servo IC....................................................................................................................363
Converting from Motor and Axis Coordinates..................................................................................................368
Synchronous M-Variable Assignment Outputs.....................................................................................................369
WRITING AND EXECUTING PLC PROGRAMS.............................................................................................371
What are PLC Programs? ......................................................................................................................................371
When To Use.....................................................................................................................................................371
Common Uses ...................................................................................................................................................371
64 PLC Programs .............................................................................................................................................371
Entering a PLC Program .......................................................................................................................................371
Opening the Buffer............................................................................................................................................372
Downloading the Program ...............................................................................................................................372
Closing the Buffer .............................................................................................................................................372
Erasing the Program ........................................................................................................................................372
Example ............................................................................................................................................................372
PLC Program Structure .........................................................................................................................................373
Calculation Statements .....................................................................................................................................373
Conditional Statements .....................................................................................................................................373
Compiled PLC Programs ......................................................................................................................................375
Execution of Compiled PLCs............................................................................................................................376
Writing Compiled PLC Programs.....................................................................................................................376
Optimization for Speed .....................................................................................................................................380
Memory Utilization ...........................................................................................................................................380
Compiling the PLCs..........................................................................................................................................381
Running Compiled PLCs...................................................................................................................................382
WRITING A HOST COMMUNICATIONS PROGRAM...................................................................................383
Turbo PMAC Command/Response Format ..........................................................................................................383
Response Types.................................................................................................................................................383
Variations .........................................................................................................................................................384
Clearing the Port ..............................................................................................................................................384
Serial Port Communications..................................................................................................................................385
Setting Up the Interface ....................................................................................................................................385
Sending a Character .........................................................................................................................................385
Reading a Character.........................................................................................................................................385
ISA/PCI Host Port Communications.....................................................................................................................386
Host Port Structure...........................................................................................................................................386
Register Functions ............................................................................................................................................386
Registers for Simple Polled Communications...................................................................................................386
Setting up the Port ............................................................................................................................................387
Sending a Character .........................................................................................................................................387
Reading a Character.........................................................................................................................................387
ISA/PCI Interrupts ............................................................................................................................................387
Initializing the Interrupt Controller..................................................................................................................391
VME Bus Communications ..................................................................................................................................391
Setting up VME Communications .....................................................................................................................392
VME Mailbox Register Communications..........................................................................................................392
Dual-Ported RAM Communications .....................................................................................................................397
Physical Configuration and Connection...........................................................................................................398