User's Manual

Turbo PMAC User Manual
vi Table of Contents
Direction Control..............................................................................................................................................199
Inversion Control..............................................................................................................................................200
Alternate Uses...................................................................................................................................................200
Turbo PMAC Analog Input (JANA) Port .............................................................................................................200
Hardware Characteristics ................................................................................................................................200
Multiplexing Principle ......................................................................................................................................201
De-multiplexing I-Variables .............................................................................................................................201
UMAC Digital I/O Boards ....................................................................................................................................202
Addressing UMAC I/O Boards .........................................................................................................................202
Setting up UMAC I/O Boards ...........................................................................................................................203
MAKING AN APPLICATION SAFE ...................................................................................................................207
Following Error Limits..........................................................................................................................................207
Fatal Following Error Limit.............................................................................................................................207
Warning Following Error Limit........................................................................................................................207
Integrated Following Error Protection.............................................................................................................208
Position (Overtravel) Limits..................................................................................................................................208
Hardware Overtravel Limit Switches ...............................................................................................................208
Software Overtravel Limit Variables ................................................................................................................209
Velocity Limits......................................................................................................................................................210
Vector Velocity Limit ........................................................................................................................................210
Motor Velocity Limit.........................................................................................................................................210
Acceleration Limits...............................................................................................................................................211
Command Output Limits.......................................................................................................................................211
Integrated Current (I
2
T) Protection.......................................................................................................................211
Amplifier Enable and Fault Lines .........................................................................................................................213
Encoder-Loss Detection ........................................................................................................................................213
User-Written Safety Algorithms ...........................................................................................................................215
Watchdog Timer....................................................................................................................................................215
Actions on Watchdog Timer Trip ......................................................................................................................215
Diagnosing Cause of Watchdog Timer Trip .....................................................................................................215
Hardware Stop Command Inputs ..........................................................................................................................216
Host-Generated Stop Commands ..........................................................................................................................216
Program Checksums..............................................................................................................................................217
Firmware Checksum.........................................................................................................................................217
User-Program Checksum..................................................................................................................................217
Communications Data Integrity ............................................................................................................................218
EXECUTING INDIVIDUAL MOTOR MOVES .................................................................................................219
Jogging Move Control...........................................................................................................................................219
Jog Acceleration ...............................................................................................................................................219
Jog Speed..........................................................................................................................................................219
Jog Commands..................................................................................................................................................221
Triggered Motor Moves ........................................................................................................................................222
Types of Triggered Moves.................................................................................................................................222
Types of Trigger Conditions .............................................................................................................................222
Capturing the Trigger Position.........................................................................................................................223
Post-Trigger Move............................................................................................................................................224
Homing Search Moves ......................................................................................................................................224
Jog-Until-Trigger Moves ..................................................................................................................................231
Motion Program Move-Until-Trigger...............................................................................................................232
Open-Loop Moves.................................................................................................................................................233
TURBO PMAC COMPUTATIONAL FEATURES.............................................................................................235
Computational Priorities .......................................................................................................................................235
Single Character I/O.........................................................................................................................................235
Commutation Update........................................................................................................................................235