User's Manual

Turbo PMAC User Manual
Table of Contents vii
Servo Update ....................................................................................................................................................235
Real-Time Interrupt Tasks ................................................................................................................................236
VME Mailbox Processing .................................................................................................................................236
Background Tasks.............................................................................................................................................236
Priority Level Optimization ..............................................................................................................................238
Evaluating the Turbo PMAC’s Computational Load ............................................................................................238
Phase Interrupt Tasks .......................................................................................................................................238
Servo Interrupt Tasks........................................................................................................................................239
Real-Time Interrupt Tasks ................................................................................................................................239
Total Interrupt Tasks ........................................................................................................................................239
Sample Monitoring Program ............................................................................................................................239
Background Cycle Time....................................................................................................................................240
Numerical Values..................................................................................................................................................240
Internal Formats...............................................................................................................................................240
Receiving Values...............................................................................................................................................241
Reporting Values...............................................................................................................................................241
Addresses ..............................................................................................................................................................242
Variables ...............................................................................................................................................................242
I-Variables ........................................................................................................................................................242
P-Variables .......................................................................................................................................................243
Q-Variables.......................................................................................................................................................244
M-Variables ......................................................................................................................................................245
Operators...............................................................................................................................................................247
Arithmetic Operators ........................................................................................................................................247
Logical Operators.............................................................................................................................................248
Functions...............................................................................................................................................................248
Expressions ...........................................................................................................................................................248
The {DATA} Syntax .............................................................................................................................................248
Variable Value Assignment Statement..................................................................................................................249
I-Variable Default Value Assignment ...............................................................................................................249
Synchronous M-Variable Value Assignment.....................................................................................................249
Comparators ..........................................................................................................................................................251
Conditions .............................................................................................................................................................252
Simple Conditions.............................................................................................................................................252
Compound Conditions ......................................................................................................................................252
Single-Line Condition Actions ..........................................................................................................................252
Multiple-Line Conditions..................................................................................................................................253
Timers ...................................................................................................................................................................253
Computational Considerations ..............................................................................................................................253
SETTING UP A COORDINATE SYSTEM..........................................................................................................255
What is a Coordinate System?...............................................................................................................................255
What is an Axis? ...................................................................................................................................................255
Single-Motor Axes.............................................................................................................................................255
Multiple-Motor Axes.........................................................................................................................................256
Phantom Axes ...................................................................................................................................................256
Axis Definition......................................................................................................................................................256
Matching Motor to Axis ....................................................................................................................................256
Scaling and Offset.............................................................................................................................................256
Axis Types .........................................................................................................................................................257
Conversion from Axis to Motor Position ..........................................................................................................258
Conversion from Motor to Axis Positions.........................................................................................................258
Coordinate-System Kinematic Calculations..........................................................................................................259
Creating the Kinematic Program Buffers .........................................................................................................260
Coordinate System Transformations with Kinematics ......................................................................................267
Executing the Kinematic Programs ..................................................................................................................267